Local dynamic maps in cooperative systems IP - “Smart Vehicles on Smart Roads” Christine Bartels

1. Local dynamic maps in cooperative systems IP - “Smart Vehicles on Smart Roads” Christine Bartels Tele Atlas (Germany), christine.bartels@teleatlas.com SINTECH Task Leader “Local Dynamic Maps” SAFESPOT

2. SINTECH Local Dynamic Maps - Scenarios • A real time updatable Local Dynamic Map is defined as • Integration of standard digital maps with dynamic (short time) and local (short range) layers of information collected by the infrastructure or by the vehicles (road status, obstacle presence, etc.). • Focus on new contents and information that is provided in real-time • need of high efficiency algorithms • definition of an adaptive optimal coverage range • compatibility with standard digital maps • The main target is to provide a representation of vehicle’s and infrastructure surroundings with all static and dynamic safety relevant elements • The local dynamic map model relies on the notion of a perception area (i.e. the coverage area of the ego-vehicle perception) and comprises at least • surrounding objects, such as vehicles, obstacles and landmarks, e.g. in terms of relative positions, estimated dynamic states and attributes as well as associated confidence measures, • road segments, e.g. in terms of geometrical parameters and attributes (road state, width etc.) • traffic information/status for individual road segments or regions of the map • weather or visibility status for individual road segments or regions of the map • Open question: What about trajectories?

3. veh id pos vel type … rsu id pos type … ego pos vel … congestion id pos length dir … com nodes, fusion result temporaryregional info tree id pos curbs… fog id pos a,b … accident id pos … landmarks for referencing map fromprovider ! SINTECH Local Dynamic Maps – Map Layers

4. SINTECH Local Dynamic Map interfaces to SP4/SP5 applications • SP4 / SP5 applications clients: • Interface towards the Local Dynamic Map to get data – no editing function? • Brokers: • cast requests into queries and subscriptions to notifications • select/filter data • translate messages,notifications • remote procedure calls over platform network VANET: Vehicular Ad-hoc Network LDM: Local Dynamic Map Q-API: Query API T-API: Transaction API SP1-5,7 SP3 SP4/5

5. SINTECH Local Dynamic Map interfaces to sensing systems • Local Dynamic Map APIs • towards the Data Fusion • and Database Surveillance: • T-API (transaction) to edit the Local Dynamic Map • Q-API (query) to get information • The door is still left open to • exchange raw data information • between the systems. • The transaction call handling and • generation is done by brokers. • There is a specific component for • data that shall be distributed. SP3 SP1-5,7 SP1/2

6. SINTECH Local Dynamic Map architecture proposal and role in SAFESPOT • Local Dynamic Map Component: • Separates the applications from the data fusion and object surveillance functions • Provides a standardized access of real time information towards the applications and sensing systems depending on their application category: • Application category 0: LDM-DB specific services (LDM margin provision, transaction handling on the LDM-DB) • Application category 1: Certified SAFESPOT applications that provide transactions for changes in the LDM-DB on the sensing system side (SP1, SP2) and SP4, SP5 applications that provide information that will be communicated to the sensing systems and possibly put on the communication network • Application category 2: SAFESPOT applications that have access towards the LDM-DB but don’t provide further data to the sensing systems or the communication network. • Handles all safety relevant information that shall be shared and needs to be available for more than one cooperative systems safety application • The Local Dynamic Map is considered as database in SAFESPOT. Further specifications will be handled according to this assumption!

7. Broker – Management of queries Sensing systems (SP1, SP2) Sqlite – database (or other dbs: oracle, jdb) API T-API Q-API SafeSpot safety warning applications (SP4, SP5) & Message broker • Spatial queries on the static map • map matched reference to the static map • ADASIS (horizon) • Specific data • access functions • Specific views • Spatial queries Q-API Static Map database API Additional Static data to support sensing systems SINTECH Local Dynamic Map – LDM and Broker • Broker query management via • Query coordination and optimization • Application configuration file of possible needed data

8. Other possible dynamic content - LDM extension in CVIS? … Other communication channels? Generalization level 1 (events, generalization level 1 of static map data) Generalization level 0 (highest accuracy level) Broadcast via C2C SAFESPOT focus SINTECH Local Dynamic Map – Message broker • The message broker will push all safety relevant data on the communication network according to all over agreed defined rules (SP7) • The focus is set on safety relevant data that can support other actors (cooperative approach) • The message broker will not provide all dynamic LDM content!

9. SINTECH Local Dynamic Map – Static map extensions f1 Interference points Bicycle path 3 b5 b4 6 b3 b2 b1 5 4 h1 h2 e1 2 h3 e2 e3 d1 d2 9 d3 8 7 d4 1 10 a3 a2 a1 a4 a5 i1 i2 i3 i4

10. INFRASENS – Additional sensor in SAFESPOT