1SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Scenario Analysis & Data Fusion Specification

Panagiotis Lytrivis

ICCS

panagiotis.lytrivis@iccs.gr

SAFEPROBESAFEPROBESAFEPROBESAFEPROBE

2SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Scenario Analysis

Scenario 13

“Ego-vehicle starts braking very hard while other vehicle is following”

• Simulations based on a backward looking mounting sensor (LRR, Laserscanner, vision)

3SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Scenario Analysis (2)

Scenario 14

“Ego-vehicle overtakes a vehicle changing lane and entering into a collision path with another oncoming vehicle”

We used 2 LRRs for forward sensing

• FOV 40o

• Range 60m

4SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Task 1.3.2 - Environment Data Acquisition Specification

• Interfaces and protocols are defined in SP3-SINTECH

• In this task we analyze the “data packet” specs

• Important issues:

– Data flow between V2V or V2I

– Time management & time-stamping

– Data storage management

Output: A complete protocol for data acquisition and storage,

before processing and data fusion

5SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Task 1.3.3 - Cooperative Data Fusion Specification

We have changed this task and “Task 1.3.1 – Internal Data Fusion Specification” (according to JDL model) into

• Object refinement and • Situation refinement

The same idea is followed in ProFusion

Change the Technical Annex?• Yes → Do it the right way and not just replace the task titles• No → The distinction between the 2 tasks will be vague,

but the necessary will definitely get done

One proposal: Change it together with some other changes that had already been discussed in the Core Group

6SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Object refinement

Key functions:• Feature extraction (Segmentation, contour extraction etc.)

• Object tracking

• Observation-to-track-association

• Track maintenance

• Object classification

The output of the object refinement consists of a list of objects with specific parameters or attributes (i.e. position, velocity)

Object refinement aims at the representation of the environment through the LDM (vehicles, pedestrians, road borders etc.)

Object tracking & data fusion from distributed sensor nodes (cooperative fusion) for a common state estimation of the objects

Data association problem

7SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Situation refinement

It is more a relational matter between the detected objects

• how they interact,

• what scenario they represent etc.

The most common problem is the path or trajectory prediction:

We take the history of an object’s state (its position and respective speed in the past) and we try to predict the object’s state in the near term future

Outputs of all distributed sensors are fused to create an overall situational understanding (environmental model), which is then available to any applications running on the vehicle

8SAFESPOT Project SP1 Plenary Meeting January 31th 2007 CRF, Orbassano

Situation refinement (2)

• We have experience in situation refinement, especially in maneuver detection (detection of the intention of the driver and lane assignment of the detected object)

• We are involved in ProFusion (PReVENT SP)

Hard task because it is a relational matter between objects and we need advanced machine intelligence

Example: “Object vehicle in left lane is in the process of overtaking and passing a preceding vehicle”

For the situation refinement:

• What scenarios should the system be aware of?

• What’s the level of difficulty of the implementation?

To do that we need input from scenario analysis and from applications

Also from side of architecture which queries should we answer?