Browse Topic: Aircraft collision avoidance systems

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Detect and Avoid function for UAVs using ACAS Xu for Non-Cooperative TargetsF-0081-2025-02745/20/2025
Advanced Air Mobility (AAM) is an innovative concept that aims to revolutionize air transportation through electric and unmanned aircraft, enabling applications such as urban air taxis and medical transport. However, one of the key challenges to its widespread adoption is ensuring safety, particularly in collision avoidance. This study focuses on the development of a perception and guidance system for avoiding collisions with non-cooperative targets, which do not share their position or trajectory. To achieve this, a Frequency-Modulated Continuous Wave (FMCW) radar and an InfraRed(IR) camera are used. Compared to traditional pulsed or panel radars, FMCW radars offer higher resolution, better detection of small and slow-moving objects, and improved performance in cluttered environments. The IR camera enhances situational awareness by providing visual confirmation and additional tracking capability, making this sensor fusion approach particularly suitable for AAM applications. Our
Brivio, Riccardo, Crippa, Anna, Baiguera, Matteo, Portanti, Samuele, Bertolo, Mattia
Evaluation of Automated Emergency braking systems for collision avoidance2024-26-01851/16/2024
From the past few years, there is a pressing need for implementation of automatic in-vehicle safety systems to avoid vehicle crashes and fatalities. Development of autonomous emergency braking systems (AEB) to detect and avoid collisions in such critical moments is of paramount importance. In this paper, AEB control systems are developed for a four-wheeler system that aims to detect pedestrians and/or vehicles and halts the ego vehicle based on the time to collision (TTC). This control system aims to react based on the real-time relative distance & speed of the ego vehicle to actuate appropriate braking force. Control systems developed in Altair ActivateTM are co-simulated with CARLA, a virtual reality simulator for autonomous driving research. Various scenarios including sudden pedestrian entry, low and high-speed car to car motion, urban high traffic density environment, changing weather condition etc. are simulated to study the robustness of the control system. Further, studies are
K V, Manoj, Kamikkiya, P, Urs, Hriday V.
Research on Trajectory Planning and Tracking Strategy of Lane-changing and Overtaking based on PI-MPC Dual Controllers2021-01-126210/11/2021
Aiming at the problem of poor robustness after the combination of lateral kinematics control and lateral dynamics control when an autonomous vehicle decelerates and changes lanes to overtake at a certain distance. This paper proposes a trajectory determination and tracking control method based on a PI-MPC dual algorithm controller. To describe the longitudinal deceleration that satisfies the lateral acceleration limit during a certain distance of lane change, firstly, a fifth-order polynomial and a uniform deceleration motion formula are established to express the lateral and longitudinal displacements, and a model prediction controller (MPC) is used to output the front wheel rotation angle. Through the dynamic formula and the speed proportional-integral (PI) controller to control and adjust the brake pressure. Based on simulation to optimize the best lane change completion time coefficient at different longitudinal lane change speeds, the relationship between the vehicle collision
Yin, Jian, Chen, Xu Jia, Zu, Bingfeng, Xu, Yuliang, Zhou, Jianwei
An Automatic Emergency Braking System for Collision Avoidance Assist of Multi-Trailer Vehicle Based on Model Prediction Control2021-01-01174/6/2021
The autonomous collision avoidance problem for multi-trailer vehicle maneuvering is investigated in this paper. Different from conventional vehicle systems that contain one single moving part or multi-parts that can be considered as one rigid body, the interconnection between the tractor and each trailer, and interactions between trailers in the multi-trailer system introduce a high dimensional and highly complex dynamic system for the controller design. The external disturbance and parametric uncertainties further increase the difficulty in system identification and state space formulation. To implement a real time control system for various scenarios where the locations and states of the obstacles are not known beforehand, a supervisory algorithm is designed to convert the control problem to a discrete event system. The model predictive control (MPC) using limited lookahead policy is employed in the proposed algorithm. By viewing the system model under consideration as a finite
Liu, Yucheng, Ball, John, Abdelwahed, Sherif, He, Ge
Comparative Analysis of Emergency Evasive Steering for Long Combination Vehicles02-13-03-001810/10/2020
This study provides a simulation-based comparative analysis of the distance and time needed for long combination vehicles (LCVs) - namely, A-doubles with 28-, 33-, and 48-ft trailers - to safely exercise an emergency, evasive steering maneuver such as required for obstacle avoidance. The results are also compared with conventional tractor-semitrailers with a single 53-ft trailer. A multi-body dynamic model for each vehicle combination is developed in TruckSim® with an attempt to assess the last point to steer (LPTS) and evasive time (ET) at various highway speeds under both dry and wet road conditions. The results indicate that the minimum avoidance distance and time required for the 28-ft doubles vary from 206 ft (60 mph) to 312 ft (80 mph) and 2.3 s to 2.6 s, respectively. The required LPTS represents a 6% to 31% increase when compared with 53-ft semitrucks. When driving below 76 mph on a dry road and below 75 mph on a wet road, the 28-ft doubles exhibit LPTS and ET that are larger
Chen, Yang, Zhang, Zichen, Ahmadian, Mehdi
Remotely Piloted Air SystemsTBMG-3788210/1/2020
General Atomics Aeronautical Systems, Inc. San Diego, CA 858-762-6700
Finding Diverse Failure Scenarios in Autonomous Systems Using Adaptive Stress Testing12-02-04-001812/18/2019
Identifying and eliminating failure scenarios is critical in the development of autonomous vehicle (AV) systems. However, finding such failures through real-world vehicle-level testing is a difficult task as system disengagements and accidents are rare occurrences. Simulation approaches have been proposed to supplement vehicle-level testing and reduce the costs associated with operating large fleets of autonomous test vehicles. While one can run more vehicles in simulation than in the real world, applying traditional Monte Carlo sampling techniques to find failures still yields an unguided search and a large waste of computing resources. A more directed method than random sampling is needed to identify failure scenarios in a computationally efficient manner. Adaptive Stress Testing (AST) is a method that uses reinforcement learning (RL) paradigms to efficiently find failure scenarios in stochastic sequential decision-making systems. Through iteratively exploring the action space and
Du, Peter, Driggs-Campbell, Katherine
A Study of the Performance of Automatic Emergency Braking (AEB) Systems Equipped on Passenger Vehicles for Model Years 2013 to 20182019-01-04164/2/2019
Over the past decade, manufacturers have introduced vehicles equipped with Automatic Emergency Braking (AEB) into the North American market. These vehicles have the capability to not only detect an impending collision and warn the driver, but also to initiate braking independent of the driver. The collision avoidance strategies used by the various manufacturers have not been studied extensively. In 2013, the Insurance Institute for Highway Safety (IIHS) began testing vehicles equipped with AEB in rear-end collision situations in order to issue their front crash prevention safety ratings for these vehicles. To date, over 180 vehicles from 31 manufactures spanning model years 2013 to 2018 have been tested. This paper presents an analysis of the data collected in these tests. The objective of the study was to assess the differences in performance and strategies used, at two different closing speeds, between manufacturers. The difference in strategies included differences in braking rates
Miholjcic, Djordje, Fabbroni, Mark, Robinson, Richard
2021-12-29.TEST Steering Control Based on the Yaw Rate and Projected Steering Wheel Angle in Evasion Maneuvers2018-01-00304/3/2018
When automobiles are at the threat of collisions, steering usually needs shorter longitudinal distance than braking for collision avoidance, especially under the condition of high speed or low adhesion. Thus, more collision accidents can be avoided in the same situation. The steering assistance is in need since the operation is hard for drivers. And considering the dynamic characteristics of vehicles in those maneuvers, the real-time and the accuracy of the assisted algorithms is essential. In view of the above problems, this paper first takes lateral acceleration of the vehicle as the constraint, aiming at the collision avoidance situation of the straight lane and the stable driving inside the curve, and trajectory of the collision avoidance is derived by a quintic polynomial. Based on the control of the steering wheel angle by the optimal preview control algorithm, the differential braking control is carried out by using the feedbacks of yaw rate and the projected steering wheel
Ye, Yifan, Zhao, Jian, Wu, Jian, Zhu, Bing, Zhao, Yang, Deng, Weiwen
A Maneuver-Based Threat Assessment Strategy for Collision Avoidance2018-01-05984/3/2018
Advanced driver assistance systems (ADAS) are being developed for more and more complicated application scenarios, which often require more predictive strategies with better understanding of driving environment. Taking traffic vehicles’ maneuvers into account can greatly expand the beforehand time span for danger awareness. This paper presents a maneuver-based strategy to vehicle collision threat assessment. First, a maneuver-based trajectory prediction model (MTPM) is built, in which near-future trajectories of ego vehicle and traffic vehicles are estimated with the combination of vehicle’s maneuvers and kinematic models that correspond to every maneuver. The most probable maneuvers of ego vehicle and each traffic vehicles are modeled and inferred via Hidden Markov Models with mixture of Gaussians outputs (GMHMM). Based on the inferred maneuvers, trajectory sets consisting of vehicles’ position and motion states are predicted by kinematic models. Subsequently, time to collision (TTC
Li, Yaxin, Deng, Weiwen, Sun, Bohua, Wang, Jinsong, Zhao, Jian
Method to Derive Monetarily Effective Parameters for ADAS at Parking and Maneuvering2018-01-06054/3/2018
The effectiveness of ADAS addressing property damage has an increasing impact on car manufacturers, insurers and customers, as accident avoidance or mitigation can lead to loss reduction. In order to obtain benefits, it is essential that ADAS primarily address monetarily relevant accident scenarios. Furthermore, sensor technologies and algorithms have to be configured in a way that relevant accident situations can be sufficiently avoided at reasonable system costs. A new methodology is developed to identify and configure monetarily effective parameters for ADAS during parking and maneuvering. ADAS parameters e.g. relevant accident scenarios, required crash avoidance speeds and different sensor layouts are analyzed and evaluated using a real-world in-depth accident database of insurance claims provided by Allianz Center for Technology and Allianz Automotive Innovation Center. For this purpose, a sensitivity analysis is conducted to identify most monetarily effective accident scenarios
Schatz, Julian, Eser, Manuel, Feig, Philip, Gwehenberger, Johann, Borrack, Marcel, Lienkamp, Markus
Model Predictive Control for Feasible Region of Active Collision Avoidance2017-01-00453/28/2017
Vehicle active collision avoidance includes collision avoidance by braking and by steering. However, both of these two methods have their limitations. Therefore, it is significant to establish the feasible region of active collision avoidance to choose the optimal way to avoid traffic accidents. This paper focuses on the steering control of an autonomous vehicle to track the planned trajectory and to perform an emergency collision avoidance maneuver. Meanwhile, the collision avoidance effect of steering control is compared with that of braking control. The path tracking controller is designed by hierarchical control structure. The upper controller includes model predictive control allocation and speed controller, and the lower is designed by weighted least-squares control allocation for torque allocation. Besides, seven order polynomial is used for path planning. In this paper, two kinds of steering collision avoidance measures are compared, including steering without yaw moment and
Zhuo, Guirong, Wu, Cheng, Zhang, Fengbo
SAE International Journal of Passenger Cars—Electronic and Electrical SystemsE-JOURNAL-071/1/2017
The SAE International Journal of Passenger Cars: Electronic and Electrical Systems is discontinued from 2020 and merged into SAE International Journal of Connected and Automated Vehicles. Indexed in CNKI ESCI (Emerging Sources Citation Index, Web of Science) Engineering Village (Ei Compendex) Scopus Published Volumes
Design of a Robust Method and a System Architecture for Tracking Moving Vehicle under Noisy Radar Measurements2016-01-01654/5/2016
Innovation in the field of intelligent autonomous systems of the automotive sector has been ever increasing. Accurate tracking of vehicles is an important aspect in the design of applications such as smart route planning or collision avoidance systems. In practical applications, tracking of vehicle using radar technology suffers from serious problem due to noisy measurements. It introduces major limit on the accuracy of the tracking system. This paper discusses a case study scenario where the robustness of vehicle tracking can be improved using Extended Kalman Filtering. Noisy radar measurement is simulated through model based design (MBD) using MATLAB. Analysis and design of Extended Kalman Filter to mitigate the noise is discussed. An efficient system architecture to implement the algorithm in autonomous smart vehicle tracking system is also identified.
Dheenadhayalan, Padmanaban
The Use of Stationary Object Radar Sensor Data from Advanced Driver Assistance Systems (ADAS) in Accident Reconstruction2016-01-14654/5/2016
As a result of the development of Event Data Recorders (EDR) and the recent FMVSS regulation 49 CFR 563, today’s automobiles provide a limited subset of electronic data measurements of a vehicle’s state before and during a crash. Prior to this data, the only information available about the vehicle movements before or during a collision had come from physical evidence (e.g. tire marks), witnesses, aftermarket camera systems on vehicles, and ground-based cameras that were monitoring vehicle traffic or used for security surveillance. Today’s vehicles equipped with Advanced Driver Assistance Systems (ADAS) have vehicle-based sensors that measure information about the environment around a vehicle including other vehicles, pedestrians, and fixed wayside objects. Vehicles equipped with these ADAS systems use primarily radar, lidar, ultrasonic, and/or image sensors either in standalone operation or in combination to establish the range and movement of potential hazardous objects (e.g. other
Zolock, John, Senatore, Carmine, Yee, Ryan, Larson, Robert, Curry, Brian
Development of New Electronically Controlled Hydraulic Unit for Various Applications2016-01-16604/5/2016
The use of hybrid, fuel cell electric, and pure electric vehicles is on the increase as part of measures to help reduce exhaust gas emissions and to help resolve energy issues. These vehicles use regenerative-friction brake coordination technology, which requires a braking system that can accurately control the hydraulic brakes in response to small changes in regenerative braking. At the same time, the spread of collision avoidance support technology is progressing at a rapid pace along with a growing awareness of vehicle safety. This technology requires braking systems that can apply a large braking force in a short time. Although brake systems that have both accurate hydraulic control and large braking force have been developed in the past, simplification is required to promote further adoption. This paper describes the following three items: (1) an examination of the brake system functions that realize the regenerative-friction brake coordination and collision avoidance support
Okano, Takahiro, Sakai, Akira, Kamiya, Yusuke, Masuda, Yoshio, Yamaguchi, Tomoyuki
Implementing Secure Command and Control in Unmanned SystemsTBMG-2311610/1/2015
Unmanned vehicles are at the forefront of an evolution, especially with the proliferation of the Internet of Things. After decades of serving mission-critical applications in government and defense, the command and control (C2) capabilities of advanced wireless data communications have begun to migrate into the public safety, research, and commercial markets. The robust and secure infrastructure necessary for the eventual proliferation of unmanned vehicles is slowly being realized. Today, however, industries such as public safety, agriculture and oil and gas are being eyed as key markets that can benefit from the use of Remotely Piloted Aircraft (RPA). For several applications, such as wildfire monitoring and border protection, RPAs can even be used to protect people and save lives.
Image Processing Based Air Vehicles Classification for UAV Sense and Avoid Systems2015-01-24719/15/2015
The maturity reached in the development of Unmanned Air Vehicles (UAVs) systems is making them more and more attractive for a vast number of civil missions. Clearly, the introduction of UAVs in the civil airspace requiring practical and effective regulation is one of the most critical issues being currently discussed. As several civil air authorities report in their regulations “Sense and Avoid” or “Detect and Avoid” capabilities are critical to the successful integration of UAV into the civil airspace. One possible approach to achieve this capability, specifically for operations beyond the Line-of-Sight, would be to equip air vehicles with a vision-based system using cameras to monitor the surrounding air space and to classify other air vehicles flying in close proximity. This paper presents an image-based application for the supervised classification of air vehicles. First, several vehicle images, taken from different points of view, are transformed using a descriptor of salient
Ceruti, Alessandro, Curatolo, Simone, Bevilacqua, Alessandro, Marzocca, Piergiovanni
Adaptive Multi-Agent Unmanned Aerial Vehicle Systems with a Potential Field based Leader-Follower Formation Control Method2015-01-24579/15/2015
In this paper, we investigate the formation control of multiple unmanned aerial vehicles (UAVs) in an obstacle-laden environment for target tracking. The main contribution of this paper is to develop a potential field based leader-follower formation control method for target tracking and obstacle/collision avoidance. In the potential field, a quantity of virtual positive charge carried by each of UAVs varies depending upon their roles as a leader or follower when obstacles and targets are regarded as ions with larger positive and negative charges, respectively. Therefore, the formation formed by the UAVs connected with their inter-bonds could be adapted while the UAVs get around the obstacles and are attracted to the targets. The potential field based leader-follower formation control method is developed to reshape a UAV team configuration to track a target while the UAV team avoids the obstacles. The adaptivity and efficiency of the closed-loop UAV system was validated by simulating a
Chung, Jae, Cheung, Yushing
A Novel Approach to Cooperative and Non-Cooperative RPAS Detect-and-Avoid2015-01-24709/15/2015
A unified approach to cooperative and non-cooperative Detect-and-Avoid (DAA) is a key enabler for Remotely Piloted Aircraft System (RPAS) to safely and routinely access all classes of airspace. In this paper state-of-the-art cooperative and non-cooperative DAA sensor/system technologies for manned aircraft and RPAS are reviewed and the associated multi-sensor data fusion techniques are discussed. A DAA system architecture is presented based on Boolean Decision Logics (BDL) for selecting non-cooperative and cooperative sensors/systems including both passive and active Forward Looking Sensors (FLS), Traffic Collision Avoidance System (TCAS) and Automatic Dependent Surveillance - Broadcast (ADS-B). After elaborating the DAA system processes, the key mathematical models associated with both non-cooperative and cooperative DAA functions are presented. The Interacting Multiple Model (IMM) algorithm is adopted to estimate the state vector of the intruders and this is propagated to predict the
Ramasamy, Subramanian, Sabatini, Roberto, Gardi, Alessandro
Risk-Aware Mars Rover Operation Tool with Autonomous Terrain Classifier and Path PlannerTBMG-228659/1/2015
The greatest single source of risks for Mars rovers is terrain. These risks are currently managed by a labor-intensive process in which rover operators carefully examine the terrain and plan a path to avoid any potential hazards. This poses a challenge, particularly for the operation of an MSL (Mars Science Laboratory)-class rover, because it must be very risk-averse in order not to lose the asset, while it already requires a significant amount of labor due to the complexity of the rover. Hence, it is important to develop a software tool that helps operators to detect and avoid terrain hazards efficiently and reliably.
GUIDANCE FOR TOOL AND TEST EQUIPMENT (TTE) EQUIVALENCYARINC735B-2 (Current)8/1/2015
This document defines a Traffic Surveillance capability for NextGen and SESAR airspace environments. Supplement 2 adds hybrid surveillance functionality. It satisfies recent updates to FAA Airworthiness Circular AC 20-151B - Airworthiness Approval of Traffic Alert and Collision Avoidance Systems (TCAS II), and Technical Standard Order TSO-119d requiring the annunciation of a hybrid surveillance failure. Supplement 2 also adds strobe program pinning, updates TCAS inputs status, improves aircraft troubleshooting, and supports recent central maintenance computer function block point updates.
Airlines Electronic Engineering Committee
An Investigation into Location and Convective Lifecycle Trends in an Ice Crystal Icing Engine Event Database2015-01-21306/15/2015
In the last several years, the aviation industry has improved its understanding of jet engine events related to the ingestion of ice crystal particles. Ice crystal icing has caused powerloss and compressor damage events (henceforth referred to as “engine events”) during flights of large transport aircraft, commuter aircraft and business jets. A database has been created at Boeing to aid in analysis and study of these engine events. This paper will examine trends in the engine event database to better understand the weather which is associated with events. The event database will be evaluated for a number of criteria, such as the global location of the event, at what time of day the event occurred, in what season the event occurred, and whether there were local meteorological influences at play. A large proportion of the engine events occur in tropical convection over the ocean. The Japan / South China Sea is shown to be an event-rich area, and hence a detailed analysis will be
Bravin, Melissa, Strapp, J. Walter, Mason, Jeanne
Detection and Tracking Algorithm of Front Vehicle Based on Laser Radar2015-01-03074/14/2015
Nowadays active collision avoidance has become a major focus of research, and a variety of detection and tracking methods of obstacles in front of host vehicle have been applied to it. In this paper, laser radars are chosen as sensors to obtain relevant information, after which an algorithm used to detect and track vehicles in front is provided. The algorithm determines radar's ROI (Region of Interest), then uses a laser radar to scan the 2D space so as to obtain the information of the position and the distance of the targets which could be determined as obstacles. The information obtained will be filtered and then be transformed into cartesian coordinates, after that the coordinate point will be clustered so that the profile of the targets can be determined. A threshold will be set to judge whether the targets are obstacles or not. Last Kalman filter will be used for target tracking. To verify the presented algorithm, related experiments have been designed and carried out. The results
Wang, Hongfeng, He, Lei, Liu, Qianfei, Zong, Changfu
Driver Perceived Threat and Behavior in Rear End Collision Avoidance Situations2015-01-14144/14/2015
The focus of this paper is the threat assessment of perceived threat by drivers in collision avoidance situations. The understanding of the decision making process with regards to the initiation of a driver intervention is a crucial step to gain insight into driver's steering and braking behavior in case of an imminent threat (rear-end collision). Hence a study with various test subjects and a test vehicle has been conducted. The study has helped to understand how drivers behave in potential rear-end collision situations arising from the traffic situation (e.g. start of a traffic jam). This information is of major importance for designing autonomous collision avoidance systems and an important step towards autonomous driving. Autonomous driving in vehicles require system interventions to be initiated as early and safely as possible in order to avoid the collision and to avoid unstable vehicle dynamics situations. In parallel, collision avoidance maneuvers need to be balanced between
Shah, Jitendra, Benmimoun, Mohamed
A Compressed Sensing and Sparsity Based Approach for Estimating an Equivalent NIR Image from a RGB Image2015-01-03104/14/2015
Camera sensors that are made of silicon photodiodes and used in ordinary digital cameras are sensitive to visible as well as Near-Infrared (NIR) wavelength. However, since the human vision is sensitive only in the visible region, a hot mirror/infrared blocking filter is used in cameras. Certain complimentary attributes of NIR data are, therefore, lost in this process of image acquisition. However, RGB and NIR images are captured entirely in two different spectra/wavelengths; thus they retain different information. Since NIR and RGB images compromise complimentary information, we believe that this can be exploited for extracting better features, localization of objects of interest and in multi-modal fusion. In this paper, an attempt is made to estimate the NIR image from a given optical image. Using a normal optical camera and based on the compressed sensing framework, the NIR data estimation is formulated as an image recovery problem. The NIR data is considered as missing pixel
Danymol, R, Kutty, Krishnan
Collision Avoidance Systems - Advancements and Efficiency2015-01-14064/14/2015
This paper first discusses the advancement and challenges in the areas of developing Collision Avoidance Systems, or CAS. CAS have been on the market for a decade, and their development has been rapid. Starting with forward collision warning with brake support, targeting vehicles moving in the same direction in front of the car, CAS now cover pedestrians and cyclists in front of the car as well as vehicles standing still and even some situations of approaching vehicles in crossings. This development up to date is described and discussed according to the challenge areas of detection, decision strategy and intervention strategy. Next, the paper discusses assessment of system effects on driving safety. Numerous studies have tried to predict the effect of various CAS, and the real world effect of these systems has been shown to be significant. For example, for a standard equipped low-speed CAS, independent studies have found real world benefits in terms of reduction of the rate of rear-end
Ljung Aust, Mikael, Jakobsson, Lotta, Lindman, Magdalena, Coelingh, Erik
NLMPC for Real Time Path Following and Collision Avoidance2015-01-03134/14/2015
This paper presents a nonlinear control approach to achieve good performances in vehicle path following and collision avoidance when the vehicle is driving under cruise highway conditions. Nonlinear model predictive control (NLMPC) is adopted to achieve online trajectory control based on a simplified vehicle model. GMRES/Continuation algorithm is used to solve the online optimization problem. Simulations show that the proposed controller is capable of tracking the desired path as well as avoiding the obstacles.
Rosolia, Ugo, Braghin, Francesco, Alleyne, Andrew, Sabbioni, Edoardo
Lay Driver Technique for Crash Avoidance Brake Application2014-01-01464/1/2014
Prior to the widespread implementation of ABS brake technology in light vehicles, driver training often included instruction to “pump the brakes” to avoid locking the wheels. Many driver education programs now recommend maintaining high brake pedal force and relying on ABS. It is sometimes asserted that drivers desiring to stop a vehicle quickly still “pump the brakes”. Investigators sought to understand whether drivers desiring to decelerate quickly pump the brakes, especially in a way that may deplete the vacuum stored in a vehicle's brake booster if so equipped, or whether they apply the brakes in a manner corresponding to their desired deceleration. The National Highway Traffic Safety Administration (NHTSA) conducted a testing program to examine driver braking behavior in crash avoidance maneuvers. The data for those 245 test runs were reanalyzed, assessing patterns of brake pedal force application to determine whether pedal force variation was sufficient in magnitude and duration
Carr, Lee, Barnes, Dan, Crimeni, Jennifer
Multi-Modal Image Segmentation for Obstacle Detection and Masking2014-01-01644/1/2014
A novel multi-modal scene segmentation algorithm for obstacle identification and masking is presented in this work. A co-registered data set is generated from monocular camera and light detection and ranging (LIDAR) sensors. This calibrated data enables 3D scene information to be mapped to time-synchronized 2D camera images, where discontinuities in the ranging data indicate the increased likelihood of obstacle edges. Applications include Advanced Driver Assistance Systems (ADAS) which address lane-departure, pedestrian protection and collision avoidance and require both high-quality image segmentation and computational efficiency. Simulated and experimental results that demonstrate system performance are presented.
Lee, Cheng-Lung, Zhang, Hongyi, Nguyen, Hong, Wu, Yu-Ting, Smalley, Christopher, Mohammad, Utayba, Paulik, Mark J.
Rehabilitation of Visual and Perceptual Dysfunction after Severe Traumatic Brain Injury (TBI)TBMG-188741/1/2014
The aim of this work is to conduct preliminary evaluations of new rehabilitation strategies and new functional assessment methods for homonymous hemianopia (HH) and spatial neglect (SN), two disabling visual and cognitive perception conditions that commonly occur as a result of severe traumatic brain injury (TBI) and stroke. Both HH and SN prevent detection of objects on completed the protocol: an 18-year-old male with left HH without SN, who has had HH for two years as a result of an arteriovenous malformation that required surgery.
Teleoperation of Cooperative Control of Multiple Heterogeneous Slave Unmanned Aerial Vehicles via a Single Master Subsystem for Multi-Task Multi-Target Scenarios2013-01-21059/17/2013
This paper proposes a control method to remotely operate cooperative multiple heterogeneous slave unmanned aerial vehicles (UAVs) via a single master robot to perform different tasks on different targets in one mission. The UAV team is formed by different automated aircrafts. They are equipped with a vehicle-task-target pairing algorithm to be assigned their proper tasks and targets when moving in a leader-follower formation to track and perform assigned targets and tasks, respectively. The proposed leader-follower formation control method is modified based on a potential field algorithm to guide the UAV team or sub-team. In the UAV team, only a single leader vehicle is teleoperated by a human operator while all other follower vehicles autonomously form the formation regarding the leader movement. Therefore, the number of long distance transmission links between UAVs is reduced to minimize the possibility of occurrences of large communication delays. Besides, the vehicle-task-target
Cheung, Yushing, Chung, Jae
Functional Safety for Cooperative Systems2013-01-01974/8/2013
This paper investigates what challenges arise when extending the scope of functional safety for road vehicles to also include cooperative systems. Two generic alternatives are presented and compared with one another. The first alternative is to use a vehicle centric perspective as is the case in the traditional interpretation of ISO 26262 today. Here, an “item” (the top level system or systems for which functional safety is to be assured) is assumed to be confined to one vehicle. In the vehicle centric perspective inter-vehicle communication is not an architectural element and is therefore not a candidate for redundancy as part of the functional safety concept. The second alternative is to regard a cooperative system from a cooperative perspective. This implies that one item may span over several vehicles. The choice of perspective has implications in several ways. We investigate the implications for the cooperative item and in what ways the results may differ when going through the
Nilsson, Josef, Bergenhem, Carl, Jacobson, Jan, Johansson, Rolf, Vinter, Jonny
Subjective Evaluation of Advanced Driver Assistance by Evaluation of Standardized Driving Maneuvers2013-01-07244/8/2013
Advanced Driver Assistance Systems (ADAS) for collision avoidance/mitigation have already demonstrated their benefit on vehicle safety. Often those systems have an additional functionality for comfort to assist the driver in non-critical driving. The verification of ADAS functionality using different test scenarios is currently investigated in many different projects worldwide. A harmonization of test scenarios and evaluation criteria is not yet accomplished. Often, these test scenarios focus on objective collision avoidance and not on the subjective interaction between driver and vehicle. The present study deals with the development of an experimental validation plan for the systems Automatic Cruise Control (ACC), Lane Departure Warning (LDW) and Lane Keeping Assist (LKA). Standardized driving maneuvers with two or more vehicles equipped with synchronized measurement are performed by professional test drivers. For this purpose selected public roads are used, and the different
Bernsteiner, Stefan, Lindvai-Soos, Daniel, Holl, Reinhard, Eichberger, Arno
Validation of a Driver Recovery Model Using Real-World Road Departure Cases2013-01-07234/8/2013
Predicting driver response to road departure and attempted recovery is a challenging but essential need for estimating the benefits of active safety systems. One promising approach has been to mathematically model the driver steering and braking inputs during departure and recovery. The objective of this paper is to compare a model developed by Volvo, Ford, and UMRTI (VFU) through the Advanced Crash Avoidance Technologies (ACAT) Program against a set of real-world departure events. These departure events, collected by Hutchinson and Kennedy, include the vehicle's off road trajectory in 256 road departure events involving passenger vehicles. The VFU-ACAT model was exercised for left side road departures onto the median of a divided highway with a speed limit of 113 kph (70 mph). At low departure angles, the VFU-ACAT model underpredicted the maximum lateral and longitudinal distances when compared to the departure events measured by Hutchinson and Kennedy. Two sets of driver parameters
Daniello, Allison, Kusano, Kristofer, Gabler, H.
Forward Collision Warning Timing in Near Term Applications2013-01-07274/8/2013
Forward Collision Warning (FCW) is a system intended to warn the driver in order to reduce the number of rear end collisions or reduce the severity of collisions. However, it has the potential to generate driver annoyances and unintended consequences due to high ineffectual (false or unnecessary) alarms with a corresponding reduction in the total system effectiveness. The ineffectual alarm rate is known to be closely associated with the “time to issue warning.” This results in a conflicting set of requirements. The earlier the time the warning is issued, the greater probability of reducing the severity of the impact or eliminating it. However, with an earlier warning time there is a greater chance of ineffectual warning, which could result in significant annoyance, frequent complaints and the driver's disengagement of the FCW. Disengaging the FCW eliminates its potential benefits. A shorter warning time may be beneficial; it would reduce ineffectual alarm rates and thus reduce driver's
Nusholtz, Guy S., Hsu, Timothy P., Gracián, Manuel A., Prado, Jesús A., Cedeño, Rebeca, Santillán, Nadia M., Herrera, David
Vision Based Driver Alert System2012-01-04814/16/2012
Vision based systems using cameras are widely used in various industry verticals. The basic functionality of a vision system is to detect an object and then recognize it. In current automotive industry these systems are being used in applications like collision avoidance, intelligent cruise control, blind spot detection, parking assistance, identify pedestrians, etc. During driving conditions, 2 wheeler and 4 wheeler drivers are required to concentrate more on the road because of which they may tend to miss the traffic signs; more often during night times. The traffic signs can be one way, U-turn, right/left turn prohibited, bump ahead and etc. So there is a need for a system which detects, recognizes and intimates these signs to the driver. Extensive research is being carried out in the area of recognizing a traffic sign, but more focused research is done for a complex problem of detecting the sign in the real world environment. The proposed image processing algorithm for detection of
Kumar C, Sunil, Srinivasaiah, Bhavani, Dhinagar, Jabez
Traffic Situation Assessment and Intervention Strategy of a Collision Avoidance System based on Galileo Satellite Positioning2012-01-02804/16/2012
Nowadays, collision avoidance systems (CAS) are an intensive research topic since the majority of all traffic accidents are collisions that are caused due to inattention or unadjusted driving behavior of the driver. Up to date prototypic CAS are based on on-board environmental sensors, such as camera or radar systems, that scan the vehicle's surrounding environment in order to assess the situation's hazardousness. The functionality of the used sensors under varying environmental conditions and the limited sensor covering area require an enormous effort to ensure a reliable detection of obstacles, and thus limit the application of the systems. In order to expand the operating field of such systems, a Galileo-based CAS will be developed within the project ‘Galileo above’ (application centre for ground based traffic). This advanced driver assistance system (ADAS) detects surrounding vehicles that are on collision course and reacts autonomously, if the driver does not intervene to avoid
Christen, Frederic, Ewald, Christian, Eckstein, Lutz, Abel, Dirk, Katriniok, Alexander, Duysinx, Pierre
Extension of the Honda-DRI “Safety Impact Methodology” (SIM) for the NHTSA Advanced Crash Avoidance Technology (ACAT) II Program and Application to the Evaluation of a Pre-Production Head-On Crash Avoidance Assist System - Progress Report2012-01-02914/16/2012
This paper reports on the interim progress of the Honda-DRI ACAT-II program initiated by the National Highway Traffic Safety Administration (NHTSA). The objectives of the ACAT-II program were further development of a formalized Safety Impact Methodology (SIM) for estimating the capability of advanced technology applications installed in vehicles to address specific types of motor vehicle crashes, and to evaluate driver acceptance of the technologies. This particular ACAT study extended earlier work by Honda and DRI in the NHTSA ACAT-I program by extending the SIM so as to be able to analyze head-on crashes more completely, and by using the extended SIM to evaluate of a pre-production version of a Honda Head-on Crash Avoidance Assist System (HCAAS). More than 25 substantial SIM extensions and refinements were implemented, including: updated and extended FARS and NASS database extractions; improving the accident reconstruction process for NASS/CDS cases and developing a new special
Zellner, John, Van Auken, R. Michael, Silberling, Jordan, Kelly, Joseph, Hagoski, Brad, Sugimoto, Yoichi, Urai, Yoshihiro
Determining a Safety Baseline for Unmanned Aircraft Systems2011-01-268610/18/2011
Unmanned Aircraft Systems (UAS) emerge as a viable, operational technology for potential civil and commercial applications in the National Airspace System (NAS). Although this new type of technology presents great potential, it also introduces a need for a thorough inquiry into its safety impact on the NAS. This study presents a systems-level approach to analyze the safety impact of introducing a new technology, such as UAS, into the NAS. Utilizing Safety Management Systems (SMS) principles and the existing regulatory structure, this paper outlines a methodology to determine a mandatory safety baseline for a specific area of interest regarding a new aviation technology, such as UAS Sense and Avoid. The proposed methodology is then employed to determine a baseline set of hazards and causal factors for the UAS Sense and Avoid problem domain and associated regulatory risk controls.
Oztekin, Ahmet, Lee, Xiaogong
Evaluation of the Use of a Head Worn Display (HWD) for Flight Support in the Commercial Flight Deck2009-01-314411/10/2009
This study compared the performance of pilots flying a series of approach and landings under each of three conditions: using standard 737-NG flight deck displays only, using those displays with an optical head up display (HUD), and using those displays with a head worn display (HWD) depicting the same symbology as the HUD. Display condition had no effect on pilots' normal landing flight profiles or successful avoidance of a runway incursion. However, pilots reported decreased situation awareness and increased perceived workload when using the HWD as compared to the other two conditions. Pilot comments suggested that the poorer ratings for HWD were attributed to physical characteristics of the hardware and noticeable head-tracking latency. The results indicate that while the HWD technology still needs more refinement, the near-to-eye display concept is a viable alternative to a HUD.
Thomas, Lisa C.
Integration of Car-to-Car Communication into IAV2009-01-14794/20/2009
In this paper, we present the integration of C2C communication into IAV. Traditional IAV detects target vehicles only they are in visible area; however this integration makes IAV to sense target vehicles even they are blocked by obstacles. In this system, C2C ECU keeps monitoring the target vehicles on the road and sends a warning to IAV controller when it detects any event or risky situation. Finally IAV avoids the collision with the target vehicle by reducing the moving speed or generating a new path.
Moon, Tae-Kyung, Oh, Jun-Nam, Na, Hyuck-Min, Yoon, Pal-Joo
2D/3D Synthetic Vision Navigation DisplayTBMG-32019/1/2008
Flight-deck display software was designed and developed at NASA Langley Research Center to provide two-dimensional (2D) and three-dimensional (3D) terrain, obstacle, and flightpath perspectives on a single navigation display. The objective was to optimize the presentation of synthetic vision (SV) system technology that permits pilots to view multiple perspectives of flight-deck display symbology and 3D terrain information. Research was conducted to evaluate the efficacy of the concept. The concept has numerous unique implementation features that would permit enhanced operational concepts and efficiencies in both current and future aircraft.
Testing a Nonveridical Aircraft Collision Avoidance System2008-01-22618/19/2008
Map displays are veridical representations of realistic information. State spaces are nonveridical representations of arbitrary n-dimensional information. In this experiment, flight performance using a map-based cockpit display of traffic information (CDTI) was compared to performance augmented by a state space-based 4D collision avoidance system (CDTI+4CAS). 4CAS displayed state information about the safety of ownship maneuvers and their available maneuver time. Twelve general aviation pilots each flew eight scenarios, trying to deviate as little as possible from course while still maintaining standard enroute separation from traffic. The CDTI+4CAS condition showed performance superiority over the CDTI-only condition for five of five dependent measures of maneuver efficiency, four of four measures of maneuver safety, and six of nine measures of workload. Human factors issues are discussed.
Knecht, William R.
When less means moreAEROMAR06_013/1/2006
More electronic functions fit into less space, improving safety without adding bulk. The shrinking size of electronics continues to reshape aeronautics, making it possible to combine multiple control systems in one box. Smaller electronics also make it possible to give pilots more assistance from takeoff through landing, improving safety in many ways. Gone are the days when requirements were written for standalone boxes operating in discrete environments. Today's systems perform multiple functions, eliminating the size and weight of hardware that sometimes sat idle for much of the flight, seeing use only in takeoffs or landings.
Costlow, Terry
Airline Pilots' Perceptions of and Experiences in Crew Resource Management (CRM) Training2002-01-296311/5/2002
We surveyed over 30,000 airline pilots to assess their perceptions of and experiences in their professional training. In this paper, we describe their responses to a series of questions that focus on Crew Resource Management (CRM) training. The results suggest that most pilots are satisfied with their CRM training and find it useful. However, the respondents indicated that training programs which integrate CRM principles throughout the entire curriculum are substantially more useful than stand-alone CRM training courses.
Beaubien, J. Matthew, Baker, David P.
Finding the ‘Smoking Gun’: The Role of Expert Analysis in Aircraft Accident Investigations2001-01-26449/11/2001
Farrier, Thomas A.
An Engineer in the CourtroomR-155-TEST-REC7/1/1995
Engineers may become involved in litigation for various reasons. Some common examples include product liability and accident investigation cases. The information and suggestions included in An Engineer in the Courtroom will enable engineers to do a proper and professional job when dealing with matters of litigation, in and out of the courtroom. Chapters Cover: Introduction The Nature of Accidents Why Go to Court? Avoiding Litigation The Litigation Process Engineers and Engineering Information How the Engineer Can Help the Attorney The Discovery Process The Deposition The Trial Questions Accident Reconstruction Definitions and Techniques Employed by Attorneys War Stories Tips for the Engineer Involved in Litigation An interesting, informative, "must-read" book for engineers involved in product design, consulting, or accident investigation, and an ideal reference for lawyers to have on hand to give to engineers serving as expert witnesses.
Lux, William J.
Helicopter Unique Instrument Approaches: Trajectories, Flying Qualities, Controls and Displays94216510/1/1994
The paper presents an argument for combining the precision of GPS with robust slow speed agility of the helicopter to support the wide implementation of a helicopter precision track GPS (HPT-GPS) instrument approach. The autonomous nature of the approach suggests that it is particularly suited for use at small airports and heliports. This capability is then characterized as providing an affordable way to facilitate the integration of rotorcraft Into the National Airspace System to facilitate commerce and Emergency Medical Service (EMS) to areas that are otherwise poorly served by aviation during poor weather. The paper defines a new minimum approach airspeed (VMAP) which applies to the last segment of the approach. This segment involves a descent to a Minimum Descent Altitude (MDA) and continued flight to a Helicopter Visual Descent Point (HVDP) which is expected to be located 150 feet or more above or beyond the runway threshold. A series of charts is used to explain the relationship
Kimberlin, Ralph D., Green, David L.
Collision Detection Serial Data Communications Multiplex BusJ1567_198708 (Historical)8/1/1987
Vehicle Architecture For Data Communications Standards
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