ABSTRACT Over time, the National Institute of Standards and Technology (NIST) has refined the 4Dimension / Real-time Control System (4D/RCS) architecture for use in Unmanned Ground Vehicles (UGVs). This architecture, when applied to a fully autonomous vehicle designed for missions in urban environments, can greatly assist in the process of saving time and lives by creating a more intelligent vehicle that acts in a safer and more efficient manner. Southwest Research Institute (SwRI®) has undertaken the Southwest Safe Transport Initiative (SSTI) aimed at investigating the development and commercialization of vehicle autonomy as well as vehicle-based telemetry systems to improve active safety systems and autonomy. This paper will discuss the implementation of the 4D/RCS architecture to the SSTI autonomous vehicle, a 2006 Ford Explorer.

McWilliams, George, Brown, Michael

EDITORIAL: It's not nothing, man

24AUTP06_0406/01/2024

Mathematicians, hold your ire. There's a hidden message in this issue that there's no difference between zero and infinity. Let me explain. In mid-May, I attended VI-Grade's Zero Prototype Summit (ZPS). As the name suggests, the company - like so many others working in the test simulation space - is trying to provide OEMs and suppliers with the tools to reduce the number of physical prototypes that have to be developed and built before those vehicles or components reach production-ready status. We haven't yet entered the zero-prototype automotive world, but we're getting closer. You can find detailed ZPS coverage starting on page 22.

Blanco, Sebastian

Automotive EMC Analysis of Touch Sensing IC

2024-26-035301/16/2024

The technology in the automotive industry is evolving rapidly in recent times. Thus, with the development of new technologies, the challenges are also ever-increasing from an Electromagnetic Interference and Susceptibility (EMI/EMC) perspective. A lot of the latest technologies in Adaptive Driver Assistance Systems (ADAS), which include Rear Drive Assist, Blind Spot Detection (BSD), Lane Change Assist (LCA) to name a few, and other features like Anti-Braking System (ABS), Emergency Brake Assist (EBD) etc. rely heavily on different types of sensors and their detection circuitry. In addition, a lot of other internal functions in the Engine Control Unit (ECU) also depend on such sensors’ functionalities. Thus, it becomes imperative to study the potential impact of higher field emissions on the immunity behaviour of the sensors. In this paper, we will study the immunity behaviour of such an automotive capacitive touch-sensing integrated circuit (Microcontroller IC) and its impact on the

Boya, Vinay Kumar, Adhyapak, Anoop, Komma, Vineetha, sahoo, Manoranjan

A Novel Method to Select Hyperparameters of The DBSCAN Algorithm for RADAR Applications

2024-26-003001/16/2024

Abstract- As the automotive industry is coming up with various ADAS solutions, RADAR is playing an important role. There are many parameters concerning RADAR detections to acknowledge. Unsupervised Clustering methods are used for RADAR applications. DBSCAN clustering method which is widely used for RADAR applications. The existing clustering DBSCAN is not aligned very well with its hyperparameters such as epsilon (the radius within which each data point checks the density) and minimum points (minimum data points required within a circle to check for core point) for which a calibration is needed. In this paper, different methods to choose the hyperparameters of DBSCAN are compared and verified with different clustering evaluation criteria. A novel method to select hyperparameters of the DBSCAN algorithm is presented with the paper. For testing the given algorithm, ground truth data is collected, and the results are verified with MATLAB-Simulink. Keywords- (clustering, DBSCAN, DBSCAN

Payghan, Vaibhav Santosh, Prajapati, Miit, Chauhan, Abhisha

Cyber Threats and its Mitigation to Intelligent Transportation System

2024-26-018401/16/2024

With the revolutionary advancements in modern transportation, offering advanced connectivity, automation, and data-driven decision-making has put the intelligent transportation systems (ITS) to a high risk from being exposed to cyber threats. Development of modern transportation infrastructure, connected vehicle technology and its dependency over the cloud with an aim to enhance safety, efficiency, reliability and sustainability of ITS comes with a lot more opportunities to protect the system from black hats. This abstract explores the landscape of cyber threats targeting Intelligent Transportation Systems, focusing on their potential impacts, vulnerabilities, and mitigation strategies. The cyber-attacks in ITS are not just limited to Unauthorized Access, Malware and Ransomware Attacks, Data Breaches, Denial of Service but also to Physical Infrastructure Attacks. These attacks may result in potentially disrupting critical transportation infrastructure, compromise user safety, and can

Dewangan, Kheelesh Kumar, Panda, Vibek, Ojha, Sunil, Shahapure, Anjali, Jahagirdar, Shweta Rajesh

Anomaly detection and Quality Indicators for Digital maps used in ADAS applications

2024-26-002601/16/2024

With the evolution of ADAS and AD technology, digital maps have become one of the critical sources along with other ADAS sensors. Up-to-date map data is crucial for proper functioning of ADAS functions. The need for map update is driven by (i) ADAS technology progressively using map attributes in risk of getting outdated, and (ii) by rapid changes in road infrastructure. This demands the need to evaluate the correctness and quality of the map data on a regular basis and in an efficient way. In this work, we propose a framework to quantify the map data quantity and quality in a systematic way. The framework algorithmically detects error locations in a map database and then derives KPIs from these error locations. This helps in identifying issues in the map data related to the internal data consistency or heuristic rules. The framework consists of a process automation written in Python and map database checks written in SQL. The proposed framework defines validation methodology that

Veber, Christophe, Bai N, Niha, Bhat, Goutam, Kumar, Vikas, Nair, Priyanka, Li, Yu

Framework for the Verification & Validation (V&V) of Advanced Driver Assistance Systems

2024-26-002201/16/2024

Autonomous Emergency Braking (AEB) systems play a critical role in ensuring vehicle safety by detecting potential rear-end collisions and automatically applying brakes to mitigate or prevent accidents. This paper focuses on establishing a framework for the Verification & Validation (V&V) of Advanced Driver Assistance Systems (ADAS) by testing & verifying the functionality of a RADAR-based AEB ECU. A comprehensive V&V approach was adopted, incorporating both virtual and physical testing. For virtual testing, closed-loop Hardware-in-Loop (HIL) simulation technique was employed. The AEB ECU was interfaced with the real-time hardware via CAN. Data for the relevant target such as the target position, velocity etc. was calculated using an ideal RADAR sensor model running on the real-time hardware. The methodology involved conducting a series of test scenarios, including various driving speeds, obstacle types, and braking distances. Automation was leveraged to perform automated testing and

Bhagat, Ajinkya, Kale, Jyoti Ganesh, Pachhapurkar, Ninad, Karle, Manish, R, Manish, Karle, Ujjwala

Evaluating forward collision warning and autonomous emergency braking systems in India using dashboard cameras

2024-26-003101/16/2024

Road traffic fatalities in India have been increasing, reaching around 150,000 fatalities a year. To reduce fatalities, some prospective studies suggested using active safety technologies such as Forward Collision Warning (FCW), and Autonomous Emergency Braking (AEB). However, the effectiveness of FCW and AEB on Indian roads using retrospective studies is not known. Vehicle data such as radar, and controller area network signals could be used for the evaluation of the systems (FCW and AEB). However, these data are not readily accessible. This exploratory study aims to explore the opportunities and limitations of using simple dashboard cameras for a Field Operational Test. One European car with state-of-the-art FCW and AEB systems was rented. Fifteen drivers shared the vehicle, driving almost 10,000 km over 29 days. The vehicle was mounted with a set of dashboard cameras. The navigator noted the “system activated” events and “no activation” events in the logbook during the drive. Post

Shaikh, Junaid, Lubbe, Nils

Prediction of Involuntary Knee Engagement on Dashboard Controls to Prevent Potential Accidents for Drivers in Passenger Cars

2024-26-001001/16/2024

Ergonomics plays an important role in safety, comfort and convenience of occupants in passenger cars. Customers come in different anthropometry; have different preferences and exhibit different seating behaviors while driving a car. Integration of dashboard and in the vehicle has become a challenging task with sophisticated interior styling themes aimed at satisfying the increasing customer demands. The dashboard design is becoming more futuristic, leading to complex integration of parts in the cockpit area. This has a deteriorating effect on the driver knee clearance. In general, the postures of drivers are within a presumable range of prediction. However, there exists 'out-of-customary' behaviors while driving a vehicle. Drivers tend to sit in a slouched posture and this leads to an involuntary knee engagement on the dashboard, which has many switches and controls. This could lead to activation of any switches on dashboard including critical controls like EPB (Electronic Parking

Rajakumaran, Sriram, Devan, Rohan Maruti, MANEKAR, RAHUL, BABALESHWAR, VINOD, KUNNANATH, JASAR

Evaluation of Automated Emergency braking systems for collision avoidance

2024-26-018501/16/2024

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.

Regulatory trends for enhancement of Road Safety

2024-26-016501/16/2024

Various Advanced Driver Assistance systems are being introduced to the Indian Market with the aim of reducing the road fatalities and injuries leading to severe trauma. India being one of the largest markets for the automobile sector always stands committed towards providing safe and sustainable transportation to its citizens. Advanced Driver Systems such as Anti-lock Braking Systems (ABS), Autonomous Emergency Braking systems (AEBS), Lane Departure Warning Systems, Auto Lane Correction Systems, Driver Drowsiness Monitoring Systems, Speed Limiting and Assisting Systems, Automated Crusing Control Systems, Automated Commanded Steering Functions, Traffic Jam assist systems etc., assist the driver during driving. They tend to reduce road accidents and related fatalities by their advanced and artificial intelligent fed programs. This paper will share an insight on the past, recent and the upcoming developments in the regulations with respect to driver assist systems, that are being enforced

Nayak, Pratik, Rawal, Vishal, Patil, Kamalesh, Tandon, Vikram, Badusha, Akbar

Synthetic scenario generation from real road data for Indian specific ADAS function verification and validation

2024-26-002001/16/2024

Advanced Driver Assistance Systems (ADAS) play a crucial role in enhancing road safety by providing intelligent assistance to drivers. To ensure the reliability and effectiveness of ADAS functions, rigorous verification and validation processes are necessary. One critical aspect of this process is scenario generation, which involves creating diverse and representative driving scenarios for testing and evaluating ADAS functions. This paper proposes a novel approach for synthetic scenario generation specifically tailored for Indian road conditions. The approach leverages real-time road data collected from various sources, including camera sensors, Lidar sensor, GPS devices, and traffic monitoring systems. The collected data is processed and analyzed to extract relevant information, such as road geometries, traffic patterns, and environmental conditions. Based on the extracted data, a synthetic scenario generation algorithm is developed, which takes into account the unique characteristics

Pachhapurkar, Ninad, R, Manish, Kale, Jyoti Ganesh, Karle, Manish, Karle, Ujjwala, Gupta, Rishu, saurav, Saket

Modelling and Evaluation of pedestrian active safety system based on accidents in India

2024-26-001301/16/2024

Many Vulnerable Road Users (VRUs) experience injuries and fatalities every year, making road safety a challenge in World . According to the Ministry of Road Transport and Highway during the year 2021 alone, a total number of 4,12,432 road accidents have been reported in India, claiming 1,53, 972 lives and causing injuries to 3,84,448 persons. In terms of road-user categories, the total fatality of the Pedestrian road-users was 18.9 per cent of persons killed in road accidents. One of the ways to handle the situation is to protect pedestrians utilizing active safety measures. In addition, active safety research heavily relies on perceptions of pre-crash scenarios. The objective of the study is to examine passenger car-to-pedestrian and model active safety system in a car to prevent or mitigate collisions. Road Accident Sampling System – India (RASSI) database is used for this research, which provided a comprehensive set of accident data describing the interaction between the vehicle

Doshi, Urvilkumar HItendrabhai, Agrawal, Saurav, Muthanandam, Muthukumar, Yarramsetti, Karthik, Penumaka, Avinash, Kalakala, Vijaya Prakash

A Multiple-Input Multiple-Output Radar-Based Rider Assistance System for Personal Light Electric Vehicles

2023-01-504007/06/2023

The use of personal light electric vehicles (PLEVs), such as electric scooters, has rapidly increased in recent years. However, their widespread use has raised concerns about rider safety due to their vulnerability in shared traffic spaces. To address this issue, this paper presents a radar-based rider assistance system aimed at enhancing the safety of PLEV riders. The system consists of an adaptive feedback system and a single-channel anti-lock braking system (ABS). The adaptive feedback system uses multiple-input multiple-output (MIMO) radar sensors to detect nearby objects and provide real-time warnings to the rider through haptic, visual, and acoustic signals. The system takes into account traffic density and uses online data to warn about obscured objects, thereby improving the rider’s situational awareness. Results from testing the feedback system show that it effectively detects potential collisions and provides warning signals, reducing the risk of accidents. The ABS is

Pyschny, Jan, Berger, Felix, Rothen, Samuel, Denker, Joachim, Frantzen, Michael, Roder, Felix, Kneiphof, Simon

"Objectifying Visual Perception for Automotive Screens through Vibration Targets"

2025-01-004305/05/2023

New mobility concepts with smart infrastructure have led to enhanced customer driving experience. The potential to develop safe cars with minimal driver intervention is a great need of the future. The cusp for fully autonomous driving has produced much technical talk, which has led to faster transition and adoption. One of the features that global OEMs have tried to focus on, is Human Machine Interface (HMI) solutions, popularly called display screens. The touchscreen HMIs are common in all mid-range budget cars. They offer driver support beyond just streaming music, including inputs for navigation, parking assistance, in-car technologies, ADAS, and infotainment. Poor display screen visibility is a phenomenon observed when a vehicle is driven over different road surfaces. This paper presents a user-centric approach for the right design & development of the HMI for a vibration free driving experience. The mounting strategies for the display screens, from the existing projects were

ADIL, MD SHAHZAD, C M, MITHUN, Mohammed, Riyazuddin, R, Prasath

test 11/01/2022 10:40 amauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto testauto test

SAE-PP-0778011/01/2022

test 11/01/2022 10:40 am

Mutagaana, Festo

Improving Functionalities of Existing Electronic Stability Controller by adding Sensor Detection Based Algorithm for Collision Avoidance using CarSim.

2022-01-116809/19/2022

With the advent of autonomous driving into mobility industry, passenger safety is of paramount importance. Electronic Stability Control (ESC) has been widely employed as an active safety feature in most of the modern cars, ESC is majorly based on differential braking, steer by wire or active torque distribution to prevent the vehicle from going off-course. However, ESC is limited to the discretion of the driver. Thus, the objective of this paper is to improve functionalities of existing electronic stability control by adding sensor detection-based algorithm for collision avoidance. The subject vehicle is installed with an existing default ESC & ABS system along with two range tracking sensors at front and rear and two blind spot detection sensors. The algorithm for collision avoidance has been tested in CarSim 2021.1. The procedure is tuned on different complex highway driving scenarios where a crate falls off from a traffic vehicle moving ahead of the subject vehicle along with

Shaikh, Parvez, Debnath, Sarnab, Kamble, Vijay, Mallikarjunaiah, Umesh

Test Preprint 20220628 By Madhukar Dongari

SAE-PP-0259906/28/2022

Test Preprint 20220628 By Madhukar Dongari

Mutagaana, Festo

A humanized vehicle speed control to improve the acceptance of automated longitudinal control

2022-01-009703/29/2022

Vehicle speed controls, as adaptive cruise control and related automated evolutions, are control systems able to follow a desired vehicle reference speed that is set by the driver and fused with information as road signs, SD maps etc.. Current normal production systems don’t distinguish among the vehicle users, only some carmakers are doing first steps towards the introduction of learning from driver to adapt the traditional control. In our work, we follow up this content with a humanized speed control, based on learning of driver longitudinal behavior. This method is able to combine machine learning algorithms, vehicle positioning and recurrent trips into existing automated longitudinal control systems. Proposed algorithm can reduce the interactions between drivers and automated systems by improving the acceptance of automated longitudinal control. Furthermore, proposed integration works mainly on speed reference that dramatically simplifies the customization of the system. We present

Raffone, Enrico, Rei cEng, Claudio, Fossanetti, Massimo

Development of an Integrated Co-Simulation Environment to Model and Test Advanced DAT Features Utilizing MIL and HIL

2022-01-010303/29/2022

The widespread deployment of Connected and Automated Vehicles (CAVs) in the future will bring major changes in the automotive industry and the vehicle features it will offer. Currently, technology and infrastructure are not ready to test and develop CAV features fully in real traffic. Simulators are becoming popular to develop CAVs and assisted automated driving features for all levels of automation to overcome the infrastructural needs of the automotive industry. Simulators allow researchers to design CAV algorithms safely, quickly, and efficiently, and test these algorithms for various metrics. A co-simulation environment, where a vehicle simulator like CarSim and a traffic simulator like Simulation of Urban Mobility (SUMO) feed into each other, is an invaluable tool, allowing CAV features to be tested in a realistic traffic environment. This paper presents a co-simulation environment, where the vehicle simulator CarSim and the traffic simulator SUMO share data. The paper follows the

Kavas-Torris, Ozgenur, cai, Xiaolin, Joshi, Adit, Mittal, Archak, Djavadian, Shadi, Fishelson, James

A Soiling Mitigation Method to Enhance the Performance of ADAS in Adverse Weather

2022-01-007403/29/2022

The emergence of autonomous driving technology has tremendous mobility and social-economical benefits. Autonomous vehicles (AVs) rely on various sensors for environmental and traffic data. However, the sensor performance and reliability degrade in adverse weather conditions, which poses a challenge to the safety of AVs. Existing active mitigation strategies such as wipers and water jets are complex and expensive to implement. This study investigates soiling mitigation via rotating lens with the goal to maintain Advanced-Driver-Assistance-System (ADAS) sensor visibility in rain. The concept of rotating lens has merely been lightly explored in literature, but never been studied in detail with realistic continuous rain simulation to verify soiling mitigation effectiveness. An optical camera in place of a frontal vehicle ADAS sensor was integrated into a rotating lens for visual characterization. A wind tunnel was used to simulate various wind-driven rain scenarios in both urban and

Pao, Wing Yi, Li, Long, Agelin-chaab, Martin

Multi trucks platooning fuel economy test results with cooperative adaptive cruise control under real-world driving conditions

2022-01-050103/29/2022

The application of cooperative adaptive cruise control (CACC) to heavy-duty trucks known as truck platooning has shown fuel economy improvements over test track ideal driving conditions. However, there are limited test data available to assess the performance of CACC under real-world driving conditions for 3 trucks automation. As part of a U.S. Department of Energy Funding Opportunity Announcement award project, 3 trucks platooning with CACC has been tested under real-world driving conditions and the results are presented in this paper. On-highway testing is done on a route in Indiana representing the operation of long-haul Class 8 trucks in the United States. The road includes low, medium and high grade segments. The impact of road grade variation and traffic on truck platooning is analyzed and some of the issues with this technology are identified for further research and improvements.

Borhan, Hoseinali, Brady, Nathan, YU, Chia-Siung, Fuhs, Karla, Adi, Gayatri, Pattel, Bibin, Lammert, Michael

Identification of Road Adhesion Coefficient Based on Neural Network and Kalman Filter

2022-01-110303/29/2022

As an important input parameter of intelligent vehicle active safety technology, road adhesion coefficient is of great significance in autonomous collision avoidance, emergency braking and collision avoidance, and variable adhesion road motion control. Traditional recognition methods based on vehicle dynamics require large data volume and low solution accuracy, while recognition methods based on optical sensors have strict requirements on the working environment, poor adaptability under complex working conditions, and high cost. This paper proposes an adhesion coefficient recognition method based on Elman neural network and Kalman filter. By establishing a four-degree-of-freedom vehicle dynamics model, the dynamic parameters such as yaw rate, longitudinal velocity, lateral velocity, and angular velocity of each wheel related to the road adhesion coefficient are analyzed as the input of the neural network model. Carsim/Simulink co-simulation is used to establish a data set, the Kalman

Lu, Xin

Real-time dynamic region of interest for sensor fusion on a fixed route.

2022-01-007603/29/2022

Sensor fusion is a key technology for enabling the robust operation of automated vehicles. Sensor fusion typically utilizes inputs of cameras, radars, lidar, inertial measurement unit, and global navigation satellite systems to then output robust object detection or positioning data for automated vehicles. This paper will focus on sensor fusion between the camera, radar, and onboard vehicle sensors which is a critical need for near-term realization of sensor fusion benefits. All data collection and experiments were completed on an instrumented autonomous vehicle. The camera is an off-the-shelf computer vision product from MobilEye and the radar is a Delphi/Aptive electronically scanning radar (ESR) both of which are connected to a drive-by-wire capable vehicle platform. We utilize the MobilEye and wheel speed sensors to create a dynamic region of interest (DROI) of the drivable region that changes as the vehicle moves through the environment. The use of the DROI reduces the need for

Brown, Nicolas Eric, Fanas Rojas, Johan, Alzu'bi, Hamzeh, Alrousan, Qusay, Meyer, Rick, Asher, Zachary

Tire Track Identification: A Method for Drivable Region Detection in Conditions of Snow-Occluded Lane Lines

2022-01-007803/29/2022

Today’s advanced driver-assistance systems (ADAS) commonly utilize the camera sensor to provide the benefit of increased safety to the driver. This is done by using computer vision to detect two key environmental features: lane lines and objects (e.g., vehicles, pedestrians, bicycles). Lane detections are vital for safety features such as lane departure warnings, lane-keeping assist systems, and lane-centering systems. However, when subjected to adverse weather conditions, either heavy perception of rain or snow or occlusion of lane lines due to rain or snow, the lane detection algorithms are no longer capable of detecting the lane lines. Hence, the ADAS feature is no longer providing the benefit of increased safety to the driver. The performance of one of the leading computer vision system providers was tested in conditions of variable snow coverage on the road, causing occluded lane lines, using data collected in the 2020-2021 winter in Kalamazoo, Michigan. The results show that this

Goberville, Nicholas A., Kadav, Parth, Asher, Zachary D.

System Identification Techniques to Improve ADAS Feature Performance

2022-01-009303/29/2022

The advances in automotive technology continue to deliver safety and driving comfort benefits to the society. The Automated Driving Assistance System (ADAS) technology is at forefront of this evolution. Today, various vehicle models on the road have features like lane centering, automated emergency braking, adaptive cruise control, traffic jam assist etc. During early development, such feature algorithms often assume ideal environmental and vehicle conditions while doing performance evaluation. The lane centering ADAS feature performance in a test vehicle was studied. The feature considered here is an end-to-end feature, i.e., from camera sensor output to steering actuation. Lane centering control system often has multiple control loops within the vehicle system. The delay in steering system response has a significant effect on overall lane centering performance and driver feel. This study focuses on understanding effect of EPS behavior and vehicle lateral dynamics on overall ADAS

Awathe, Arpit, Varunjikar, Tejas, Ganguli, Subhabrata

Design and Hardware in the Loop testing of AEB controllers

2022-01-010603/29/2022

Current ADAS systems can improve vehicle safety directly influencing its dynamics, reducing the impact of human error while driving. These functionalities have a high impact on the complexity of each unit installed on the car, potentially increasing the development time. In this work, a Hardware in the Loop testing methodology for Autonomous Emergency Braking system is presented, aiming to enable a faster system development process. A commercial production brake by wire unit has been installed on a real-time driving simulator. The AEB functionality of the unit is activable in real-time during the simulation, by the means of a customizable control strategy. Three different AEB controllers have been implemented: the first one reproduces the unit stock functionality, while the two remaining compute the requested deceleration using a PID and a Fuzzy control strategy. The three controllers have been tested in standardized EuroNCAP Car-to-Car Rear (CCR) collision scenarios, implemented on

Alfatti, Federico, Garinei, Michele, Annicchiarico, Claudio, Capitani, Renzo

Isolating the Influence of Road Grade and Curvature on Class-8 Truck Platoon Energy Efficiency

2022-01-006603/29/2022

Platooning heavy-duty trucks reduces aerodynamic drag for following trucks, reducing energy consumption and increasing both range and mileage. Previous platooning experimentation has demonstrated fuel economy benefits in two-, three-, and four-truck configurations. However, exogenous variables disturb the ability of these platoons to maintain the desired formation, causing an accordion effect within the platoon and subsequently reducing energy benefits via unnecessary acceleration/deceleration events. This phenomenon is increasingly exacerbated as platoon size and road grade variations increase. The current work assesses how platoon size, road curvature and road grade influence platoon energy efficiency. Fuel consumption rate is experimentally quantified for four heterogeneous Class 8 vehicles operating in standalone (baseline), two-, and four-truck platooning configurations to assess fuel consumption changes while driving through diverse road conditions under the command of a

Snitzer, Philip, Stegner, Evan, Siefert, Jan, Bevly, David M., Hoffman, Mark

Estimating the Real-World Benefits of Lane Departure Warning and Lane Keeping Support Systems

2022-01-098003/29/2022

Four crash modes are overrepresented in traffic fatalities: run-off-road crashes, non-tracking run-off-road crashes, head-on crashes, and pedestrian crashes. Two advanced driver assist systems developed to help prevent and mitigate tracking run-off-road crashes and head-on crashes are lane departure warning (LDW) and lane keeping support (LKS). LDW acts to warn the driver when they have left the lane, whereas LKS performs automatic steering to prevent the vehicle from departing the lane. The objective of this research was to estimate LDW and LKS effectiveness in reducing run-off-road crashes and cross-centerline head-on crashes. All passenger vehicles that experienced a lane departure from 2017 to 2019 in the Crash Investigation Sampling System (CISS) were analyzed. CISS records the availability of active safety features for each vehicle, including LDW and LKS. The system effectivenesses were computed using the quasi-induced exposure method, where the exposure group was vehicles that

Dean, Morgan E., Riexinger, Luke E.

Developing Safe Software for Autonomous Systems

2022-01-011403/29/2022

In recent years, the amount of embedded software in automobiles has grown exponentially. At the same time, technologies such as artificial intelligence, machine learning, internet of things, and autonomous controls are being deployed to make cars ‘smarter’ while making it more challenging to ensure they are safe and secure. In particular, the global advanced driver assistance system (ADAS) market is expected to reach USD 67.43 billion by 2025, growing at a CAGR 19.0%, according to a new report by Grand View Research, Inc. Government requirements for safer vehicles combined with customer demands for increased autonomy are driving this growth. SAE J3016 defines 6 levels of autonomy, ranging from Level 0 (no automation) to Level 5 (Full Automation). While no vehicle on the road today operates at Level 5, new ADAS technologies enable higher levels of autonomy, and established technologies are being quickly introduced across all makes and models of vehicles. It should come as no surprise

Di Camillo, Stephen, Ghribi, Atef

trajectory planning and steering control for evasive steering assist

2022-01-009603/29/2022

Recently, vehicle safety has drawn great attention from both academia and industry. Increasing number of vehicles on market are equipped with active safety features, such as forward collision warning (FCW), automatic emergency braking (AEB), lane departure warning (LDW), lane departure assist (LDA), etc. While AEB is able to mitigate frontal collision or reduce collision impact by active braking, braking alone is not as effective as steering when host vehicle is in high speed. The reason is that when host speed is high, it takes a long time and distance for host vehicle to brake to full stop. For example, if the host vehicle travels at 24m/s and it brakes with a deceleration of -6m/s^2, it takes 4s and 48m to reach full stop. If the host speed is 30m/s and brakes with -6m/s^2, to stop the host vehicle, it needs 5s and 75m. But it may just take around 2s for an evasive steering to avoid collision compared with 5s of braking alone. That’s why evasive steering is more effective in avoid

Zhang, Guoguang, Wang, Qian, Mujumdar, Tapan, Sugiarto, Tanto

Design and Validation of Energy-optimal Adaptive Cruise Control (EACC)

2022-01-050303/29/2022

The energy consumption of electric vehicles (EVs) is not only influenced by the efficiency of the powertrain components (battery, electric machines, inverters, etc.), but also to a large extend by the driving profile. Therefore, the new function of energy-optimal adaptive cruise control (EACC) is proposed as a new feature in this paper. This function exploits a large potential for energy consumption reduction by optimizing the EVs’ speed trajectory using model predictive control (MPC). EACC optimizes the speed profile of EVs by considering various connected driving information (speed limits, road gradients, predicted future behavior of the vehicle ahead, etc.). To validate the performance of EACC, a prototype system was implemented in an EV. The EV controlled by EACC was driven as the ego-vehicle on a test track. In the test cycles, which represent realistic urban driving scenarios, EACC reduces the energy consumption of the ego-vehicle by up to 13% in comparison to an ego-vehicle

Jia, Yanzhao, Abdelkarim, Anas, Klingbeil, Xiaonan, Görges, Daniel

The Acquisition and Validation of Historical Vehicle Event Data from Ford SYNC Generation 3 Systems Using Berla iVe

2022-01-101203/29/2022

The availability of crash data recorded by automotive event data recorders (EDRs) has grown significantly over the past two decades. These data have been tested and analyzed via numerous instrumented crash tests with validation results reported in many technical papers. More recently, vehicle infotainment systems have offered investigators another avenue to historical timestamped speed data as well as historical location data. These data can possibly go back in time for days, weeks, months, or years. These data have also been validated through the analysis of instrumented testing, with the results published in several technical papers. A branch of digital forensics known as vehicle system forensics has sprouted in the last several years revealing a wealth of data recorded by modern automobiles that may serve as key evidence to investigators. In addition to historical vehicle speeds and locations, investigators are now able to acquire the historical occurrences of vehicle events

Vandiver, Wesley, Anderson, Robert

A study of the Performance of Autonomous Emergency Braking Systems when presented with Pedestrian Targets

2022-01-098903/29/2022

This paper reviews and analyzes the testing conducted by the IIHS with respect to Automatic Emergency Braking systems equipped on passenger vehicles when presented with a pedestrian hazard ahead. The paper addresses the differences in how vehicles respond to a moving and stationary pedestrian, the difference in vehicle behaviour if the pedestrian is initially not visible, and the differences in vehicle behaviour when the hazard is a stopped vehicle vs. a pedestrian. Finally, the paper addresses differences in human performance and vehicle behaviour when faced with a pedestrian in motion

Miholjcic, Djordje, Erazo, Fabian, Polak, Anna

Experiments and numerical simulations of snow contamination for automotive bluff bodies

2022-01-108103/29/2022

The automotive industry is in a transformation process where advanced active safety systems are developed to make it feasible with autonomous vehicles. With this development the need for sensor availability is essential since the systems depend on the sensors surrounding the vehicle. One of the challenges with sensor availability is during driving in cold weather conditions, where accumulation of snow on a sensor surface can block the sensor. In this work we studied snow surface contamination of automotive bluff bodies. Specifically, we studied the Ahmed body as well as a simplified wedge body using experiments and numerical simulations. The objective of our work was to develop a numerical method that can predict snow contamination as well as increase the knowledge of this type of surface contamination. Experiments were performed in a climatic wind tunnel using a snow cannon at -15 °C. The experiments show that the deposition rate depends strongly on the aerodynamics of the bluff

Eidevåg, Tobias, Eng, Matthias, Kallin, David, Casselgren, Johan, Bharadhwaj, Yashas, Bangalore Narahari, Tejas Sharma, Rasmuson, Anders

On the Fly Nonintrusive MCU Data Acquisition through Remote Access While Driving a Vehicle

2022-01-006203/29/2022

In recent years, big data has become a strong new influencer on the economic aspects of our society and even more in our daily lives as individuals. New embedded capabilities within microcontrollers allow non-intrusive methods for the collection of data while not compromising safety, security, or real-time performance. The biggest challenge is allowing seamless and flexible collection of this data without creating additional CPU load to the existing application software. Some topics need to be addressed, like observing data without changing the ECU software during run-time or any safety requirements being violated. Additionally, any hazardous malfunction of the car due to missed real-time constrainsts must be avoided. Only allowed authorized users have access to the observed data and code. The monitoring configuration needs to be flexible allowing on-the-fly adaptability to scope the data. Providing data to the cloud has other applications apart from the big data analysis. For example

Bulmus, Atilla, Shuaibi, Nasser, Ellis, Patrick, Nitoiu, Alexandra-Daniela, Wunderlich, Chris, Scheibert, Klaus, Gutjahr, Tobias, Collins, Todd

Development of evaluation technology for motorcycle advanced rider assistance systems

2022-32-002901/09/2022

The Kawasaki Heavy Industries Group established its Group’s new vision statement, describing what the Group envisions becoming in 10 years ― “Group Vision 2030: Trustworthy Solutions for the Future.” In order to provide solutions for social issues and create a hopeful future, we will transform our business structure into a form which promises faster growth in line with environmental changes. In the field of "Near-Future Mobility," which is one of the fields we are focusing on, we are the first Japanese motorcycle manufacturer to adopt the Advanced Rider Assistance System (ARAS), with the aim of transforming the movement of people and goods. We began selling models equipped with this system in early 2022. ARAS, which is an advanced rider assistance function for motorcycles, is just a rider assistance function, and the rider is ultimately responsible for properly operating the vehicle. Therefore, even if this system malfunctions, that must not interfere with the safe operation of the

Hosokawa, Shohei, Nagasaka, Kazuya, Watanabe, Hiroyuki

Prediction of Lane Change on the Expressway Based on Logistic Regression

2021-01-703212/15/2021

In autonomous driving system, lane change decision-making plays an important role as the front-end of lateral control. However, the current prediction methods of lane change are typically performed by using basic variables as the features of model without deep processing, which reduces the accuracy of the prediction. Therefore, we propose a binary logistic regression method to solve the lane change decision problem under expressway conditions, which treat quantified willingness and risk as the inputs. Firstly, we design Lane Changing Willingness function and Lane Changing Risk function with the minimum safety spacing theory and traffic environment factors. Secondly, a binary logistic regression method for predicting lane change behavior is proposed. Thirdly, we develop the driving simulation platform with low latency data collecting tools and design the experiments. After training the model with the experiment data, the proposed method predicts the lane change decision with 94.02

Sun, Weiqi, Bai, Jie, Huang, Libo, Chang, Liang, Dong, Lianfei, Luo, Zhengang

Simulation and Verification of the Control Strategies for Pedestrian Active Collision Avoidance System Based on Internet of Vehicles

12-04-04-003010/22/2021

In order to further improve the active safety protection of the vehicle’s active collision avoidance system for vulnerable road users, consider the limitations of on-board sensors, a pedestrian active collision avoidance control strategy based on vehicle-to-vehicle (V2V) communication technology is proposed for the blind-spot dangerous scenario where pedestrians pass through the front of a stationary obstacle vehicle and collide with the host vehicle. Firstly, the relative position relationship model between the host vehicle and the pedestrian is established according to the pedestrian information detected by the obstacle vehicle sensor and the global positioning system (GPS) position information of the obstacle vehicle and the host vehicle so that the host vehicle can obtain the state information of the pedestrian in front of the obstacle vehicle through V2V communication. Secondly, four danger state judgment evaluation indicators of Time To Enter (TTE), TTD, Time To Collision (TTC

Li, Wenli, Guo, Wenbo, Zhang, Yousong, Han, Di, Zhao, Rui, Shi, Xiaohui

Blind Spot Monitoring System (BSMS): Operating Characteristics and User Interface

J2802_202110 (Current)

10/12/2021

This document specifies the minimum recommendations for Blind Spot Monitoring System (BSMS) operational characteristics and elements of the user interface. A visual BSMS indicator is recommended. BSMS detects and conveys to the driver via a visual indicator the presence of a target (e.g., a vehicle), adjacent to the subject vehicle in the “traditional” Adjacent Blind Spot Zone (ABSZ). The BSMS is not intended to replace the need for interior and exterior rear-view mirrors or to reduce mirror size. BSMS is only intended as a supplement to these mirrors and will not take any automatic vehicle control action to prevent possible collisions. While the BSMS will assist drivers in detecting the presence of vehicles in their ABSZ, the absence of a visual indicator will not guarantee that the driver can safely make a lane change maneuver (e.g., vehicles may be approaching rapidly outside the ABSZ area). This document applies to original equipment and aftermarket BSMS systems for passenger

Advanced Driver Assistance Systems (ADAS) Committee