Browse Topic: Advanced driver assistance systems (ADAS)

Items (945)

Guidelines for the Integration of Electronic Engine Control Systems for Transport Category (Part 25) and General Aviation (Part 23) Aircraft

AIR5924B (Current)

11/26/2025

This SAE Aerospace Information Report (AIR) provides methodologies and approaches that have been used to install and integrate full-authority-digital-engine-control (FADEC) systems on transport category aircraft. Although most of the information provided is based on turbofan engines installed on large commercial transports, many of the issues raised are equally applicable to corporate, general aviation, regional and commuter aircraft, and to military installations, particularly when commercial aircraft are employed by military users. The word “engine” is used to designate the aircraft propulsion system. The engine station designations used in this report are shown in Figure 1. Most of the material concerns an Electronic Engine Control (EEC) with its associated software, and its functional integration with the aircraft. However, the report also addresses the physical environment associated with the EEC and its associated wiring and sensors. Since most of today’s transport category engines use dual-channel full-authority digital engine control (FADEC) systems, this is the configuration which is addressed. A typical FADEC system configuration is shown in Figure 2.

E-36 Electronic Engine Controls Committee

Detect and Avoid function for UAVs using ACAS Xu for Non-Cooperative Targets

F-0081-2025-0274

5/20/2025

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 collision avoidance system follows ACAS Xu standards, which provide autonomous conflict detection and resolution for unmanned aerial vehicles. The maneuver selection process is based on precomputed lookup tables generated through a Markov Decision Process (MDP), optimizing responses based on risk and energy consumption. The entire system is tested in a simulation environment using Ansys AVxcelerate, a physics-based simulator capable of generating realistic sensor data. This approach allows for comprehensive testing of detection, tracking, and maneuver execution in a highly realistic scenario, ensuring the effectiveness of the proposed solution before real-world deployment.

Brivio, Riccardo, Crippa, Anna, Baiguera, Matteo, Portanti, Samuele, Bertolo, Mattia

EVOLUTION OF 360 DEGREE LOCAL SITUATIONAL AWARENESS (LSA) TO AID THE WARFIGHTER

2024-01-3451

11/15/2024

ABSTRACT Northrop Grumman has developed a software and hardware solution to provide enhanced 360 degree local situational awareness (LSA) to enable the warfighter with an overmatch capability on today’s modern battlefield. The architecture exploits technological gains in cameras, video processing, and video compression. The approach allows rapid comprehension of local and remote situational views presented with operational relevance for a ground combat platform or tactical wheeled platform crew. The 360 Degree LSA approach provides direct visualization of relative positioning of targets, threats, and lines of fire; and additionally offers common situational understanding / operational picture from the dismounted soldier to higher echelon commands. The approach provides prioritized information through LSA software to provide an enhanced view to the warfighter whereas the squad leader becomes an integral part of the crew with a view of the common operating picture (mounted) and additional sensors on tablet or handheld device (dismounted via wireless). The approach uses a platform agnostic form factor with components that can be selected and applied to legacy or new platforms based on their size, weight, power, and mission constraints.

Viscovich, Christopher, Geoghegan, Susan, Worthy, David

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-0778011/1/2022

test 11/01/2022 10:40 am

Mutagaana, Festo

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 vehicles. This document does not apply to installing a BSMS on either motorcycles or commercial vehicles. Finally, this document does not address Lane Change Warning systems, which monitor areas substantially farther back than the side blind spot areas monitored by the BSMS (See ISO FDIS 17387).

Advanced Driver Assistance Systems (ADAS) Committee

A Semantic Slam System Based on Visual-Inertial Information and around View Images for Underground Parking Lot

2021-01-00784/6/2021

As one of the most challenging driving tasks, parking is a common but particularly troublesome problem in large cities. Recently, an excellent solution-automated valet parking (AVP) has become a hot research topic, which allows the driver to leave the vehicle in a drop-off area, while the vehicle driving into the parking slot by itself. For AVP, the precise localization is an indispensable module. However, the global positioning system (GPS) cannot be used in the underground parking lot and the localization method based on lidar is too expensive. In response to solve this problem, we propose a simultaneous localization and mapping system with the semantic information of parking slots (PS-SLAM), which is based on visual-inertial and around view images. First, the calibration of multi-sensors is conducted to obtain their intrinsic and extrinsic parameters. In this way, the around view image and transformation matrices between sensors can be acquired. Then, the ORB-SLAM3 based on visual-inertial information is used to acquire the pose of the vehicle and sparse point cloud map. Next, the parking slot in the around view image is detected by the deep convolutional neural network (DCNN) model called VPS-Net. Finally, a parking-slot association method is devised to associate the detected parking slots with the point cloud map to generate a semantic map. The field experiments are conducted using a wire control chassis with 4 fisheye cameras, an inertial measurement unit (IMU), and a monocular camera. The results show that the proposed visual semantic SLAM system not only can achieve centimeter-level localization in the indoor parking lot but also generate a semantic map with parking slots.

LI, Wei, Li, Chaohui, Xiao, Dongjie, Zhou, Dong, Wang, Tao, Cao, Libo

Correlation between Sensor Performance, Autonomy Performance and Fuel-Efficiency in Semi-Truck Platoons

2021-01-00644/6/2021

Semi-trucks, specifically class-8 trucks, have recently become a platform of interest for autonomy systems. Platooning involves multiple trucks following each other in close proximity, with only the lead truck being manually driven and the rest being controlled autonomously. This approach to semi-truck autonomy is easily integrated on existing platforms, reduces delivery times, and reduces greenhouse gas emissions via fuel economy benefits. Level 1 SAE fuel studies were performed on class-8 trucks operating with the Auburn Cooperative Adaptive Cruise Control (CACC) system, and fuel savings up to 10-12% were seen. Enabling platooning autonomy required the use of radar, global positioning systems (GPS), and wireless vehicle-to-vehicle (V2V) communication. Poor measurements and state estimates can lead to incorrect or missing positioning data, which can lead to unnecessary dynamics and finally wasted fuel. This is especially an issue if deceleration is applied in response to a bad measurement. In this study, a faulty radar was shown to cause a greater than 5% increase in fuel consumption. The mechanism of this fuel consumption increase is investigated and applied to other types of sensor failures to indicate their potential effects on fuel economy. This analysis indicates that poor GPS signals over short time can be largely filtered out, with no real gain or loss of fuel economy. V2V communications were intentionally limited by causing interference, which resulted in dropped communication packets over a small physical area, but not an appreciable impact on fuel economy.

Adam, Cristian, Lakshmanan, Sridhar, Richardson, Paul, Stegner, Evan, Ward, Jacob, Hoffman, Mark, Bevly, David M.

Future Automotive Embedded Systems Enabled by Efficient Model-Based Software Development

2021-01-0129

4/6/2021

This paper explains why software for efficient model-based development is needed to improve the efficiency of automakers and suppliers when implementing solutions with next generation automotive embedded systems. The resulting synergies are an important contribution for the automotive industry to develop safer, smarter, and more eco-friendly cars. To achieve this, it requires implementations of algorithms for machine learning, deep learning and model predictive control within embedded environments. The algorithms’ performance requirements often exceed the capabilities of traditional embedded systems with a homogeneous multicore architecture and, therefore, additional computing resources are introduced. The resulting embedded systems with heterogeneous computing architectures enable a next level of safe and secure real-time performance for innovative use cases in automotive applications such as domain controllers, e-mobility, and advanced driver assistance systems (ADAS). However, the increased system complexity challenges the efficiency of system verification during product development. The industry cannot afford delays in design cycles and efficient utilization of R&D resources is an important success factor. Model-based controls and software development with automatic code generation is an important dimension to resolve this challenge. It enables efficient algorithm development and verification and, thereby, supports to achieve ISO26262 compliance during product development. This is explained in this paper along three perspectives: Firstly, a use case overview explains the drivers for more advanced algorithms and, therefore, more high-performance computing resources. Secondly, a tool flow is proposed, which provides an efficient model-based controls and software development environment for next generation heterogeneous embedded systems. And lastly, this proposal is tested against automakers requirements for software and function development. Combining these perspectives sheds light on future automotive embedded software and systems, which experience an increasing relevance as demonstrated by recent automakers decisions to increasingly take ownership of software development.

Schaefer, Juergen, Christlbauer, Herbert, Schreiber, Alexander, Reith, Graham, Jonker, Mischa, Potman, Jordy, Dannebaum, Udo, Eissfeldt, Tjark

Letter from the Guest Editors

12-04-01-0001

3/17/2021

Letter from the Guest Editors

Hamid, Umar Zakir Abdul, Sandblom, Fredrik, Habibovic, Azra, Li, Bin

Candidate Improvements to Dedicated Short Range Communications (DSRC) Message Set Dictionary [SAE J2735] Using Systems Engineering Methods

J3067_202010 (Current)

10/6/2020

This document is not a standard, it is a candidate for a standard being submitted to SAE for their consideration as a comment to SAE J2735. The term SAE J2735 SE candidate is used within this document to refer to this submission. This document specifies dialogs, messages, and the data frames and data elements that make up the messages specifically for use by applications intended to utilize the 5.9 GHz Dedicated Short Range Communications for Wireless Access in Vehicular Environments (DSRC/WAVE, referenced in this document simply as “DSRC"), communications systems. Although the scope of this Standard is focused on DSRC, these dialogs, messages, data frames and data elements have been designed, to the extent possible, to be of use for applications that may be deployed in conjunction with other wireless communications technologies. This standard therefore specifies the definitive message structure and provides sufficient background information to allow readers to properly interpret the message definitions from the point of view of an application developer implementing the messages according to the DSRC Standards.

V2X Communications Steering Committee

DATALINK GROUND SYSTEMS STANDARD AND INTERFACE SPECIFICATION (DGSS/IS)

ARINC620-10 (Current)7/31/2020

ARINC Specification 620 defines the interfaces between the Datalink Service Provider (DSP) and the aircraft, other ground-based datalink services, and users. The datalink ground system standard definition supports traditional ACARS and AOA protocols, as well as Media Independent Aircraft Messaging (MIAM) as defined by ARINC Specification 841. MIAM messages can be much larger than ACARS messages (5 MB versus 3.3 kB per message). Supplement 10 improves Controller-Pilot Data Link Communications (CPDLC) by defining a “Deliver By (DB)” period that allows the DSP, that originated the message, to intercept and discard the message if it is not delivered by the specified time. Supplement 10 also adds a Media Advisory code for ACARS over IP (AoIP) indicating that an ACARS non Safety Services messages is being transferred over IP links. New Reason Codes are assigned for un-transmittable or undeliverable messages. ACARS Character set clarifications are also provided in Supplement 10.

Airlines Electronic Engineering Committee

Development of Design and Engineering Recommendations for In-Vehicle Alphanumeric Messages

J2831_202007 (Current)

7/29/2020

This Information Report provides recommendations for alphanumeric messages that are supplied to the vehicle by external (e.g., RDS, satellite radio) or internal (e.g., infotainment system) sources while the vehicle is in-motion. Information/design recommendations contained in this report apply to OEM (embedded) and aftermarket systems. Ergonomic issues with regard to display characteristics (e.g., viewing angle, brightness, contrast, font design, etc.) should review ISO 15008.

Driver Vehicle Interface (DVI) Committee

2021 Mustang Mach-E

20AUTP08_017/1/2020

Ford's first dedicated electric platform reveals the challenges and opportunities in developing a state-of-the-art EV. The 2021 Ford Mustang Mach-E is an all-new vehicle. It's Ford's first dedicated battery electric vehicle (BEV) and it's built on an all-new electric vehicle (EV) platform. If that wasn't enough pressure on its development team, the Mach-E also leverages the Mustang nameplate traditionally reserved for iconic sports coupes and serves as a technology flagship debuting a host of new features to expand convenience and safety. One of the lead engineers has likened it to simultaneously engineering an EV, a cellphone and an SUV. “You're delivering the vehicle, that's old-school stuff, we created that at Ford. Now we've got to deliver the new-school stuff too,” explained Robert Iorio, vehicle engineering manager for the Mustang Mach-E.

Seredynski, Paul

Heavy Vehicle Event Data Recorder (HVEDR) - Data and Triggers

J2728-1_202006 (Current)

6/9/2020

This document provides a list of data elements and event triggers for recording of event data relevant to crash investigations for heavy vehicles. The list of data elements includes recommended source(s) and formatting.

Truck and Bus Event Data Recorder Committee

On-Board System Requirements for V2V Safety Communications

J2945/1_202004 (Current)4/30/2020

This standard specifies the system requirements for an on-board vehicle-to-vehicle (V2V) safety communications system for light vehicles1, including standards profiles, functional requirements, and performance requirements. The system is capable of transmitting and receiving the SAE J2735-defined basic safety message (BSM) [1] over a dedicated short range communications (DSRC) wireless communications link as defined in the Institute of Electrical and Electronics Engineers (IEEE) 1609 suite and IEEE 802.11 standards [2] to [6].

V2X Core Technical Committee

Scenario Analysis and Control Comparison for a High Speed Autonomous Vehicle

2020-01-07104/14/2020

This paper studies the simulation and control of an autonomous dragster. Four scenarios are provided that are critical to vehicle and driver safety in drag racing. Equations are then created to model the behavior during these safety scenarios. The use of a kinematic bicycle model and a Newtonian wheel stand model are discussed for plane-of-motion and out-of-plane vehicle movement, respectively. A separate controller is designed for each model by comparing different control methods. Proportional-Integral-Derivative (PID) control, optimal control, and model predictive control (MPC) are presented and applied to the models. The models are simulated from a speed of 75 m/s, being the estimated top speed of the research vehicle, up to a top speed of 150.5 m/s which is in alignment with the highest recorded speed of a dragster. The comparison of the control techniques yields MPC as superior for the bicycle model and PID as sufficient for the wheel stand model. Latency of the system is also discussed and accounted for in the system.

Donikian, Vatche, Bell, Joseph, Washington, Gregory

Effect of Adherent Rain on Vision-Based Object Detection Algorithms

2020-01-01044/14/2020

Adverse weather conditions degrade the quality of images used in vision-based advanced driver assistance systems (ADAS) and autonomous driving algorithms. Adherent raindrops onto a vehicle’s windshield occlude parts of the input image and blur background texture in regions covered by them. Rain also changes image intensity and disturbs chromatic properties of color images. In this work, we collected a dataset using a camera mounted behind a windshield at different rain intensities. The data was processed to generate a set of distorted images by adherent raindrops along with ground truth data of clear images (just after a windshield wipe). We quantitatively evaluated the amount of distortion caused by the raindrops, using the Normalized Cross-Correlation and Structural Similarity methods. While most prior work in the field of rain detection and removal focuses on the image restoration aspects, they typically do not provide quantitative measures to the effect of degradation of input image quality on the performance of image-based algorithms. We quantitatively evaluated the effect of raindrop distortion on deep-learning-based object detection algorithms by comparing the detectors’ performance on the distorted images to the clear images. State-of-the-art detector algorithms were selected and used, namely, Faster Region-based Convolution Neural Network (R-CNN), Single Shot Detector (SSD) and You Only Look Once (YOLO). For the overall performance of the object detection and classification algorithms, we used standard accuracy, precision, and recall measures.

Hamzeh, Yazan, El-Shair, Zaid, Rawashdeh, Samir A.

On Perception Safety Requirements and Multi Sensor Systems for Automated Driving Systems

2020-01-01014/14/2020

One major challenge in designing SAE level 3-5 Automated Driving Systems (ADS) is to define requirements for the perception system that would enable argumentation for safe operation. The safety requirements on the perception system can only be fulfilled through redundancy in the sensor hardware. It is, however, a challenge to specify the redundancy that is required in the sensor system. Safe operation for an ADS is significantly more difficult compared to advanced driver assistance systems (ADAS). The safety argumentation for ADAS typically argues that in case of a failure in the sensor array a fail-silent behavior is acceptable because the human driver can take control of the vehicle back. This argumentation however is not possible when developing level 4 or higher automation. This paper investigates prerequisites for applying a systematic methodology for analyzing redundancy in a multi-sensor system and the relation to a conceptual ADS functional architecture. This analysis must address the complexity that comes with partially overlapping sensor data from different sensors and considers variations in performance and characteristics due to changes in the environmental conditions. The paper introduces the term incomplete redundancy and presents a systematic methodology for analyzing redundancy. The aim is to provide arguments for how several sensors in a system, when appropriately combined, meet an assigned safety requirement on a higher level. Each sensor will then be assigned a certain responsibility and contributes with a sub-set of information. A set of questions of importance to address as a foundation for such a methodology are defined and discussed. The definitions of redundancy and independence between sensors are discussed as well as contract-based functional safety to adapt to different environmental and operating conditions.

Cassel, Anders, Bergenhem, Carl, Christensen, Ole Martin, Heyn, Hans-Martin, Leadersson-Olsson, Susanna, Majdandzic, Mario, Sun, Peng, Thorsén, Anders, Trygvesson, Jörgen

Vehicle Trajectory Prediction Based on Motion Model and Maneuver Model Fusion with Interactive Multiple Models

2020-01-01124/14/2020

Xiao, Wei, Zhang, Lijun, Meng, Dejian

Research on AEB Collision Avoidance Strategy Based on Characteristics of Driver-Vehicle-Road

2020-01-12134/14/2020

With the rise of intelligent transportation systems around the world, research on automobile active safety technology has gained widespread attention. Autonomous Emergency Braking (AEB) which can avoid or mitigate collision by active braking has become a hot research topic in the field of automobile. However, there are some limitations in the present AEB collision avoidance strategy, including lack of effective identification of road adhesion conditions, mismatch of active braking system parameters and imperfection of target vehicle motion information, which leads to poor collision avoidance performance on low adhesion coefficient road surface and intervention with the normal driving operation of the driver. A new collision avoidance strategy for AEB is proposed in this paper. Firstly, a new safe distance collision avoidance model is established based on the peak adhesion coefficient in real time, the performance parameters of the active braking system and the motion information of the target vehicle. Secondly, under the premise of not interfering with the driver's normal collision avoidance operation, an AEB collision avoidance strategy that can balance vehicle safety and intervention comfort is proposed. Finally, the C-NCAP scenario test is carried out on the hardware-in-loop test environment. The results show that the AEB collision avoidance strategy proposed in this paper can actively adjust the braking moment according to the current road surface attachment condition. The collision avoidance can be achieved in the most test scenarios, and the minimum distance between the self-vehicle and the target vehicle is less than 1.5 meter. In the few test scenarios, the collision can also occur at a relative speed lower than 4.2 km/h, which satisfies the active avoidance of the vehicle.

He, Ren, Zhang, Dong

A Study on the Effect of Tire Temperature and Rolling Speed on the Vehicle Handling Response

2020-01-12354/14/2020

Rubber is a non-linear viscoelastic material which properties depend upon several factors. In a tire two of these factors, namely the temperature and excitation frequency, are significantly influenced by the vehicle operating conditions. In the past years, applied research studied how rubber viscoelastic characteristics affect structural and frictional tire properties. The present study focuses on how these effects interact with the vehicle handling response. Based on state of the art theory of friction, structural properties of rubber and on experimental evidence, the dependency of key tire parameters on temperature and rolling speed is established. These results are then used in combination with a single-track vehicle model to assess their impact on key vehicle parameters; as an example, the understeer coefficient, yaw resonance peak / damping and maximum acceleration are studied. Furthermore, to ensure accurate results in realistic situations, a novel tire thermodynamic model is used in combination with a detailed 14 degrees of freedom vehicle model in a numerical simulation environment. The simulations permit to study the mutual effects between tire temperature, rolling speed and vehicle dynamics. Quantitative figures are given that determine the impact on the specific vehicle handling parameters in different operating conditions. It is finally concluded that, in most cases, a higher tire temperature and / or higher rolling speed results in a degradation of the vehicle handling response.

Lugaro, Carlo, Alirezaei, Mohsen, Konstantinou, Ioannis, Behera, Abhijeet

Vision System for Detecting a Small Object with Arbitrary Shape at Far Range

2020-01-00944/14/2020

For one of the advanced sensing technologies for the autonomous driving, we have been working on the new vision system. It focuses on detecting the small object at far ranges. It enables to detour a vehicle by avoiding small object. This system is based on the high-resolution mono-camera with narrow FOV and the algorithms for object-detection and lane-detection. Since we have already proposed the system for the traffic cones, we proceed to a new algorithm for an unknown object with arbitrary shape. It can detect the object and estimate its range by using the information on the lane even though the shape and dimension of the object are unknown. Here the system architecture and how the algorithm to detect the object and estimate its range are described. The algorithm is at first validated by a computer-generated image. And then it is applied to real images. For the cones, the accuracy was +/- 4 [m] for the ranges between 50 and 150 [m]. For unknown objects (a tire and a cardboard), the detection was successful and the range estimation was also satisfactory.

Miyahara, Shunji, Li, Huan, Xie, Kunpeng, Bai, Jincheng

Perceptions of Two Unique Lane Centering Systems: An FOT Interview Analysis

2020-01-01084/14/2020

The goal of this interview analysis was to explore and document the perceptions of two unique lane centering systems (S90’s Pilot Assist and CT6’s Super Cruise). Both systems offer a similar type of functionality (adaptive cruise control and lane centering), but have significantly different design philosophies and HMI (Human-Machine Interface) implementations. Twenty-four drivers drove one of the two vehicle models for a month as part of a field operational test (FOT) study. Upon vehicle return, drivers took part in a 60-minute semi-structured interview covering their perceptions of the vehicle’s various advanced driver-assistance systems (ADAS). Transcripts of the interviews were coded by two researchers, who tagged each statement with relevant system and perception code labels. For analysis, the perception codes were grouped into larger thematic bins of safety, comfort, driver attention, and system performance. Perceptions of adaptive cruise control (ACC) were similar across vehicles. Almost all participants mentioned benefits of comfort and safety associated with ACC use. Participants cited different benefits between the two vehicle’s implementations of lane centering. A majority of participants (75%) described comfort benefits associated with Super Cruise, while less than half (41%) cited comfort benefits associated with Pilot Assist. Only a few participants (25%) mentioned safety benefits associated with Super Cruise. Half (50%) of the participants mentioned safety benefits associated with Pilot Assist. Almost all participants cited fears of potential misuse of the system in which drivers might pay less attention to the driving task. Results suggest that drivers’ comprehension and expectation of these systems’ behavior are strongly influenced by their design philosophies, specifically in terms of the difference in hands-on versus hands-off-wheel implementation. The perceived role of the driver – as either a fallback driver or as an assisted driver - may be influenced by the design implementation.

Landry, Steven, Seppelt, Bobbie, Russo, Luca, Mehler, Bruce, Angell, Linda, Gershon, Pnina, Reimer, Bryan

The Design of Safe-Reliable-Optimal Performance for Automated Driving Systems on Multiple Lanes with Merging Features

2020-01-01224/14/2020

Safety function for automated driving systems including advanced driver assistance systems and autonomous vehicle systems is very important. Inside safety function, predictive judge sub-function should be designed with the consideration of more and more penetration of automated driving vehicles. This paper presents the design on multiple lanes with merging features based on the author's previous Patent JP2019-147944 using predictive time-head-way and time-to-collision maps. In the author's previous work (Model Predictive Control for Hybrid Electric Vehicle Platooning Using Slope Information-Published on IEEE Transactions on Intelligent Transportation Systems), a model predictive control framework was designed. Due to the difficulty to detail the sub-safety function deeply with merging features, few works are found to deal with sensor platforms focusing on rear side, and situations of merging lane side with the consideration of relative relation variations with other vehicles and road border markers. However, performance enhancement is needed assuring 100% safety-reliability-optimality and single-objectivity. Also, platforms of on-board sensors including side and rear view are needed to deal with false negative operations and false positive operations. The optimal operation line model of human factors is designed based on time-head-way (reliability), time-to-collision (safety), and combinations of time-head-way and time-to-collision (optimality). The general theory of model predictive control is used to find the target. The model based methodology is applied to solve the human factor model of risk feeling based on only time-head-way and time-to-collision for the human reaction and acceptance metric. Experimental results validated the effectiveness of the proposed approach. The model parameters can be calibrated internationally by tuning the metric of cooperativeness. The target of the predictive judge sub-function is to move the operation point to the specified area. The predictive judge sub-function on high level is decisive for regulation control to move the operation point from difficult areas to the target area in future.

Yu, Kaijiang

Dyno-in-the-Loop: An Innovative Hardware-in-the-Loop Development and Testing Platform for Emerging Mobility Technologies

2020-01-10574/14/2020

Today’s transportation is quickly transforming with the nascent advent of connectivity, automation, shared-mobility, and electrification. These technologies will not only affect our safety and mobility, but also our energy consumption, and environment. As a result, it is of unprecedented importance to understand the overall system impacts due to the introduction of these emerging technologies and concepts. Existing modeling tools are not able to effectively capture the implications of these technologies, not to mention accurately and reliably evaluating their effectiveness with a reasonable scope. To address these gaps, a dynamometer-in-the-loop (DiL) development and testing approach is proposed which integrates test vehicle(s), chassis dynamometer, and high fidelity traffic simulation tools, in order to achieve a balance between the model accuracy and scalability of environmental analysis for the next generation of transportation systems. With this DiL platform, a connected eco-operation system for the plug-in hybrid electric bus (PHEB) has been developed and tested, which can optimize the vehicle dynamics (and potentially powertrain control via smart energy management) to reduce the operational energy consumption as well as tailpipe emissions of the target PHEB. The system performance has been evaluated on the DiL platform with respect to a variety of traffic congestion levels. The results have shown that the developed system can save fuel by more than 13% while reducing the electricity consumption by 2% in the test scenarios.

Wu, Guoyuan, Brown, Dylan, Zhao, Zhouqiao, Hao, Peng, Todd, Michael, Boriboonsomsin, Kanok, Barth, Matthew, Gao, Zhiming, LaClair, Tim

A Stability-Guaranteed Time-Delay Range for Feedback Control of Autonomous Vehicles

2020-01-00904/14/2020

The vehicles with level-5 autonomy (L5AVs) that have no human driver in the loop are also known as self-driving cars. L5AVs are assumed the next generation of ground transportation, which have growing attention from both industry and academia in most recent years. Most of the work related to feedback strategies of L5AVs are on developing mapping systems through a variety of sensors. These systems can be considered as an analogue to the perception and central nervous system of human drivers. For instance, innovative visualization systems are more powerful when compared to the visual perception system of a person, yet, mapping demands high computation loads. This burden causes delay in the feedback loop and thus, it might have an unfavorable influence on proper and safe control action. This study investigates the effect of time delay occurring in mapping systems on the stability of the controlled vehicle. An algorithm entitled as “Cluster Treatment of Characteristic Roots - CTCR” is used to calculate a safe delay range as a remedy for the time delay caused by mapping systems. The CTCR analysis is applied to a linearized two degree-of-freedom bicycle model for different velocities. The critical time delay values, which determines the boundary between the stability and instability of the controlled vehicle, are calculated based on the vehicle dynamics. Finally, results are drawn for a regular weave test by computer simulations, in which a non-linear vehicle model is used. The proposed approach is validated by exhibiting that a delay value outside the safe range leads the vehicle instability.

Kirli, Ahmet, Arslan, Mehmet Selçuk

Simulation of Curved Road Collision Prevention Warning System of Automobile Based on V2X

2020-01-07074/14/2020

Li, Xuanhe, Wu, Jian, He, Rui, Zhu, Bing, Zhao, Jian, Zhou, Hang

Secure Vehicular Communication Using Blockchain Technology

2020-01-07224/14/2020

The cars we drive are rapidly transforming. Connected vehicles in the context of the Advanced Driver Assistance System or Autonomous Vehicles are about to change the way we drive cars. Connected Vehicles are futuristic vehicles that can interact with other vehicles for passing on information such as, mapping and localization, information about road traffic and driving behaviour. However, such vehicles, particularly the autonomous ones, are prone to a variety of attacks including cyber-attacks. These malicious attacks can intrude a vehicle that not only endangers the vehicles safety, but also the life of passengers and the nearby environment. Thus, identifying and eliminating these attacks for providing a secure communication environment is of great need. Also, all the existing methods for vehicular communication rely on a centralized server which itself invite massive cyber-security threats. These threats and challenges can be addressed by using the Blockchain (BC) technology, where each transaction is logged in a decentralized immutable BC ledger. In this work, we show how BC can facilitate communication between connected vehicles to send and receive information while assuring the security of all the vehicles participating in the BC network. First, we developed an application for the blockchain based less-complex Proof-of-Work consensus method that allows the vehicles to transfer information in a secured manner. Second, we demonstrate the working of the application using raspberry pi board that act as vehicles mounted with sensors and two computers that act as blockchain network. Finally, we discuss the advantages and disadvantages of blockchain based vehicular communication and the integration of the blockchain with VANET as well.

M, Vidya Krishnan, Koduri, Rajesh, Nandyala, Sivaprasad, Manalikandy, Mithun

Development of a Procedure to Correlate, Validate and Confirm Radar Characteristics of Surrogate Targets for ADAS Testing

2020-01-07164/14/2020

Surrogate targets are used throughout the automotive industry to safely and repeatably test Advanced Driver Assistance Systems (ADAS) and will likely find similar applications in tests of Automated Driving Systems. For those test results to be applicable to real-world scenarios, the surrogate targets must be representative of the real-world objects that they emulate. Early target development efforts were generally divided into those that relied on sophisticated radar measurement facilities and those that relied on ad-hoc measurements using automotive grade equipment. This situation made communication and interpretation of results between research groups, target developers and target users difficult. SAE J3122, “Test Target Correlation - Radar Characteristics”, was developed by the SAE Active Safety Systems Standards Committee to address this and other challenges associated with target development and use. J3122 addresses four topics. First, it describes standardized equipment and procedures for making various types of calibrated radar measurements using automotive grade equipment, with minimal measurement site restrictions. Second, a correlation procedure is provided that is used to define validity regions and properties of representative real-world objects. Third, a validation procedure is provided for comparing candidate targets against measurements of representative objects using an objective correlation score. Finally, a confirmation procedure is provided for checking in-use targets to verify that they continue to be acceptable for testing. This paper describes each of these topics as well as the process development.

Silberling, Jordan, Nicols, George, Buller, William, Lenkeit, John

Runtime Active Safety Risk-Assessment of Highly Autonomous Vehicles for Safe Nominal Behavior

2020-01-01074/14/2020

Fatal crashes involving automated driving systems, has been raising the concern of minimum standard requirement for safety, reliability and performance required for Autonomous Driving System (ADS)/Advanced Driver Assistance System (ADAS) before this cutting-edge technology takes on public roads. Hence, in order to ensure necessary safety requirements of ADS/ADAS systems we propose a runtime active safety assurance module known as SConSert. SConSert performs dynamic risk assessment of “Sensing, Planning and Action module of ADS/ADAS”; to provide minimal risk maneuver in any given driving scenario. The dynamic risk assessment of ADS/ADAS system is based on the operational design domain (ODD) knowledge of the driving scenario plus the sensor capability, ADS/ADAS algorithm requirement and capability, and finally smooth and collision free maneuver requirement. So, the main concept behind SConSert is runtime derivation of situational and conditional set of contracts for a given driving scenario and ADS/ADAS system ODD; fulfillment or violation of which can help in runtime dynamic risk assessment of ADS/ADAS to plan minimal safe behavior such that necessary safety requirements can be achieved. Finally, through experiment we show that proposed runtime active assurance safety module can handle complex driving scenario, and present simulation and experimental results that emphasizes the importance of the proposed runtime safety assurance module and shows that the proposed system is capable of performing runtime dynamic risk assessment in order to keep the automated driving systems always within the safe sate that is the automated driving system always perform within its ODD.

Rathour, Swarn Singh, Ishigooka, Tasuku, Otsuka, Satoshi, MARTIN, RAUL

A Path Planning and Model Predictive Control for Automatic Parking System

2020-01-01214/14/2020

With the increasing number of urban cars, parking has become the primary problem that people face in daily life. Therefore, many scholars have studied the automatic parking system. In the existing research, most of the path planning methods use the combined path of arc and straight line. In this method, the path curvature is not continuous, which indirectly leads to the low accuracy of path tracking. The parking path designed using the fifth-order polynomial is continuous, but its curvature is too large to meet the steering constraints in some cases. In this paper, a continuous-curvature parking path is proposed. The parking path tracker based on Model Predictive Control (MPC) algorithm is designed under the constraints of the control accuracy and vehicle steering. Firstly, in order to make the curvature of the parking path continuous, this paper superimposes the fifth-order polynomial with the sigmoid function, and the curve obtained has the continuous and relatively small curvature. Therefore, the superposition curve is used as a parallel parking path while the superposition curve and its inverse function curve are combined to form a perpendicular parking path. The coefficients of the superposition curve are calculated according to the constraint condition, the parking start point and end point. Thus, the parking path is determined.. Secondly, the vehicle kinematics model is established and a parking path tracker based on Model Predictive Control (MPC) algorithm is designed. Finally, the co-simulation analysis is performed using CarSim and Simulink. The simulation results show that the parking path curvature designed in this paper is continuous and the parking path tracker has a good tracking effect. The lateral error and longitudinal error can be controlled in the centimeter scale and the heading angle error is no more than 3°.

Meng, Xiangxi, Wu, Jian, He, Rui, Zhu, Bing, Zhao, Jian

Reference Test System for Machine Vision Used for ADAS Functions

2020-01-00964/14/2020

Advanced Driver Assistance Systems (ADAS) like Lane Departure Warning (LDW) and Lane Keep Assist (LKA) have been available for several years now but has experienced low customer acceptance and market penetration. These deficiencies can be traced to the inability of many of the perception systems to consistently recognize lane markings and localize the vehicle with respect to the lane markings in the real-world with poor markings, changing weather conditions and occlusions. Currently, there is no available standard or benchmark to evaluate the quality of either the lane markings or the perception algorithms. This work seeks to establish a reference test system that could be used by transportation agencies to evaluate the quality of their markings to support ADAS functions that rely on pavement markings. The test system can also be used by designers as a benchmark for their proprietary systems. To support this development, an extensive video dataset was collected at different times of day and weather conditions on various roads in Central Texas. The videos were evaluated on different state-of-the art lane detection algorithms and their performance was ranked based on a set of metrics specifically developed for evaluating the effectiveness of the lane estimation system. The test scenarios are comprised of a set of roadways and environmental features, as well as the pavement marking presence and luminance variables. A systems approach is presented by correlating the algorithm performance data to the environmental factors, lane marking types, color, material, and the retroreflectivity of pavement markings.

Nayak, Abhishek, Rathinam, Sivakumar, Pike, Adam, Gopalswamy, Swaminathan

Evaluation of Methods for Identification of Driving Styles and Simulation-Based Analysis of their Influence on Energy Consumption on the Example of a Hybrid Drive Train

2020-01-04434/14/2020

Due to current progresses in the field of driver assistance systems and the continuously growing electrification of vehicle drive trains, the evaluation of driver behavior has become an important part in the development process of modern cars. Findings from driver analyses are used for the creation of individual profiles, which can be permanently adapted due to ongoing data processing. A benefit of data-based dynamic control systems lies in the possibility to individually configure the vehicle behavior for a specific driver, which can contribute to increasing customer acceptance and satisfaction. In this way, an optimization of the control behavior between driver and vehicle and the resulting mutual system learning and -adjustment hold great potential for improvements in driving behavior, safety and energy consumption. The submitted paper deals with the analysis of different methods and measurement systems for the identification and classification of driver profiles as well as with their potential to optimize both vehicle driving behavior and energy consumption on the example of a hybrid drive train. A literature research results in a number of different approaches of evaluation, which are analyzed, linked and adapted in the publication. As a result, an evaluation of the connection between different methods of driver profile determination is given. Data collection and interviews have been performed during twenty test drives on a defined route profile with different measurement systems and methods. The acquired data form the basis for a comparison and an analysis of a comprehensive driving style classification. Subsequently, a framework for computer-aided investigations of the influences of driver behavior on the control of drive trains is established by use of an existed simulation model of a hybrid drive train. Finally, a driver model is implemented based on the learnings out of analyzing the measurements and surveys. The evaluation of the measurement campaigns delivers detailed information about vehicle longitudinal acceleration behavior in different driving scenarios. This information is used to classify the individual driving styles into the types calm, normal and aggressive. This driving style-related information can be integrated into the control strategy of a hybrid power train to support operation strategy optimization regarding both driver satisfaction and reduction of energy-, respectively fuel consumption.

Domijanic, Marko, Hirz, Mario, Pucher, Gregor

An Improved Probabilistic Threat Assessment Method for Intelligent Vehicles in Critical Rear-End Situations

2020-01-06984/14/2020

Threat assessment (TA) method is vital in the decision-making process of intelligent vehicles (IVs), especially for ADAS systems. In the research of TA, the probabilistic threat assessment (PTA) method is acting an increasing role, which can reduce the uncertainties of driver’s maneuvers. However, the driver behavior model (DBM) used in present PTA methods was mainly constructed by limited data or simple functions, which is not entirely reasonable and may affect the performance of the TA process. This work aims to utilize crash data extracted from Event Data Recorder (EDR) to establish more accurate DBM and improve the current PTA method in rear-end situations. EDR data with responsive maneuvers were firstly collected, which were then employed to construct the initial DBM (I-DBM) model by using the multivariate Gaussian distribution (MGD) framework. Besides, the model was further subdivided into six parts by two important risk indicators, Time-to-collision (TTC) and velocity. To accurately represent the driver’s maneuvers in critical situations, unresponsive samples were introduced and the I-DBMs were upgraded by the Gaussian mixture model (GMM). The obtained DBMs were employed to sample driver’s evasive behaviors by Monte Carlo Markov Chain (MCMC) method, which generated multiple collision-avoidance trajectories. Finally, we chose the real-world crash case in the SHRP2 dataset to verify the proposed method. Results show that the upgraded DBMs reasonably represented the driver’s evasive maneuvers, and the MCMC method could capture the main features of given GMM distributions. The proposed PTA method can accurately depict the changing trend of dangerous degree and derive the crash probability (CP) at critical point of time. Its effectiveness and real-time performance were verified in the chosen rear-end case. The improved PTA method can be used for real-time TA application and contribute to the development of the decision-making process for ADAS and IVs.

Zhou, Huajian, Zhong, Zhihua, Wang, Xiaowei, Huang, Jin

Prevention of Snow Accretion on Camera Lenses of Autonomous Vehicles

2020-01-01054/14/2020

With the rapid development of artificial intelligence, the autonomous vehicles (AV) have attracted considerable attention in the automotive industry. However, different factors negatively impact the adoption of the AVs, delaying their successful commercialization. Accretion of atmospheric icing, especially wet snow, on AV sensors causes blockage on their lenses, making them prone to lose their sight, in turn, increasing potential chances of accidents. In this study, two different designs are proposed in order to prevent snow accretion on the lenses of AVs via air flow across the lens surface. In both designs, lenses made of plain glass and superhydrophobic coated glass surfaces are tested. While some researchers have shown promise of water repellency on superhydrophobic surfaces, more snow accretion is observed on the superhydrophobic surfaces, when compared to the plain glass lenses. In the experiments, snow is formed using a novel snow gun inside a walk-in cold room connected to a wind tunnel that can reach wind speeds of up to 40 mph. It is observed that the air flow over the lens significantly reduces the accretion of snow on the lens and could maintain the lens clean for up to 20 mph wind velocities. However, at LWC values of approximately 28%, the stickiness of the snowflakes increases, enhancing snow accretion on the lenses and translating to significant loss of sight. The high stickiness of the snowflakes along with high wind speeds leads to increased blockage of the AV lenses.

Mohammadian, Behrouz, Sarayloo, Mehdi, Heil, Jamie, Sojoudi, Hossein, Robertson, Michael, Hong, Haiping, Tran, Tommy, Patil, Sunil, Krishnan, Venkatesh

Robust Sensor Fused Object Detection Using Convolutional Neural Networks for Autonomous Vehicles

2020-01-01004/14/2020

Environmental perception is considered an essential module for autonomous driving and Advanced Driver Assistance System (ADAS). Recently, deep Convolutional Neural Networks (CNNs) have become the State-of-the-Art with many different architectures in various object detection problems. However, performances of existing CNNs have been dropping when detecting small objects at a large distance. To deploy any environmental perception system in real world applications, it is important that the system achieves high accuracy regardless of the size of the object, distance, and weather conditions. In this paper, a robust sensor fused object detection system is proposed by utilizing the advantages of both vision and automotive radar sensors. The proposed system consists of three major components: 1) the Coordinate Conversion module, 2) Multi level-Sensor Fusion Detection (MSFD) system, and 3) Temporal Correlation filtering module. The proposed MSFD system employs the principles of artificial intelligence beyond simple comparison of data variance of the sensors. And then, its performance is further improved by using the temporal correlation information with an adaptive threshold scheme. The proposed system is evaluated with the collected video data (6,854 image frames with 18,918 labeled objects). Based on the laboratory testing and in-vehicle validation, the proposed system demonstrates its high accuracy for detecting any size of objects in real-world data.

Park, Jungme, Jayachandran Raguraman, Sriram, Aslam, Aakif, Gotadki, Shruti

An Experimental Confirmation of the Occupant Kinematic Response for Out of Position and Belt Tensioning Effect during Collision Avoidance System

2019-22-00243/31/2020

The methodology of ensuring safety to occupants' is one of the major challenges about the Integral safety system. Many studies have focused on verification to securing occupants’ restraint during collision avoidance, but the out-of-position (OOP) parameter was not considered sufficiently. The aim of this study is to verify the occupant's kinematic response at OOP seat conditions via the sled platform which simulated the collision avoidance system. In this experiment, 18 volunteers’ motion was measured by infrared cameras and electromyography sensors. According to results, the OOP seat made frontal head motion to 1.5±0.5 times higher than normal seat position (NSP) in braking maneuver. In swerving maneuver at the NSP seat, however, the neck joint peak was represented 0.2 sec quicker, 3 times longer, and higher than the OOP seat. For future work, this study proposes that kinematic compensation of the occupant’s response should be considered with countermeasure onto seat position change.

Kang, Myeongkwan, Lim, Dohyung, Kim, Hyung Joo, Kim, Seonglae, Cho, Youngkuen

Optimization of Braking Strategy for Automatic Emergency Braking System in Vehicle-Pedestrian Accidents

07-12-02-00093/23/2020

Braking strategy is the core of the automatic emergency braking (AEB) system. How to make the braking strategy of the AEB system more suitable for real traffic conditions and more acceptable to drivers is a very important research. This article carries out the braking strategy optimization for the AEB system. From the vehicle-pedestrian accidents collected by the National Automobile Accident In-depth Investigation System (NAIS) of Songjiang Station, this article selects typical cases equipped with event data recorder (EDR) and then analyzes the EDR data. On this basis, the strategy for the optimization of the AEB system is formed. The optimized strategy is simulated in the test scenario specified in the European New Car Assessment Programme (Euro-NCAP) and compared with the real vehicle test results. The result illustrates that the optimized braking strategy is more effective to avoid or mitigate collisions.

Qian, Yubin, Yang, Xueyan, Xiao, Lingyun, Zhu, Yican

Autonomous Vehicle Engineering: March 2020

20AVEP033/5/2020

Editorial Autonomous 'Uncola' bubbles up The Navigator Cruise Origin points the way for AV architecture The Mind of Argo AI Co-founder and CEO Bryan Salesky brings a realistic approach to the self-driving technology "mission." Metamoto Goes Deep on AV Simulation Simulation based on the actual physics of vehicles and sensors continues expanding to replace millions of miles of potentially dangerous real-world testing. ZF Establishes Level 2+ ADAS Cost-effective technology solutions to meet diverse customer needs are what the "new pragmatism" in driver-assistance tech is all about. Senior VP Aine Denari explains. Lidar in a Flash Continental delivers a short-range 3D flash lidar sensor that's expected to find increasing application in commercial vehicles and off-highway ma-chines in 2020. Sensor Heat Relief Canatu's carbon nanobots keep critical sensor surfaces - and LED head-lamps - clear in sub-freezing weather. Build It and They Will Come Moving beyond vehicles, Toyota plans to manufacture an entire city. Delivering Self-driving Definitions Shifting AV-safety validation from millions of miles driven to an understand-ing of the "quality" of simulation coverage. Congestion-busting with Autonomous Shuttles GoMentum is safety-testing two Local Motors shuttles at AAA's expansive NorCal proving grounds and new V2X lab.

GM deploying electricals of the future

20AUTP03_083/1/2020

In tandem with its corporate strategy to “skip” vehicle hybridization and focus solely on electric vehicles (EVs) for future propulsion (see cover story), General Motors recently offered media a deeper look at the company's all-new vehicle electrical architecture that was first confirmed in mid-2019, saying the vehicle-wide electrical system is associated with more than 100 new patents. The advanced “digital vehicle platform,” known internally as Global B, debuted with the 2020 Cadillac CT5 sedan. It serves as the electrical foundation for the 2020 Chevrolet Corvette Stingray and the 2021 Chevrolet Tahoe and Suburban, GM Yukon and Cadillac Escalade and will carry into all of the company's future conventionally-powered and EV models.

Visnic, Bill

ZF Establishes Level 2+ ADAS

20AVEP03_053/1/2020

Cost-effective technology solutions to meet diverse customer needs are what the “new pragmatism” in driver-assistance tech is all about. Senior VP Aine Denari explains. The wall of hype surrounding the self-driving future has given way to a new pragmatism, and engineers are breathing a collective sigh of relief. The industry, for the most part, has come to grips with the myriad challenges of making autonomous vehicles perform with utmost safety, in all driving scenarios and weather conditions. Cost sensitivity remains a significant factor, particularly in advanced driver assistance systems (ADAS) whose development is closely aligned with NCAP safety requirements. Tier 1s that are driving both innovation and systems integration in this dynamic space have been adjusting their strategies accordingly.

Brooke, Lindsay

Lidar in a Flash

20AVEP03_063/1/2020

Continental delivers a short-range 3D flash lidar sensor that's expected to find increasing application in commercial vehicles and off-highway machines in 2020. A precise three-dimensional profile of a vehicle's surroundings is a fundamental prerequisite for automated driving. A new high-resolution 3D flash lidar (HFL) sensor developed for use at close range - 50 m (164 ft) or less - delivers on this capability, according to Thomas Laux, head of business development and sales for HFL segment in Continental's Advanced Driver Assistance Systems (ADAS) business unit. “This is automotive grade and solid state, meaning no moving parts. It's a bunch of semiconductors, which is ideal for commercial vehicle and even more so for the off-highway environment - they don't have a lot of hours [of operation] but their environments can be pretty rigorous,” said Laux. The IP6K9K packaging is very important for these applications, he said, as is a 3D Global Shutter feature that eliminates motion distortion and enables persistence mode and geo-registration of point cloud.

Gehm, Ryan

Sensor Heat Relief

20AVEP03_073/1/2020

Canatu's carbon nanobots keep critical sensor surfaces -and LED headlamps - clean in sub-freezing weather. Sensor surfaces that are exposed to weather need to be kept clean so that ADAS and autonomous driving systems can function safely. Ice build-up in cold conditions is of particular concern, but Canatu thinks it has a solution. The Finland-based technology company has developed a transparent, highly conductive heater element that does not require metallic wires to be placed in front of the sensor. These elements keep lidar sensors and cameras ice-free, thanks to carbon nanobot (CNB) heaters.

Berman, Bradley

IMU Contributions to Navigation and Safety for ADAS and Autonomous Vehicles

TBMG-361513/1/2020

Two of the fastest growing areas in automotive engineering are Advanced Driver Assistance Systems (ADAS) and autonomous vehicles. To learn about the contribution of Inertial Measurement Units (IMU) to automobile navigation systems for these two applications, we interviewed Mike Horton, CTO of ACEINNA, Inc. (Boston, MA).

Research on the Enhanced ADAS Functions with Modular Design Based on 5G-V2X Technology

2020-01-50262/24/2020

This paper will mainly discuss the effect of the combination of the 5th generation wireless systems - Vehicle to Everything (5G-V2X) technology an Advanced Driver Assistance Systems (ADAS) functions. With the promotion and popularization of 5G technology with high bandwidth and bottom delay, V2X has been able to quickly and safely transmit more information to target vehicles in need in the field of automatic driving. Traditional ADAS functions development has been carried out for decades, but there are still many unsolvable problems in perception and decision-making. In this paper, V2X technology is introduced into the auxiliary driving functions of L0-L3 stage by using the idea of platform module design. On the basis of not redeveloping the original functions, the existing problems of perception and decision-making are improved. Through the experimental demonstration in this paper, this method can indeed save the development cost and shorten the development cycle.

Pingfan, Jin, Jiayi, Guan, Guoqi, Zhong

Research on Forward Collision Warning System and Fuzzy Control of Automatic Emergency Braking System

2020-01-50332/24/2020

The automatic emergency braking (AEB) system and forward collision warning (FCW) system are significant for active safety systems. It can efficiently reduce the rear-end accidents and protect the drivers and pedestrians. The model of an E-class SUV is established with CarSim software, and the control strategy based on fuzzy control is developed with MATLAB/Simulink. Simulation analysis on several typical braking conditions is carded out. The experiment results agree with the analysis results, which indicates that the research method can satisfy the safety requirements of automatic emergency braking system and the accuracy requirement of forward collision warning system.

Lei, Zhang, Qin, Shi

Modification of Density-Based Clustering and Threshold Adjustment Detection-Tracking Integration Algorithm for 77 GHz Automotive Radar

2020-01-50272/24/2020

In this paper, a modification of Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm is proposed based on real-world high resolution point clusters, which is obtained by 77-GHz frequency modulated automotive radar through CFAR technology. The modification of DBSCAN includes introducing normalized DBSCAN pre-processing method and a scale factor for dimension stretching/compression, which makes the target have similar measurement in three different dimensions of two-dimensional Cartesian coordinate system and velocity dimension, a The scale factor can adjust the sensitivity of DBSCAN algorithm to velocity dimension to deal with velocity expansion problem. Based on the clustering results, this paper proposes CFAR-JPDA algorithm, which integrates detection and tracking, and proposes a new extended Kalman filter state equation and measurement equation for road moving targets. In terms of data association, the modified JPDA algorithm is proposed, and the shape information of the target is used to confirm the measurement twice, which improves the accuracy of the target association.

Houyuan, Zhang, Yicheng, Jiang, Zhenwei, Miao, Gang, Ye, Bing, Wang

Takeover Level of Autonomous Vehicle Based on Driver’s Neuromuscular Characteristic

2020-01-5017

2/24/2020

Taking over vehicle control from a Level 3 conditionally automated vehicle can be a demanding task for a driver, to which great research effort has been contributed in recent years. Nevertheless, more attention should be given to the following aspects. The present research of take-over either only considers the influence of drivers’ visual and second task in single scenarios. However, the drivers’ NMS (Neuromuscular) characteristic hasn’t been investigated yet, especially in complex traffic scenarios. In this paper, a take-over experiment with complex traffic scenarios are conducted to observe the state of vehicle state and arm’ EMG (Electromyography) signal. After that, the driving styles are recognized based on the experimental data. Finally, a take-over level with driving style is proposed by clustering based on the condition of human-vehicle-road.

Hanbing, Wei, Yanhong, Wu, Yuxuan, Zhang, Rui, Xu

Model Predictive Automatic Lane Change Control for Intelligent Vehicles

2020-01-50252/24/2020

As a basic link of driving behavior in urban roads, vehicle lane changing has a significant impact on traffic flow characteristics and traffic safety, and the automation of lane change is also a key issue to be solved in the field of intelligent driving. In this paper, the research on the automatic lane change control for intelligent vehicles is carried out. The main work is to build the overall structure of the vehicle's automatic lane change behavior, of which the planning and tracking are focused. The strategy of Constant Time Headway (CTH) is used in the lane change decision. The lane change trajectory adopts the model of constant velocity offset plus sine function, and the longitudinal displacement is determined by the vehicle speed when changing lanes. Model Predictive Control (MPC) theory is used to track the trajectory, which optimizes tracking accuracy and vehicle stability and constrains the range and rate of change of vehicle speed and steering angle. By using weighted quadratic cost function, linearity matrix inequality constraints and upper and lower bound constraints, the multi-objective trajectory tracking problem is eventually transformed into a constrained online convex quadratic programming problem. The results of simulation and HIL test show that the scheme of automatic lane change can make the vehicle smoothly complete the lane changing behavior, and the errors can meet the error requirements of lane change. Compared with other controller, the method shows smaller lateral acceleration, stronger robustness and higher control precision during the test. Moreover, the computational time of the proposed MPC controller, implemented using the PXI, is 47.994ms during one sampling period, which can satisfy the real-time requirement.

Meng, Ren, Guangqiang, Wu, Xunjie, Chen, Xuyang, Liu

Robustness Analysis of the Model Reference Control for Active Suspension System

10-04-02-00122/4/2020

This article presents a robustness analysis study for the model reference controller (“MRC”) of active suspension system. The MRC employs both suspension look-ahead preview and wheelbase preview concepts. The methodology of the MRC is based on the ideal hybrid skyhook-groundhook scheme. A 13 degree of freedom full vehicle model is developed and validated. The engine mass, driver seat, and anti-roll bar are considered in the model. The MRC strategy uses eight proportional-integral-derivative (PID) controllers for both body and wheel control. A gradient based on optimization algorithm is applied to obtain the controller parameters using a cost function including both ride comfort and road holding performance. The robustness analysis of the controller is performed by evaluating the MRC controller performance under different driving conditions, including different road profiles, different vehicle speeds, and different vehicle loading. Furthermore, the effect of the variable design parameters of the suspension system is also investigated. The results showed that the MRC for active suspension provides robust and significant improvement in both ride comfort and road holding performance of the vehicle under different operating conditions.

Kaldas, Mina M., Soliman, Aref M.A., Abdallah, Sayed A., Amien, Fomel F.

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