Browse Topic: Collision intervention systems

Items (251)

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

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

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

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

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

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

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

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

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

Editorial

20AVEP01_011/1/2020

What are your greatest needs related to Standards? That question is one I typically ask during my conversations and formal interviews with mobility-industry engineers. As might be expected, those involved with AV development tend to offer a robust list of standards they'd like SAE International to pursue. Bryan Salesky, CEO of self-driving vehicle systems supplier Argo AI, recently told me and my SAE Media colleague Bill Visnic that his development teams want “more terminology and definitions,” an area in which SAE's Standards Committees are already focused. The committees' scope goes beyond vehicle nomenclatures, to include the various interrelated ecosystems.

Brooke, Lindsay

HEAT SEEKERS

20AUTP02_011/1/2020

While engineers debate the use of thermal-imaging sensors for ADAS, their capability and value are being proven for AVs of all levels. What specific sensor types will comprise the advanced driver-assistance systems (ADAS) of the 2020s? That's a controversial subject among engineers who are developing SAE Level 2 and 3 (and the so-called “L2+”) ADAS sensing suites for new vehicles. Many of them believe that visible-light cameras fused with radar will suffice to deliver the object-identification accuracy, redundancy-and cost effectiveness-that OEMs and the driving public expect of ADAS-equipped vehicles. But a case is building for additional sensing capability, particularly for automatic emergency braking (AEB) and pedestrian-detection. Those safety-critical functions currently rely on camera-radar inputs to “see” ahead. They enable the vehicle to react to a range of scenarios-from stalled traffic on a highway to humans and animals suddenly appearing in the road. (In Michigan alone, there were 53,464 traffic accidents involving deer in 2018, up 14% from 2016, according to state DoT data.)

Brooke, Lindsay

Pedestrian Collision Avoidance System for Autonomous Vehicles

12-02-04-002112/18/2019

Advanced driver assistance systems (ADAS) are state of the art in modern vehicles (SAE level 1-2). They support the driver and improve thereby the vehicle safety during manual driving. In critical situations, collision avoidance systems warn the driver or trigger an autonomous emergency braking maneuver to mitigate or avoid a collision. Also, automated driving vehicles (SAE level 3+) must be able to avoid critical situations and must be more capable than currently available systems. During automated driving, the vehicle is responsible for the driving task instead of the driver. Therefore, safe automated driving requires robust algorithms to avoid collisions with other traffic participants in every situation, especially in critical situations with pedestrians and a limited perception ability. In this work, we investigate how automated driving vehicles can handle critical situations with pedestrians on multilane roads with an emergency braking or evasion maneuver. We focus in detail on very critical situations, where pedestrians are crossing behind an occluded area, e.g. from behind a parked car on the side of the road. In these critical situations, a collision avoidance system is not enough anymore because of the limited time-to-react. It is not acceptable that an automated driving vehicle passes obstacles very slowly. Therefore, a collision avoidance system is combined with a situation awareness planner to optimize the driving velocity. The situation awareness planner considers the sensor’s visibility and the capability of the collision avoidance system to provide a set of collision-free trajectories. This combination has the advantage that the vehicle does not need to pass objects on the side very conservative. We evaluate the approach rigorously on a set of well-defined scenarios from the Euro NCAP test protocol.

Schratter, Markus, Hartmann, Michael, Watzenig, Daniel

Application Study of Blind Spot Monitoring System Realized by Monocular Camera with CNN Depth Cues Extraction Approach

12-02-04-001612/17/2019

The image from monocular camera is processed to detect depth information of the obstacles viewed by the rearview cameras of vehicle door side. The depth information recognized from a single, two-dimensional image data can be used for the purpose of blind spot area detection. Blind spot detection is contributing to enhance the vehicle safety in scenarios such as lane-change and overtaking driving. In this article the depth cue information is inferred from the feature comparison between two image blocks selected within a single image. Convolutional neural network model trained by deep learning process with good enough accuracy is applied to distinguish if an obstacle is far or near for a specified threshold in the vehicle blind spot area. The application study results are demonstrated by the offline calculations with real traffic image data.

Guo, Yuxiang, Kumazawa, Itsuo, Kaku, Chuyo

Braking Control Strategy Based on Electronically Controlled Braking System and Intelligent Network Technology

2019-01-503811/4/2019

In order to solve the coupling problems between braking safety, economical efficiency of braking and the comfort of drivers, a braking control strategy based on Electronically Controlled Braking System (EBS) and intelligent network technology under non-emergency braking conditions is proposed. The controller utilizes the intelligent network technology’s characteristics of the workshop communication to obtain the driving environment information of the current vehicle firstly, and then calculate the optimal braking deceleration of the vehicle based on optimal control method. The strategy will distribute the braking force according to the ideal braking force distribution condition based on the EBS according to the braking deceleration; the braking force will be converted to braking pressure according to brake characteristics. Computer co-simulations of the proposed strategy are performed, the strategy is verified under different initial speeds. The results show that the strategy enables the vehicle to stop within a safe distance, keeps the brake deceleration as smooth as possible for better braking comfort while at the same time obtaining better braking economy by increasing braking efficiency under different initial speeds.

Zheng, Hongyu, Li, Rui

Research on Control Algorithm of Active Steering Control Based on the Driver Intention

2019-01-506411/4/2019

Active steering technology can improve the operability of the driver by the involvement to the steering system. Driver is the major controller of the vehicle Therefore, the involvement of advanced technologies including the active steering technology shouldn’t interfere with the intention of the driver, and the driver should still have great control of the vehicle. The aim of this paper is to solve the problem of the driver’s control when the active steering system works to improve the flexibility of the low speed and the stability of the high speed, and the active steering model based on the driver’s steering intention is established. Through the CarSim simulation software, this paper adopts 9 parameters related to the vehicle steering of the DLC (Double Line Change). And PCA (Principal Component Analysis) algorithm, a tool of statistical analysis, is applied to select 4 parameters which can stand for the DLC from the 9 parameters, which makes the data processing easier. Through the 4 parameters, this model divide the driver’s steering intention into four categories (emergency steering, normal steering, turn left and turn right) having different weights of active steering angle by clustering analysis, which ensures the driver get better control to the vehicle than traditional active steering system at different steering conditions. Finally, the feasibility of this model is verified by the simulation results through the comparison with the curve of the ideal steering at DLC steering condition.

Zhang, Pengcheng, Zheng, Hongyu

Composite Steering Strategy for 4WS-4WD EV Based on Low-Speed Steering Maneuverability

2019-01-505211/4/2019

A composite steering control strategy, which combines four-wheel steering (4WS) and differential steering, is proposed in this paper, to optimize steering maneuverability in the conditions where the vehicle speed is below 15 Km/h, mainly for U-turning and parking conditions. A dynamic model is developed for the steering system and the tire system. Taking different steering wheel inputs into consideration, a 4WS control strategy proportional to the front wheel steering angle is quoted to improve the steering maneuverability in the low speed conditions and guarantee the manipulability by controlling the side slip of the vehicle. Based on the 4WS system, this paper explores the possibility of further improving the low-speed maneuverability of the vehicle through differential steering. And the differential steering control strategy is developed, including four hub-motor output modes. A composite steering controller is designed based on the 4WS-4WD electric vehicle platform. Through the real vehicle calibration tests, the output torque distribution coefficient of the hub motor in the differential steering control strategy is obtained, and the composite steering control strategy optimal for maneuverability is determined by comparing the turning diameters of the low-speed tests under the four modes. The experimental results show that compared with the single 4WS system, the composite steering system has an improved effect on the low-speed maneuverability of the vehicle, which can improve the handling performance of the vehicle under the low-speed condition.

Wang, Yang Yang, Liu, Zhi Guang, Jiang, Yuan Xing

Study on Comprehensive Evaluation Index of Front Collision Hazard of Intelligent Vehicle

2019-01-504411/4/2019

Collision avoidance technology is one of the key areas in the longitudinal safety research of intelligent vehicles. For the research of collision avoidance system, the existing methods usually use the evaluation index based on time interval or braking process to carry out risk assessment. In order to overcome the shortcomings of the formulas for describing the longitudinal hazard degree established in most studies, such as great differences, inconsistent standards and weak normalization, a comprehensive evaluation method for the longitudinal hazard in front-impact scenarios is established. This method takes into account both the analysis of time interval and braking process, and considers the non-linear variation of the longitudinal hazard degree with the real-time distance and speed of two vehicles. It can describe the longitudinal hazard degree of vehicles in dangerous traffic scenarios. Compared with the existing longitudinal hazard assessment methods, the effectiveness and universality of the pre-collision hazard assessment method proposed in this paper are demonstrated.

Jiaxiang, Qin, Zhang, Sumin, Weiwen, Deng, Rui, He

The Navigator

19AVEP11_0211/1/2019

Science-fiction author Arthur C. Clarke once wrote, “Any sufficiently advanced technology is indistinguishable from magic.” When I was learning to drive, like many teens, I struggled with some of the more mundane tasks such as parallel parking. In recent years though, technological advances have made even that seem magical at times. But like watching a novice magician struggling with an illusion trick, if the tech isn't ready, the spell is broken. The performer then needs to go back to practicing. Such is the case with Tesla and its new Smart Summon feature.

Abuelsamid, Sam

Active Safety System for Connected Vehicles

12-02-03-001310/14/2019

The development of connected-vehicle technology, which includes vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications, opens the door for unprecedented active safety and driver-enhanced systems. In addition to exchanging basic traffic messages among vehicles for safety applications, a significantly higher level of safety can be achieved when vehicles and designated infrastructure locations share their sensors’ data. In this article, we propose a new system where cameras installed on multiple vehicles and infrastructure locations share and fuse their visual data and detected objects in real time. The transmission of camera data and/or detected objects (e.g., pedestrians, vehicles, cyclists, etc.) can be accomplished by many communication methods. In particular, such communications can be accomplished using the emerging Dedicated Short-Range Communications (DSRC) technology. In our proposed system the vehicle receiving the visual data from an adjacent vehicle fuses the received visual data with its own camera views to create a much richer visual scene. We conducted several experiments across a pair of vehicles equipped with DSRC devices and our proposed system. These experiments demonstrated that our system achieves high accuracy, low delay, and improved safety.

Al-Qassab, Hothaifa, Pang, Su, Al-Qizwini, Mohammed, Kent, Daniel, Radha, Hayder

An ADAS Feature Rating System: Proposing a New Industry Standard

2019-24-025110/7/2019

More than 90% of new vehicles include Advanced Driving Assistance Systems that offer features such as Lane Keep Assist and Adaptive Cruise Control [1]. These ever-improving vehicle systems present a great opportunity to increase driving safety and reduce the number of roadway deaths and injuries. Indeed, they are already having a positive effect. However, the wide variety of features offered in the marketplace can be confusing to consumers, who may not clearly understand their vehicles’ true capabilities and limitations, or have an easy way of comparing system performance between vehicle models. This lack of information has the potential to reduce the safety gains of ADAS features by increasing the risk of improper use. To encourage transparency in the marketplace and thus engender the maximum positive effect of ADAS technologies, this paper proposes a five-level rating system, which utilizes diamonds to denote significant milestone achievements in vehicle system performance. The rating charts resulting from this system describe gradients of performance within criteria addressed by certain foundational ADAS features. Presented here in its initial stage of development, this rating system will require continued refinement. We therefore encourage the community of automotive safety organizations to take up the mantle by establishing and performing test protocols for assigning standardized ADAS feature performance ratings. We believe that the result of this effort, a common method for understanding and comparing ADAS performance, promises to deliver a beneficial level of clarity to the industry and consumers.

Heeren, David, Gradu, Mircea

New-generation Nissan Versa breaks for higher ground

19AUTP10_1410/1/2019

Subcompact cars hardly are spotlight-grabbers at the moment, but Nissan's nonetheless delivered up an all-new 2020 Versa that notches higher fuel economy, quicker acceleration, tighter S-curve poise and a quieter cabin compared to the outgoing Versa. “Nissan's third-generation Versa is well-balanced in terms of performance, handling, and ride comfort,” Jose Romo, the car's marketability engineer, told Automotive Engineering during a recent media ride-and-drive program in Nashville, Tenn.

Buchholz, Kami

Q&A

19AUTP10_1610/1/2019

Swamy Kotagiri is Magna's chief technology officer and head of the company's Power & Vision segment. Automotive Engineering contributor Sebastian Blanco spoke with him at the 2019 opening of Magna Electronics' new manufacturing facility near Holly, Michigan. There, the company will be consolidating production lines to make and fully test around 12 million automotive-grade cameras a year. Some highlights of our conversation:

Rethinking ADAS materials

19AUTP09_039/1/2019

New specialized thermoplastics offer greater design freedom to improve sensor performance and packaging, at reduced cost. Advanced driver assistance system (ADAS) technologies-including automatic emergency braking, collision avoidance, adaptive cruise control and parking assist-are quickly going mainstream. OEMs, regulators and consumers recognize their value in improving driving and preventing accidents. As a global market, ADAS is expected to grow at a CAGR of 19.0% through 2025, according to Grand View Research. The current ADAS sensor suite also is evolving rapidly to respond to market demand for improved performance, more efficient packaging, and lower costs. For example, engineers are exploring the integration of different sensors into a single unit, as well as “fusing” the radar and camera data into a single output to overcome limitations of the individual technologies and provide safety redundancy. Miniaturization of sensor hardware is aimed at reducing its “footprint” at the expense of potentially generating more heat.

Pedrotti, John

A Maneuver-Based Threat Assessment Strategy for Collision Avoidance

07-12-01-00038/22/2019

Advanced driver-assistance systems (ADAS) are being developed for more and more complicated application scenarios, which often require more predictive strategies with better understanding of the driving environment. Taking traffic vehicles’ maneuvers into account can greatly expand the beforehand time span for danger awareness. This article presents a maneuver-based strategy to vehicle collision threat assessment. First, a maneuver-based trajectory prediction model (MTPM) is built, in which near-future trajectories of ego vehicle and traffic vehicles are estimated with the combination of vehicle’s maneuvers and kinematic models that correspond to every maneuver. The most probable maneuvers of ego vehicle and each traffic vehicles are modelled and inferred via Hidden Markov Models with mixture of Gaussians outputs (GMHMM). Based on the inferred maneuvers, trajectory sets consisting of vehicles’ position and motion states are predicted by kinematic models. Subsequently, time to collision (TTC) is calculated in a strategy of employing collision detection at every predicted trajectory instance. For this purpose, safe areas via bounding boxes are applied on every vehicle, and Separating Axis Theorem (SAT) is applied for collision prediction so that TTC can be calculated efficiently and accurately. Finally, a threat level index based on reverse TTC is used to quantize the threat degree of every traffic vehicle potential collision to the ego vehicle. Experimental data collected in the field test are used in the model training, and the overall strategy is validated under PanoSim. An example of the application of the proposed strategy in Autonomous Emergency Braking (AEB) is also shown. Simulation results show that MTPM can accurately identify maneuvers such that the effective prediction on trajectories can be generated. TTC and threat index can be calculated timely. The proposed threat assessment strategy can not only assist collision avoidance systems to foresee dangerous situations but also eliminate false alarm to a certain extent.

Li, Yaxin, Deng, Weiwen, Sun, Bohua, Wang, Jinsong, Zhao, Jian, Zhu, Bing

A Novel Approach for Validating Adaptive Cruise Control (ACC) Using Two Hardware-in-the-Loop (HIL) Simulation Benches

2019-01-10384/2/2019

Adaptive Cruise Control (ACC) is becoming a common feature in modern day vehicles with the advancement of Advanced Driver Assist Systems (ADAS). Simultaneously, Hardware-in-the-Loop (HIL) simulation has emerged as a major component of the automotive product development cycle as it can accelerate product development and validation by supplementing in-vehicle testing. Specifically, HIL simulation has become an integral part of the controls development and validation V-cycles by enabling rapid prototyping of control software for Electronic Control Units (ECUs). Traditionally, ACC algorithms have been validated on a system or subsystem HIL bench with the ACC ECU in the loop such that the HIL bench acts as the host or trailing vehicle with the target or preceding vehicle usually simulated using as an object that follows a pre-defined motion profile. In this setup, the host vehicle HIL bench generally includes physical components and subsystems or their corresponding simulated representations with varying degrees of fidelity. However, the simulated target vehicle is typically used as a low fidelity object for which the motion is described only as functions of lateral or longitudinal speed and position. Thus, due to the absence of simulated representations of other physical components and subsystems, the target vehicle simulation lacks the realistic behavior of a typical target vehicle which would be used during in-vehicle testing of ACC using two physical vehicles. Therefore, this research proposes a novel approach for validating ACC using HIL simulation benches such that one HIL bench acts as the host vehicle while the other acts as the target vehicle such that the interaction between the two HIL simulations is more realistic and similar to that observed during in-vehicle testing of ACC with two physical vehicles. This approach leads to the enhancement of the fidelity of the target vehicle simulation due to the addition of another HIL simulation bench. Two Ford hybrid powertrain subsystem HIL benches with their corresponding powertrain controllers and actuators are used for this research. A dSPACE Microautobox (MABX) is used for rapid prototyping the ACC algorithm. Simulations are conducted using this setup to evaluate the performance of the ACC algorithm in maintaining a desired speed and a desired distance to the target vehicle over varying speed ranges.

Joshi, Adit

Coupling Safety Distance Model for Vehicle Active Collision Avoidance System

2019-01-01304/2/2019

Dong, Jie, Chu, Liang

Raw Data Injection and Failure Testing of Camera, Radar, and Lidar for Highly Automated Systems

2019-01-13783/19/2019

This paper explores how to enhance your autonomous system (AS) testing capabilities and quality assurance using a completely automated hardware-in-the-loop (HIL) test environment that interfaces to or simulates autonomous sensor technology, such as cameras, radar, LIDAR, and other key technologies, such as GNSS/maps and V2X communication. The key to performing such real-time testing is the ability to stimulate the various electronic control units (ECUs)/sensors through closed-loop simulation of the vehicle, its environment, traffic, surroundings, etc., along with playback of captured sensor data and its synchronization with key vehicle bus and application data. The latest technologies are introduced, which allow for direct sensor data injection to ECUs/line replaceable units (LRUs) for test interaction and stimulus, in addition to dynamic, on-the-fly modification of sensor data streams. It will be shown how these techniques are integrated with current HIL systems. This paper will also address new technologies and effective techniques for the optimization of test processes and resources, along with application examples of specific use cases for development of aero-applications utilizing simulated scenarios.

Hager, Benjamin, Allen, Jace

Automated Surface Preparation of Embraer’s Commercial Jet Fuselage for Painting Process

2019-01-13393/19/2019

The surface preparation of the fuselage prior to painting is largely done manually in the Aerospace Industry; utilizing scrubbers, sanders, chemicals, and manlifts resulting in safety and ergonomic issues without delivering a consistent result. The automation of the process employing robots, vision systems, machine movers, and automated process equipment provided the following benefits: Improved Safety and Ergonomics Reduced exposure to hazardous materials and working conditions Improved Consistency and Quality Improved Production Capabilities and Reduced Labor Costs Reduced Material Usage Less weight Lower environmental risks Lower cost This paper will describe the equipment used and the process changes required to automate the surface preparation process, then discuss the benefits that were realized.

Schuknecht, Karl, Scotton, Rogerio Scafutto

Deep Learning in Machine Vision

TBMG-338943/1/2019

FLIR Systems has introduced their Firefly machine vision camera with open platform deep learning inference onboard. Deep learning makes it possible to easily develop high performance solutions for difficult vision problems.

SAE WCX: Bringing You the Future of Mobility

TBMG-339163/1/2019

WCX™ World Congress Experience 2019 — presented by SAE International — is for forward-thinking engineers, executives, OEMs, suppliers, decision-makers, disruptors, and the entire spectrum of the mobility engineering field. Held April 9-11 in Detroit, WCX will offer technical education, peer-to-peer networking, a technology-driven exhibit floor, and global mobility solutions. The event covers every corner of the mobility industry from IoT, Big Data, and connectivity, to unmanned vehicles, sustainability, and cybersecurity. More than 10,000 technical experts and business leaders attend WCX for a look into the latest trends and innovations.

Detroit auto show 2019: Cadillac finally gets its 3-row crossover

19AUTP02_152/1/2019

Cadillac has added another SUV to its lineup with the global debut of the all-new, three-row XT6 at the 2019 Detroit auto show. The XT6 joins the two-row XT4 and XT5 in Caddy's lineup and is a unibody alterative to Cadillac's other three-row SUV, the truck-based Escalade. The 6- or 7-passenger XT6 will be available in two trims-Premium Luxury and Sport-with each offering distinct interior and exterior styling. The XT6 provides a host of available safety technology and should compete directly with Lincoln's new 2020 Aviator three-row SUV. The 2020 XT6 will be powered by GM's 3.6L V6 (310 hp/231 kW). Active fuel management permits V4 operation in lower-load scenarios. All models will feature a 9-speed automatic and four selectable drive modes, with AWD available on the Premium Luxury model and standard on the XT6 Sport. The Sport model will also feature a “twin-clutch” AWD setup with active yaw control, a quicker steering ratio and active dampers. The Sport model will be available with 21-in (533-mm) wheels, a first for a Cadillac SUV.

Seredynski, Paul

Detroit auto show 2019: Next-gen Ford Explorer goes rear-drive

19AUTP02_142/1/2019

The 6th-generation Ford Explorer looks to retain its all-time best-selling-SUV in America status by adding driver assist and other technologies, while dropping its former front-drive/all-wheel-drive (AWD) platform in favor of Ford's new “corporate” CD6 rear-wheel-drive/AWD architecture first revealed for the 2020 Lincoln Aviator. The 2020 Ford Explorer and its Lincoln Aviator sibling are the first midsize SUVs arriving in the marketplace after the automaker's 2018 downshift from nine global platforms to five flexible vehicle architectures. “This is a pretty significant change for us,” Hau Thai Tang, Ford Motor Company's executive VP of product development and purchasing told reporters at the 2020 Explorer's January 9 global debut at Detroit's Ford Field.

Buchholz, Kami

Emotion Analytics for Advanced Driver Monitoring System

2019-26-00251/9/2019

From the recent advances in Driver Monitoring Systems (DMS) from automotive domain, research on Human Computer Interaction (HCI) based on emotion analytics has gained good interest from the research circles. Distraction and drowsiness will be causing more percentage of traffic accidents, but with the use of advanced DMS technology, we can significantly reduce these distractions and can make the driving a safer activity. Our proposed solution/approach with disguised emotion detection with analytics is enabled by machine learning and image processing algorithms to ensure that the detection of drowsiness or distraction is very accurate. The proposed method will inform the HMI system to provide an alert to wake up the driver if he or she is in drowsy state or take the proactive/necessary actions with the help of active safety systems. Emotion analytics is a technique which is used to analyze the emotion of an individual. It is used to recognize the change in the emotion. Deep Learning is used for the implementation of computer vision techniques which is implemented with the help of Convolutional Neural Network (CNN). In recent times, CNN has been successfully applied in analyzing visual images for many automotive applications. CNN model can be applied to recognize the emotion. We have trained CNN model with different depth using grayscale images. Emotions can be classified into following six categories i.e. Happy, Sad, Surprise, Angry, Neutral and Fear. After recognition, emotions are continuously analyzed. We recorded the emotion in particular time frame like how many times a person is Happy, Sad, Surprised etc. Standard & Tata Elxsi’s proprietary database is used for training the Emotion Recognition System. Proposed system is tested in Raspberry pi board and results found satisfactory. This analysis will help us to monitor the activity of driver. In case of any abnormal behavior we can take corrective measure to control the situation.

Nandyala, Sivaprasad, K, Gayathri, Bhushan, Chandra, Gandi, Varaprasad, Manalikandy, Mithun

High Speed Raw Radar Data Acquisition using MIPI CSI2 Interface for Deep Learning in Autonomous Driving Applications

2019-26-00201/9/2019

Technological Advances in ADAS (Advanced Driver Assistance Systems), AI (Artificial Intelligence) and AD (Autonomous Driving) there has been a demand of raw data transfer from Sensors like Radar, Camera, LiDAR, etc. because existing methods are unable to meet sensor fusion requirements of Level 5 AD. Advanced deep learning algorithms need raw data to extract complex features and fusion of data from sensors further helps to build algorithms that simulate human-like intelligence. Traditionally, the output of Radar is point cloud data [i.e. Range, Velocity, Angle] of the detected target which is the outcome of the computation done by the local radar. Transfer of raw data allows the central computer to decide whether to process the radar data at the edge or at the central computer where sensor fusion can be performed. This leads to the high data rate transfer requirements from the Radar sensor. MIPI being an established standard for high data rate transfer from camera, car OEMs extended its usage for high data rate transfer from Radar. This paper will help to understand the mapping of Radar Frame data into image frame data as required by MIPI CSI2 format.

Doshi, Nirav, Balasubramanian, Aanandh, Katuri, Srinivasa Rao

Nissan's all-new Altima gets variable-compression engine, AWD

18AUTP11_0911/1/2018

The Altima sedan is an important product for Nissan, what it calls its “brand ambassador.” Long a solid choice in the midsize sedan segment, its typically conservative sheetmetal over the nameplate's five generations has set benchmarks for inoffensive design. For MY2019, Nissan has moved the all-new sixth-generation Altima onto an updated, autonomous-capable global platform and is providing two new powertrains, its first all-wheel-drive system for a sedan in this market and styling that is clean, handsome and sharp. Nissan obviously has invested heavily in its new sedan and as a package, the latest Altima looks and drives the business. Pricing and content also appear set to compete with longtime and recently refreshed competitors including the Honda Accord and Toyota Camry. All good, save the almost startingly recent industry-wide decline in U.S. sedan sales.

Seredynski, Paul

Study on Lane Change Trajectory Planning Considering of Driver Characteristics

2018-01-16278/7/2018

Automatic lane change of intelligent vehicles is a complex process. Besides of safety, feelings of the driver and passengers during the lane change are also very important. In this paper, a lane change trajectory planner is designed to generate an ideal collision-free trajectory to satisfy the driver’s preference. Various lane changing modes, gentle lane change, general lane change, radical lane change and personalized lane change, are designed to meet the needs of different passengers on vehicles simultaneously. In this paper, the condition of the two-lane change is studied. One vehicle is in front of the ego vehicle at the same lane and one is at the rear of the ego vehicle at the target lane. A trajectory planning method is then established based on constant speed offset and sine curve, vehicle distances and speed difference, etc. The key factors which can reflect drivers’ lane change characteristics are then acquired. Based on the key factors, lane change decision model and lane change state model are established, which can reflect drivers’ personalized lane change selection and habits based on the traffic environment. The effectiveness of lane change decision model is validated by computer simulations. In order to fit the lane change state model, a BP neural network controller is then developed. The small errors of predicted lane change time demonstrate the effectiveness of the BP neural network. Finally, lane changes with different modes are conducted in MATLAB under different vehicle distances and speed difference. Simulation results demonstrate that the proposed trajectory planner can generate collision-free trajectories and shows a good reflection of driver lane change styles. Additionally, multiple lane changing modes add the probability of practical applications. This paper can provide reference for lane change trajectory planning of intelligent vehicles.

Wang, Yang Yang, Pan, Ding, Liu, Zhiguang, Feng, Rong

Lateral Control Method of Intelligent Vehicles Based on Image Segmentation

2018-01-15968/7/2018

With the rapid development of automotive industry, the intelligent vehicles that can be viewed as the integrated carrier of advanced technology of automobile are paid much attention by society. It is imperative to study the motion control of the intelligent vehicles due to the nature of their nonholonomic operation constraint system whose dynamic characteristics are highly nonlinear with the uncertainty of parameters. In this paper, utilizing the vision system of intelligent vehicles, a vehicle lateral control strategy based on image segmentation is established to enhance the vehicle’s capability to predict future behavior and deal with unexpected situations. Applying the image recognition and tracking results of the visual system, the breadth and depth of the vision are divided into three-dimensional segmentation where each block is given different weights. When the vehicle’s current trajectory meets obstacles, according to the location of obstacles in the visual image, the vehicle will be reprogrammed utilizing the arcing pattern of the optimal strategy in order to bypass the obstacles and continue to follow the desired trajectory under the macro path. Meanwhile, to ensure the stable operation of vehicles and prevent the possible vehicle sliding and roll-over caused by a sudden involvement of the lateral acceleration, a model predictive control method (MPC) for vehicle lateral dynamic system under the dynamic constraints is proposed. The simulation analysis is conducted to validate the effectiveness of the control strategy and the proposed model predictive controller under different vehicle operating conditions.

Hongxing, Liu, Guangdi, Hu, Du, Yanting, Qi, Zhang

Air Force Research Laboratory

TBMG-325208/1/2018

The Air Force Research Laboratory (AFRL), headquartered at Wright-Patterson Air Force Base in Ohio, was formed in October 1997 through the consolidation of four former Air Force laboratories and the Air Force Office of Scientific Research.

Early Acquisition and Preservation of Information in a Motor Vehicle Crash

J1674_201807 (Current)7/12/2018

The purpose of this SAE Recommended Practice is to offer simplified and prioritized guidelines for collecting and preserving on-scene data related to motor vehicle crashes. It is intended that these guidelines improve the effectiveness of data collection, which will assist subsequent analysis and reconstruction of a particular crash. This document is intended to guide early data collectors whose objectives include documenting information related to the crash. It may be used by law enforcement personnel, safety officials, insurance adjusters and other interested parties. This document identifies categories of scene physical features that deteriorate relatively quickly and recommends documentation task priorities. Detailed methods of collecting data are not part of this document. However, some widely used methods are described in the references in Section 2.

Data Collection and Archiving Standards Committee

Accuracy of a Driver Model with Nonlinear AutoregRessive with eXogeous Inputs (NARX)

2018-01-05044/3/2018

Most driving assist systems are uniformly controlled without considering differences in characteristics of individual drivers. Drivers may feel discomfort, nuisance, and stress if the system functions differently from their characteristics. The present study reduced these side effects for systems with a highly accurate driver model. The model was constructed using Nonlinear AutoregRessive with eXogeous inputs (NARX), which has a learning function and estimates the driving action of a driver. The model was constructed for one driving condition yet can be applied to other driving conditions. If one model can be applied to many driving conditions, a system can construct as minimum requirements. The driver decelerated while approaching the target at the tail of a traffic jam on a highway. A driver model was constructed for the driver’s braking action. The experimental condition was 11 data measurements from 50 to 130 km/h made at intervals of 10 km/h. A model was constructed with 1-10 data. Analysis clarifies the number of data points needed to construct the model. The accuracy of the model was confirmed from 50 to 130 km/h at intervals of 10 km/h. Analysis clarifies on model accuracy when there is velocity difference. The accuracy of the model improved as the volume of learning data increased. The relationship between the volume of data and the model accuracy was clarified. The accuracy decreased as the difference in velocity increased, and this tendency was more obvious when the subject vehicle travelled at low velocity.

Miyata, Akihiro, Gokan, Masato, Hirose, Toshiya

2021-12-29.TEST Information Security Risk Management of Vehicles

2018-01-0015

4/3/2018

The results of this work is allowed to identify a number of cybersecurity threats of the automated security-critical automotive systems, which reduces the efficiency of operation, road safety and system safety. Wired or wireless access of the information networks of the modern vehicles allows to gain control over power unit, chassis, security system components and comfort systems. According to the evaluating criterion of board electronics, the presence of poorly-protected communication channels, the 75% of the researched modern vehicles do not meet the minimum requirements of cybersecurity due to the danger of external blocking of vital systems. The revealed vulnerabilities of the security-critical automotive systems lead to the necessity of developing methods for mechanical and electronic protection of the modern vehicle. The law of normal distribution of the mid-points of the expert evaluation of the cyber-security of a modern vehicle has been determined. Based on the system approach, ranking of the main cybersecurity treats is performed. Electronic body systems of modern vehicles are the most likely to be damaged by intruders, which can lead to the vehicle theft. Using the complex of safety criteria of modern vehicles, the probability and possible consequences of risks in the interception of the control of vehicles are determined. The obtained results can be used at the stages of production and operation of the vehicles with the aim to improve cybersecurity, road safety and system safety as a whole taking into account its life-cycle management.

Klets, Dmytro, Gritsuk, Igor V., Makovetskyi, Andrii, Bulgakov, Nickolay, Podrigalo, Mikhail, Kyrychenko, Ihor, Volska, Olena, Kyzminec, Nikolai

2021-12-29.TEST Visual Sensor Fusion and Data Sharing across Connected Vehicles for Active Safety

2018-01-0026

4/3/2018

The development of connected-vehicle technology, which includes vehicle-vehicle and vehicle-infrastructure communications, opens the door for unprecedented active safety and driver-enhanced systems. In addition to exchanging basic traffic messages among vehicles for safety applications, a significantly higher level of safety can be achieved when vehicles and designated infrastructure-locations share their sensor data. In this paper, we propose a new system where cameras installed on multiple vehicles and infrastructure-locations share and fuse their visual data and detected objects in real-time. The transmission of camera data and/or detected objects (e.g., pedestrians, vehicles, cyclists, etc.) can be accomplished by many communication methods. In particular, such communications can be accomplished using the emerging Dedicated Short-Range Communications (DSRC) technology. In our proposed system the vehicle receiving the visual data from an adjacent vehicle fuses the received visual data with its own camera views to create a much richer visual scene. We conducted several experiments across a pair of vehicles equipped with DSRC devices and our proposed system. These experiments demonstrated that our system achieve high accuracy, low delay and improved safety.

Al-Qassab, Hothaifa, Pang, Su, Al-Qizwini, Mohammed, Radha, Hayder