Browse Topic: Collision warning systems

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Evaluating forward collision warning and autonomous emergency braking systems in India using dashboard cameras2024-26-003101/16/2024
Road traffic fatalities in India have been increasing, reaching around 150,000 fatalities a year. To reduce fatalities, some prospective studies suggested using active safety technologies such as Forward Collision Warning (FCW), and Autonomous Emergency Braking (AEB). However, the effectiveness of FCW and AEB on Indian roads using retrospective studies is not known. Vehicle data such as radar, and controller area network signals could be used for the evaluation of the systems (FCW and AEB). However, these data are not readily accessible. This exploratory study aims to explore the opportunities and limitations of using simple dashboard cameras for a Field Operational Test. One European car with state-of-the-art FCW and AEB systems was rented. Fifteen drivers shared the vehicle, driving almost 10,000 km over 29 days. The vehicle was mounted with a set of dashboard cameras. The navigator noted the “system activated” events and “no activation” events in the logbook during the drive. Post
Shaikh, Junaid, Lubbe, Nils
Technical Paper
Tire Track Identification: A Method for Drivable Region Detection in Conditions of Snow-Occluded Lane Lines2022-01-007803/29/2022
Today’s advanced driver-assistance systems (ADAS) commonly utilize the camera sensor to provide the benefit of increased safety to the driver. This is done by using computer vision to detect two key environmental features: lane lines and objects (e.g., vehicles, pedestrians, bicycles). Lane detections are vital for safety features such as lane departure warnings, lane-keeping assist systems, and lane-centering systems. However, when subjected to adverse weather conditions, either heavy perception of rain or snow or occlusion of lane lines due to rain or snow, the lane detection algorithms are no longer capable of detecting the lane lines. Hence, the ADAS feature is no longer providing the benefit of increased safety to the driver. The performance of one of the leading computer vision system providers was tested in conditions of variable snow coverage on the road, causing occluded lane lines, using data collected in the 2020-2021 winter in Kalamazoo, Michigan. The results show that this
Goberville, Nicholas A., Kadav, Parth, Asher, Zachary D.
Technical Paper
Estimating the Real-World Benefits of Lane Departure Warning and Lane Keeping Support Systems2022-01-098003/29/2022
Four crash modes are overrepresented in traffic fatalities: run-off-road crashes, non-tracking run-off-road crashes, head-on crashes, and pedestrian crashes. Two advanced driver assist systems developed to help prevent and mitigate tracking run-off-road crashes and head-on crashes are lane departure warning (LDW) and lane keeping support (LKS). LDW acts to warn the driver when they have left the lane, whereas LKS performs automatic steering to prevent the vehicle from departing the lane. The objective of this research was to estimate LDW and LKS effectiveness in reducing run-off-road crashes and cross-centerline head-on crashes. All passenger vehicles that experienced a lane departure from 2017 to 2019 in the Crash Investigation Sampling System (CISS) were analyzed. CISS records the availability of active safety features for each vehicle, including LDW and LKS. The system effectivenesses were computed using the quasi-induced exposure method, where the exposure group was vehicles that
Dean, Morgan E., Riexinger, Luke E.
Technical Paper
trajectory planning and steering control for evasive steering assist2022-01-009603/29/2022
Recently, vehicle safety has drawn great attention from both academia and industry. Increasing number of vehicles on market are equipped with active safety features, such as forward collision warning (FCW), automatic emergency braking (AEB), lane departure warning (LDW), lane departure assist (LDA), etc. While AEB is able to mitigate frontal collision or reduce collision impact by active braking, braking alone is not as effective as steering when host vehicle is in high speed. The reason is that when host speed is high, it takes a long time and distance for host vehicle to brake to full stop. For example, if the host vehicle travels at 24m/s and it brakes with a deceleration of -6m/s^2, it takes 4s and 48m to reach full stop. If the host speed is 30m/s and brakes with -6m/s^2, to stop the host vehicle, it needs 5s and 75m. But it may just take around 2s for an evasive steering to avoid collision compared with 5s of braking alone. That’s why evasive steering is more effective in avoid
Zhang, Guoguang, Wang, Qian, Mujumdar, Tapan, Sugiarto, Tanto
Technical Paper
Development of evaluation technology for motorcycle advanced rider assistance systems2022-32-002901/09/2022
The Kawasaki Heavy Industries Group established its Group’s new vision statement, describing what the Group envisions becoming in 10 years ― “Group Vision 2030: Trustworthy Solutions for the Future.” In order to provide solutions for social issues and create a hopeful future, we will transform our business structure into a form which promises faster growth in line with environmental changes. In the field of "Near-Future Mobility," which is one of the fields we are focusing on, we are the first Japanese motorcycle manufacturer to adopt the Advanced Rider Assistance System (ARAS), with the aim of transforming the movement of people and goods. We began selling models equipped with this system in early 2022. ARAS, which is an advanced rider assistance function for motorcycles, is just a rider assistance function, and the rider is ultimately responsible for properly operating the vehicle. Therefore, even if this system malfunctions, that must not interfere with the safe operation of the
Hosokawa, Shohei, Nagasaka, Kazuya, Watanabe, Hiroyuki
Technical Paper
Blind Spot Monitoring System (BSMS): Operating Characteristics and User InterfaceJ2802_202110 (Current)10/12/2021
This document specifies the minimum recommendations for Blind Spot Monitoring System (BSMS) operational characteristics and elements of the user interface. A visual BSMS indicator is recommended. BSMS detects and conveys to the driver via a visual indicator the presence of a target (e.g., a vehicle), adjacent to the subject vehicle in the “traditional” Adjacent Blind Spot Zone (ABSZ). The BSMS is not intended to replace the need for interior and exterior rear-view mirrors or to reduce mirror size. BSMS is only intended as a supplement to these mirrors and will not take any automatic vehicle control action to prevent possible collisions. While the BSMS will assist drivers in detecting the presence of vehicles in their ABSZ, the absence of a visual indicator will not guarantee that the driver can safely make a lane change maneuver (e.g., vehicles may be approaching rapidly outside the ABSZ area). This document applies to original equipment and aftermarket BSMS systems for passenger
Advanced Driver Assistance Systems (ADAS) Committee
Recommended Practice
Do Driver Characteristics and Crash Conditions Modify the Effectiveness of Automatic Emergency Braking?2021-01-087404/06/2021
Studies of automatic emergency braking (AEB) find that AEB-equipped vehicles are around half as likely to crash. This study examines whether driver characteristics and road and weather conditions modify this preventive effect of AEB. Toyota production data were merged with police reported crash files from eight U.S. states for crash years 2015 up to 2019 by 17-digit vehicle identification number (VIN). Using a case-control design, this study investigated the relationship of AEB presence with being a case vehicle in a system-relevant crash (the striking vehicle in front-to-rear crash; n=30,056) versus an AEB non-relevant control vehicle (the struck vehicle in a front-to-rear crash; n=62,820). The analysis was stratified by driver characteristics and by weather and road conditions. Logistic regression modeled the relationship, controlling for exposure (vehicle-days) and possible confounding factors. The resulting odds ratios for AEB equipment from the separate models were compared to
Spicer, Rebecca, Vahabaghaie, Amin, Murakhovsky, Dennis, St. Lawrence, Schuyler, Drayer, Becca, Bahouth, George
Journal Article
CES 2021: GM creates BrightDrop electrified delivery and logistics company21AUTP02_0902/01/2021
During her CES 2021 keynote in January, GM Chairman and CEO Mary Barra announced the creation of a new logistics company called BrightDrop. The new business will create an ecosystem of electrified products, software and services for first-to-last-mile delivery. This includes EPI, a new electric pallet to shuttle packages, as well as a new commercial delivery truck based on GM's Ultium battery platform, the EV600. The first customer of the new business will be FedEx Express. According to GM, BrightDrop's electrified solutions were created to help businesses reduce costs, maximize productivity, improve employee and freight security and support sustainability efforts. The EP1 pallet will be available in early 2021 and the EV600 light commercial vehicle (LCV) is expected to be on the road by late 2021. The EV600 is GM's first commercial application of its Ultium battery platform and the truck will feature both Level-2 and DC fast-charging capabilities.
Seredynski, Paul
Magazine Article
Western Star develops all-new 49X with quieter cab, lighter but stronger chassis20TOFHP12_0912/01/2020
Purpose-built from the ground up, the next-generation Western Star 49X vocational truck is underpinned by a stronger, lighter chassis and equipped with a new X-series steel-reinforced aluminum cab that's claimed to be the segment's largest with 10 to 13% more space while being 8% lighter. Technology upgrades that bolster productivity, safety and uptime for the vocational market include Detroit Assurance active safety systems such as Side Guard Assist and the Detroit DT12 Vocational series of automated manual transmissions, which debuts on the Class 8 vocational truck. “We've completely rethought the foundation of the 49X to make it easier to upfit,” David Carson, senior vice president, vocational segment, Daimler Trucks North America, stressed during a virtual press event introducing the new truck. Engineers focused on clear back-of-cab packaging and features that contribute to easier upfitting: forward-mounted DEF tanks; standard in-cab battery box; multiple air tank mounting
Gehm, Ryan
Magazine Article
Unsettled Issues Facing Automated Vehicles and InsuranceEPR202001508/05/2020
This SAE EDGE™ Research Report explores how the deployment of automated vehicles (AVs) will affect the insurance industry and the principles of liability that underly the structure of insurance in the US. As we trade human drivers for suites of sensors and computers, who (or what) is responsible when there is a crash? The owner of the vehicle? The automaker that built it? The programmer that wrote the code?Insurers have over 100 years of experience and data covering human drivers, but with only a few years’ worth of information on AVs – how can they properly predict the true risks associated with their deployment? Without an understanding of the nature and risks of AVs, how can the government agencies that regulate the insurance industry provide proper oversight? Do the challenges AVs present require a total reworking of our insurance and liability systems, or can our current structures be adapted to fit them with minor modifications?{"bold":"Unsettled Legal Issues Facing Automated
Williams, Ian
Research Report
Heavy Vehicle Event Data Recorder (HVEDR) - Data and TriggersJ2728-1_202006 (Current)06/09/2020
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
Recommended Practice
Heavy Vehicle Event Data Recorder (HVEDR) - Data and TriggersJ2728-1_202006-TEST-REC (Historical)06/09/2020
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
Recommended Practice
Reference Test System for Machine Vision Used for ADAS Functions2020-01-009604/14/2020
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
Nayak, Abhishek, Rathinam, Sivakumar, Pike, Adam, Gopalswamy, Swaminathan
Technical Paper
Perceptions of Two Unique Lane Centering Systems: An FOT Interview Analysis2020-01-010804/14/2020
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
Landry, Steven, Seppelt, Bobbie, Russo, Luca, Mehler, Bruce, Angell, Linda, Gershon, Pnina, Reimer, Bryan
Technical Paper
Empirical Study of the Braking Performance of Pedestrian Autonomous Emergency Braking (P-AEB)2020-01-087804/14/2020
Vehicle manufacturers are beginning to improve existing autonomous emergency braking (AEB) algorithms by pedestrian identification and avoidance capability. The Insurance Institute for Highway Safety (IIHS) has performed tests on eleven such vehicles; data is publicly available and was analyzed for this study. The IIHS tests were divided into three scenarios- 1) An adult pedestrian crossing a street on a path perpendicular to the travel line of vehicle, with a vehicle approach speed of 20 or 40 km/h, 2) a child pedestrian crossing a street from behind an obstruction on a path perpendicular to the travel line of a vehicle (approach speeds 20, 40 km/h), and 3) an adult pedestrian near the edge of a road in a path parallel to the travel path of a vehicle (approach speeds 40, 60 kph). An analysis was performed to compare Forward Collision Warning (FCW) engagement time, brake application time, and probability of impact across different manufacturers. It was observed that FCW on time for the
Siddiqui, Omair, Famiglietti, Nicholas, Nguyen, Benjamin, Hoang, Ryan, Landerville, Jon
Technical Paper
A Deep Forward Collision Detector Based on Deep Reinforcement Learning2020-01-013804/14/2020
Forward collision is one of the most challenging concern in the safety of autonomous vehicle. Cooperation between many sensors such as LIDAR, Radar and camera helps to enhance the safety. Apart from the significance of being aware of objects on the drivable area, making an apt decision in the moment is noticeable. In this study, we concentrate on detecting front vehicle of autonomous car using a sensor fusion method, beyond only a detection method. In fact, we devise a solution which provides forward collision warning signal by discriminating between the vehicles moving in and opposite direction of autonomous vehicle, without lane check. Then, the result of classification is combined by the speed of autonomous vehicle as well as the size of detected front vehicle in the images. As a sensor fusion method, this data is utilized to determine whether the front detected car is an obstacle with a potential collision hazard or not. For this reason, we implement a deep neural network with two
Fekri, Pedram, Abedi, Vajiheh, Dargahi, Javad, Zadeh, Mehrdad
Technical Paper
Heavy Vehicles Kinematics of Automatic Emergency Braking Test Track Scenarios2020-01-099504/14/2020
This paper presents the test track scenario design and analysis used to estimate the performances of heavy vehicles equipped with forward collision warning and automatic emergency braking systems in rear-end crash scenarios. The first part of this design and analysis study was to develop parameters for brake inputs in test track scenarios simulating a driver that has insufficiently applied the brakes to avoid a rear-end collision. In the second part of this study, the deceleration limits imposed by heavy vehicles mechanics and brake systems are used to estimate automatic emergency braking performance benefits with respect to minimum stopping distance requirements set by Federal Motor Vehicle Safety Standards. The results of this study were used to complete the test track procedures and show that all heavy vehicles meeting regulatory stopping distance requirements have the braking capacity to demonstrate rear-end crash avoidance improvements in the developed tests.
Salaani, M. Kamel, Elsasser, Devin, Boday, Christopher
Technical Paper
Testing methods and recommended validation strategies for Active Safety to optimize efficiency2020-01-134804/14/2020
Given the current proliferation of active safety features on new vehicles, especially for Advanced Driver Assistance Systems (ADAS) and Highly Automated Driving (HAD) technologies, it is evident that there is a need for testing methods beyond a vehicle level physical test. This paper will discuss the current state of the art in the industry for simulation-based verification and validation (V&V) testing methods. These will include, but are not limited to, "Hardware-in-the-Loop", "Software-in-the-Loop", "Model-in-the-Loop", "Driver-in-the-Loop", and any other suitable combinations of the aforementioned. Aspects of the test processes and needed components for simulation will be addressed, detailing the scope of work needed for various types of testing. The paper will provide an overview of standardized test aspects, active safety software validation methods, best practices and standards. The focus will be on trade-offs of cost and performance, as well as providing general guidance for the
Allen, Jace, Koo, Winston, Murugesan, Dhyaneshwar, Zagorski, Chad
Technical Paper
Advanced Driver-Assistance Systems for City Bus Applications2020-01-120804/14/2020
The bus sector is currently lagging behind when it comes to implementing autonomous systems for improved vehicle safety. However, in cities such as London, public transport strategies are changing, with requirements being made for advanced driver-assistance systems (ADAS) on buses. This study discusses the adoption of ADAS systems within the bus sector. A review of the on-road ADAS bus trials shows that passive forward collision warning (FCW) and intelligent speed assistance (ISA) systems have been successful in reducing the number of imminent pedestrian/vehicle collision events and improving speed limit compliance, respectively. Bus accident statistics for Great Britain have shown that pedestrians account for 82% of all fatalities, with three quarters occurring with frontal bus impacts. These statistics suggest that the bus forward collision warning system is a priority for inclusion in future vehicles to enhance the driver’s direct vision, and to increase reaction time for earlier
Blades, Luke, Douglas, Roy, Early, Juliana, Lo, Chun Yi, Best, Robert
Technical Paper
Collision Probability Field for Motion Prediction of Surrounding Vehicles Using Sensing Uncertainty2020-01-069704/14/2020
Intelligent driving assistant systems have been studied meticulously for autonomous driving. When the systems have the responsibility for driving itself, such as in an autonomous driving system, it should be aware of its’ surroundings including moving vehicles and must be able to evaluate collision risk for the ego vehicle's planned motion. However, when recognizing surrounding vehicles using a sensor, the measured information has uncertainty because of many reasons, such as noise and resolution. Many previous studies evaluated the collision risk based on the probabilistic theorem which the noise is modeled as a probability density function. However, the previous probabilistic solutions could not assess the collision risk and predict the motion of surrounding vehicles at the same time even though the motion is possible to be changed by the estimated collision risk. Thus, this paper proposes the collision probability field to simultaneously predict the motions of surrounding vehicles
Lee, Minchul, Sunwoo, Myoungho, Jo, Kichun
Technical Paper
An Improved Probabilistic Threat Assessment Method for Intelligent Vehicles in Critical Rear-End Situations2020-01-069804/14/2020
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
Zhou, Huajian, Zhong, Zhihua, Wang, Xiaowei, Huang, Jin
Technical Paper
Simulation of Curved Road Collision Prevention Warning System of Automobile Based on V2X2020-01-070704/14/2020
The high popularity of automobiles has led to frequent collisions. According to the latest statistics of the United Nations, about 1.25 million people worldwide die from road traffic accidents each year. In order to improve the safety of vehicles in driving, the active safety system has become a research hotspot of various car companies and research institutions around the world. Among them, the more mature and popular active security system are Forward Collision Warning(FCW) and Autonomous Emergency Braking(AEB). However, the current active safety system is based on traditional sensors such as radar and camera. Therefore, the system itself has many limitations due to the shortage of traditional sensors. Compared to traditional sensors, Vehicle to Everything (V2X) technology has the advantages of richer vehicle parameter information, no perceived blind spots, dynamic prediction of dangerous vehicle status, and no occlusion restriction. In order to overcome the many shortcomings of the
Li, Xuanhe, Wu, Jian, He, Rui, Zhu, Bing, Zhao, Jian, Zhou, Hang
Technical Paper
Optimization of Braking Strategy for Automatic Emergency Braking System in Vehicle-Pedestrian Accidents07-12-02-000903/23/2020
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
Journal Article
Research on Forward Collision Warning System and Fuzzy Control of Automatic Emergency Braking System2020-01-503302/24/2020
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
Technical Paper
A New CFAR Detection Algorithm Based on Sorting Selection for Vehicle Millimeter Wave Radar2020-01-501902/24/2020
In this paper, a CFAR detection algorithm based on sorting selection is proposed for the vehicle millimeter wave radar in the actual detection. The principle of this algorithm is derived from the mean class CFAR and the ordered selection class (OS) CFAR algorithm. First, CA-CFAR and SO-CFAR are simulated and detected in the presence of extended range targets, and it is found that the detection performance can be improved by changing the protection unit. At the same time, the proposed method was tested and compared under the same conditions. Results show that although the detection performances of CA and SO-CFAR can be improved by increasing the number of protection units, they are not suitable for practical applications. However, the proposed method not only has no need for protection units but also has better detection performance. Then, CA-CFAR, SO-CFAR and the new algorithm are verified and compared using the real data obtained by a stationary vehicle. Results show that the
Ruida, Chen, Yicheng, JIANG, Zhenwei, Miao, Gang, Ye, Bing, Wang
Technical Paper
Modification of Density-Based Clustering and Threshold Adjustment Detection-Tracking Integration Algorithm for 77 GHz Automotive Radar2020-01-502702/24/2020
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
Houyuan, Zhang, Yicheng, Jiang, Zhenwei, Miao, Gang, Ye, Bing, Wang
Technical Paper
Vehicle Control History: Data from Driver Input and Pre-Collision System Activation Events on Toyota Vehicles2019-01-509412/30/2019
Separate from the event data recorder (EDR), which records and stores data from qualifying vehicle crash events, the Vehicle Control History (VCH) on Toyota vehicles records and stores certain vehicle data based on select driver inputs, such as hard acceleration or braking, or upon the activation of certain vehicle dynamic control systems such as antilock braking system (ABS), traction control (TRAC), vehicle stability control (VSC), and the pre-collision system (PCS). In the United States, VCH was first equipped on the 2013 Toyota RAV4 and has been subsequently introduced into other Toyota and Lexus models. Most recently, in addition to VCH data, additional PCS operational data (PCS-O) and image data (PCS-I) may be recorded and stored. The image storage capability may record under certain conditions such as if the system has automatically applied the vehicle brakes. PCS-O and PCS-I data became available with the launch of Toyota Safety Sense (TSS), a grouping of advanced active safety
Lewis, Lance, Hare, Barry, Clyde, Harold, Landis, Robert
Technical Paper
Vision Based Solution for Auto-Maneuvering of Vehicle for Emerging Market2019-28-251711/21/2019
Advance Active Safety Systems play a preventive role in mitigating crashes and accidents by providing warning, additional assistance to the driver and maneuverability of vehicle by itself. Some of the features include forward collision warning system and lane departure warning system activate a warning alert when potentially dangerous situations are detected. These active safety features present in developed markets work with Fusion based algorithm combining Radar, Lidar, Camera, Ultrasonic sensor’s input. Application of these algorithms are Intelligent Cruise Control, Collision avoidance, parking assistance, identify pedestrian etc. The complexity of the algorithm, cost of the control unit and road infrastructure are hindrance to emerging market. The solution presented in this paper is towards camera-based solution, describing the method to determine the predictive path, that is obstacle free space and use the predictive space to navigate or steer. This paper focuses on vehicle
Bose, Souvik, Singh, Ashwani Kumar, Singampalli, D V Ram Kumar, lalwani, Chandraprakash
Technical Paper
An ADAS Feature Rating System: Proposing a New Industry Standard2019-24-025110/07/2019
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
Heeren, David, Gradu, Mircea
Technical Paper
Braking Requirements for Optimizing Autonomous Emergency Braking Performance2019-01-212709/15/2019
Vehicle technology new developments have contributed to improve vehicle structural performance and therefore passive protection, but also the inclusion of electronic control units has provided new opportunities to expand active safety systems. This is the case for systems like anti-lock braking systems (ABS), electronic stability control (ESC) and brake assist (BA) among others. A more advanced generation of active systems includes sensorial units that monitor vehicle’s surrounding and detect potential hazards, such as an imminent collision, and performs an automatically and commanded emergency braking to lessen or mitigate the consequences of the impending accident. For this latest system, the so-called autonomous emergency braking (AEB), various consumer testing protocols, such as Euro NCAP protocols [1], propose and periodically update test catalogues in order to evaluate the performance of such systems and later to inform potential consumers. The aim of this study is to investigate
Esquer Molina, Álvaro, Bargallo, Jordi
Technical Paper
A Maneuver-Based Threat Assessment Strategy for Collision Avoidance07-12-01-000308/22/2019
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
Li, Yaxin, Deng, Weiwen, Sun, Bohua, Wang, Jinsong, Zhao, Jian, Zhu, Bing
Journal Article
Message Sets for Advanced Traveler Information System (ATIS)J2354_201906 (Current)06/11/2019
This SAE Standard describes standardized medium-independent messages needed by information service providers for Advanced Traveler Information Systems (ATIS). The messages contained herein address all stages of travel (informational, pre-trip and en route), all types of travelers (drivers, passengers, personal devices, computers, other servers), all categories of information, and all platforms for delivery of information (in-vehicle, portable devices, kiosks, etc.).
V2X Core Technical Committee
Technical Standard
GE Aviation’s AiRXOS launches new Air Mobility portfolio and management tools purpose built for the urban air mobility marketSAE-MA-0344805/03/2019
The solutions – which have already received nationwide approval from multiple UAM operators – provide scalable and secure end-to-end infrastructure and applications to help organizations and governments manage data and capitalize on the UAM economy.
Kucinski, William
Magazine Article
System Engineering of an Advanced Driver Assistance System2019-01-087604/02/2019
Current Advanced Driver Assistance Systems (ADAS) often interact with the driver; aiding with either warnings or direct intervention. This work explores the development of an ADAS system to provide lane departure warning, forward collision warning, and a recommended following distance for a custom plug-in hybrid-electric vehicle. The system utilizes off-the-shelf hardware with in-house computer vision and sensor fusion algorithms to create a low-cost SAE Level 0 driver assistance system. The system utilizes a radar sensor as well as a camera to detect, classify, and track target vehicles. This work will illustrate the systems engineering methods used for outlining customer requirements, technical requirements, component selection, software development, simulation, vehicle fitment, and validation. Similar system engineering processes could be implemented for higher level SAE systems.
Stoddart, Evan, Chebolu, Subash, Midlam-Mohler, Shawn
Technical Paper
A Novel Approach for Validating Adaptive Cruise Control (ACC) Using Two Hardware-in-the-Loop (HIL) Simulation Benches2019-01-103804/02/2019
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
Joshi, Adit
Technical Paper
Robust Validation Platform of Autonomous Capability for Commercial Vehicles2019-01-068604/02/2019
Global deployment of autonomous capability for commercial vehicles is a big challenge. In order to improve the robustness of autonomous approach under different traffic scenarios, environments, road conditions, and driver behaviors, a combined approach of virtual simulation, vehicle-in-the-loop (VIL) testing, proving ground testing, and final field testing have been established for algorithms validation. During the validation platform setup, different platforms for different functionalities have been studied, including open source virtual testing environment (CARLA, AirSim), and commercial one (IPG). We also cooperate with MCity to do proving ground validation. In virtual testing, the functionality of sensors (camera, radar, Lidar, GPS, IMU) and vehicle dynamic models can be applied in the virtual environment. In VIL testing, real world and virtual test will be connected for different validation purposes. The proving ground testing will be performed in real environment with rich
Sun, Yong, Li, Hanxiang, Peng, Weilun
Technical Paper
Effects of Innovation in Automated Vehicles on Occupant Compartment Designs, Evaluation, and Safety: A Review of Public Marketing, Literature, and Standards2019-01-122304/02/2019
In recent years, the discussion around the advent of highly automated vehicles has shifted from “if” to “when.” Commercially available vehicles already incorporate automated vehicle (AV) technologies of varying capability, and the eventual transition to fully automated systems, at least within certain predefined Operational Design Domains, is largely considered inevitable. While the full ramifications of this shift and the eventual depreciation of human driver control are still under intense debate, there is broad agreement on one issue -the advent of driverless systems will remove several constraints on the design of vehicle interior spaces, creating the opportunity for innovation. Even at this early stage, ambitious design concepts of purpose specific vehicles - mobile gyms, offices, bedrooms - have been proposed. More grounded designs, such as rotating passenger seats, have also been put forward. However, there are two other points on which general agreement exists - future AVs will
Filatov, Anton, Scanlon, John M., Bruno, Alexander, Danthurthi, Sri Sai Kameshwari, Fisher, Jacob
Technical Paper
A Novel Vision-Based Framework for Real-Time Lane Detection and Tracking2019-01-069004/02/2019
Lane detection is one of the most important part in ADAS because various modules (i.e., LKAS, LDWS, etc.) need robust and precise lane position for ego vehicle and traffic participants localization to plan an optimal routine or make proper driving decisions. While most of the lane detection approaches heavily depend on tedious pre-processing and great amount of assumptions to get reasonable result, the robustness and efficiency are deteriorated. To address this problem, a novel framework is proposed in this paper to realize robust and real-time lane detection. This framework consists of two branches, where canny edge detection and Progressive Probabilistic Hough Transform (PPHT) are introduced in the first branch for efficient detection. To eliminate the dependency of the framework on assumptions such as flatten road, deep learning based encoder-decoder detection branch, which leverages the powerful nonlinear approximation ability of CNN, is introduced to improve the robustness and
Yang, Shun, Wu, Jian, Shan, Yanhu, Yu, Yinan, Zhang, Sumin
Technical Paper
Development of Adaptive Powertrain Control Utilizing ADAS and GPS2019-01-088304/02/2019
This paper introduces the advancement of Engine Idle Stop-and-Go (ISG, also known as Auto Engine Stop-Start) and Neutral Coasting Control (NCC) with utilizing Advanced Driver Assistance System (ADAS) and GPS. The ISG and the In-Neutral Coasting (also known as Sailing or Gliding) have been widely implemented in recent vehicles for improving their fuel economy. However, many drivers find them somewhat disturbing because they basically change behaviors of their cars from what they used to. This annoyance discourages usages of those functions and eventually undermines their benefit of fuel saving. In order to mitigate the problem, new ISG and NCC algorithms are proposed. As opposed to the conventional logics that rely only on driver’s pedal action, the new algorithms determine whether or not to enable those functions for the given driving condition, based on the traffic information obtained using ADAS sensors and the location data from GPS and navigation map. With the ADAS module, the
Lee, Jason H., Jeong, Kwangwoo, Lee, Jaihyun, Yoo, Sanghoon, Lee, Byungho, Ha, Jinho, Kim, Sejun
Technical Paper
Effects of the Wet Retroreflectivity and Luminance of Pavement Markings on Lane Departure Warning in Nighttime Continuous Rain with and without Glare Sources2019-01-101404/02/2019
A common challenge for both machine vision (MV) systems based on visible-spectrum cameras and for human drivers is detection of pavement markings in nighttime rainy conditions. This occurs because a layer of water refracts the light differently than air, causing conventional markings to substantially retroreflect the light away from the driver or camera when the marking is immersed. This reduces the marking retroreflectivity in wet conditions, and thus the contrast in the image collected by the camera at longer viewing distances. MV lane departure warning (LDW) systems also depend on pixel data from shorter viewing distances; the contrast here also depends on diffuse luminance of the marking, which typically is reduced if the marking is soiled or worn. The efficacy of LDW systems is also known to be influenced by the presence of glare, as regions of glare test the limits of the high dynamic range of the sensor and reduces the contrast between the marking and the surrounding roadway
Pike, Adam, Clear, Susannah, Barrette, Timothy, Hedblom, Thomas, Whitney, Jordan
Technical Paper
Cooperative Collision Avoidance in a Connected Vehicle Environment2019-01-048804/02/2019
Connected vehicle (CV) technology is among the most heavily researched areas in both the academia and industry. The vehicle to vehicle (V2V), vehicle to infrastructure (V2I) and vehicle to pedestrian (V2P) communication capabilities enable critical situational awareness. In some cases, these vehicle communication safety capabilities can overcome the shortcomings of other sensor safety capabilities because of external conditions such as 'No Line of Sight' (NLOS) or very harsh weather conditions. Connected vehicles will help cities and states reduce traffic congestion, improve fuel efficiency and improve the safety of the vehicles and pedestrians. On the road, cars will be able to communicate with one another, automatically transmitting data such as speed, position, and direction, and send alerts to each other if a crash seems imminent. The main focus of this paper is the implementation of Cooperative Collision Avoidance (CCA) for connected vehicles. It leverages the Vehicle to
Gelbal, Sukru Yaren, Zhu, Sheng, Anantharaman, Gokul Arvind, Aksun Guvenc, Bilin, Guvenc, Levent
Technical Paper
Development of Hybrid Power Steering System for Commercial Vehicle2019-01-141503/25/2019
Future technology trends of commercial vehicle steering components can be divided into three types. Environment-friendly technologies for environment-related regulations such as reducing emissions and improving fuel efficiency, and technology for driving convenience using electric steering control systems, and safety technology to protect drivers, passengers, nearby vehicles and pedestrians. Heavy duty commercial vehicles require a high-power steering system that used engine-driven hydraulic pump systems (generally used min 120bar, 17Liter/min) compared to passenger cars. In recent technical trend, In order to improve fuel efficiency and realize autonomous driving technology, we designed EHPS and Motor driven electric control actuator with the same structure as C-EPS. Unlike the HPS system, the power used in the EHPS system is the motor, which rotates the gear pump to generate flow and pressure, and the steering oil is delivered to the ball nut gearbox to operate the power steering
Lee, Byoungyun
Technical Paper
Development of a New Neutral Coasting Control Utilizing ADAS and GPS12-02-02-000401/23/2019
It has been discussed in numerous prior studies that in-neutral coasting, or sailing, can accomplish considerable amount of fuel saving when properly used. The driving maneuver basically makes the vehicle sail in neutral gear when propulsion is unnecessary. By disengaging a clutch or shifting the gear to neutral, the vehicle may better utilize its kinetic energy by avoiding dragging from the engine side. This strategy has been carried over to series production recently in some of the vehicles on the market and has become one of the eco-mode features available in current vehicles. However, the duration of coasting must be long enough to attain more fuel economy benefit than deceleration fuel cutoff (DFCO)-which exists in all current vehicle powertrain controllers-can bring. Also, the transients during shifting back to drive gear can result in a drivability concern. The in-neutral coasting system should automatically shift to drive in case of nearby traffic for safe operation capability
Lee, Jason H., Lee, Jaihyun, Jeong, Kwangwoo, Yoo, Sanghoon, Lee, Byungho, Kim, Sejun, Guvenc, Levent, Cantas, Ridvan
Journal Article
Simulation Based Design and Development of Test Track for ADAS Functions Validation and Verification with Respect to Indian Scenario2019-26-010001/09/2019
Autonomous vehicles perform various functions with their own control strategies. Functions like Lane Departure Warning (LDW), Lane Keeping system (LKS) and Forward Collision Warning System (FCWS) requires special test tracks for their verification and validation. These test track requirements change with region to region according to available infrastructure. This paper deals with the design and development of test tracks for different ADAS functions verification and validation of Indian specific scenarios and its simulation in IPG CarMaker. The test track conceptualization has been done through the understanding and study of different international standards and geometry of test tracks for Indian conditions have been developed. IPG CarMaker software tool is used for creation of test track, and same track is used for simulation of above ADAS functions in IPG CarMaker. It is used as a scenario editor which can also simulate ECU and respond to sensor inputs dynamically which is not
Kale, Jyoti Ganesh, Subramaniam, Anand, Karle, Manish Laxman, Shailesh Karle, Ujjwala
Technical Paper
Movement Prediction Hypotheses for Pedestrians and Trajectory Planning for Cooperative Driving Systems12-02-01-000212/19/2018
It is a challenge to find a safe trajectory for automated vehicles in urban environments with pedestrians. The prediction of future movements with 100% certainty is impossible, if the intention is unknown. A Gaussian process approach is used to formulate future movement hypotheses of the pedestrian based on historical movements. A mixed integer linear programming (MILP) optimization approach is used for the trajectory planning of the vehicle. The collision probability between the ego-vehicle and pedestrian is used as constraints in the optimization. This approach is useful for cooperative vehicle systems, with historical movement data in a fixed urban environment (e.g., intersection) and the premise that pedestrians follow typical movement data.
Hartmann, Michael, Stolz, Michael, Watzenig, Daniel
Journal Article
2019 Honda Pilot gets refined 9-speed, tougher styling18AUTP10_1310/01/2018
The 2019 Honda Pilot arrives with few but important changes for the 3-row, 8-seat SUV, most notably revisions to its 9-speed automatic. New, more-rugged exterior styling is designed to remind consumers the Pilot has a thoroughly capable torque-vectoring all-wheel-drive setup, and Honda's suite of radar-based safety systems is now standard on all Pilot models. Meanwhile, extensive cabin tech upgrades include a welcome return of the volume knob to the central touchscreen and other refinements to the infotainment interface, plus and an available 4G LTE Wi-Fi hotspot.
Seredynski, Paul
Magazine Article
Toyota ‘hatches’ new Corolla variant18AUTP10_1510/01/2018
There are three good reasons why Toyota's compact Corolla overtook the original VW Beetle, the VW Golf and even the Ford F-Series to become the top-selling vehicle nameplate ever built: It's sold virtually around the globe and it owns a reputation as being affordable, reliable and efficient. But in those 52 years of Corolla history, very few iterations of the car have been sexy or exciting. Yet this new five-door hatchback variant of the 12th-generation E170 Corolla borders on both. Launched in Japan earlier this year as the Corolla Sport, it replaces the iM hatch in the U.S. that donned a Toyota badge when the Scion brand was waxxed in 2016. Except for its gaping bottom-feeder mouth, it actually looks pretty sporty. And the underpinnings are engineered for improved dynamic performance: the new hatch rides on a lighter, stiffer TNGA ‘modular’ platform with a sport-tuned suspension.
Witzenberg, Gary
Magazine Article
Truck and Bus Lane Departure Warning Systems Test Procedure and Minimum Performance RequirementsJ3045_201808 (Current)08/28/2018
This SAE Recommended Practice establishes a uniform, powered vehicle test procedure and minimum performance requirement for lane departure warning systems used in highway trucks and buses greater than 4546 kg (10000 pounds) GVW. Systems similar in function but different in scope and complexity, including Lane Keeping/Lane Assist and Merge Assist, are not included in this document. This document does not apply to trailers, dollies, etc. This document does not intend to exclude any particular system or sensor technology. The specification will test the functionality of the LDWS (e.g., ability to detect lane presence, and ability to detect an unintended lane departure), its ability to indicate LDWS engagement, its ability to indicate LDWS disengagement, and determine the point at which the LDWS notifies the Human Machine Interface (HMI) or vehicle control system that a lane departure event is detected. Moreover, the specification determines whether a system performs at a minimally
Truck and Bus Automation Safety Committee
Recommended Practice
Critical Driving Scenarios Extraction Optimization Method Based on China-FOT Naturalistic Driving Study Database2018-01-162808/07/2018
Due to the differences in traffic situations and traffic safety laws, standards for extraction of critical driving scenarios (CDSs) vary from different countries and areas around the world. To maintain the characteristic variables under the Chinese typical CDSs, this paper uses the three-layer detection method to extract and detect CDSs in the Natural Driving Data from China-FOT project which executing under the real traffic situation in China. The first layer of detection is mainly based on the feature distributions which deviate from normal driving situations. These distributions associated with speed and longitudinal acceleration/lateral acceleration/yaw rate also quantify the critical levels classification. The second layer of detection based on the rate of brake pressure (Pressure peak/Time difference) and the relevant variables to TTC’s (Time to Collision) trigger, Pressure peak means the maximum value on brake pressure curve, Time difference means the difference between Pressure
Zeng, Yufan, Zhu, Xichan, Ma, Zhixiong, Sun, Xiaoyu
Technical Paper
Research on the Radiated Immunity Test Methods of ADAS Functions in Intelligent Vehicles2018-01-163608/07/2018
According to the ISO 11451-2 [1], the immunity performance of passenger cars and commercial vehicle shall be validated to electrical disturbances from off-vehicle radiation sources. Typical vehicle electrical or electronic systems such as double flash, monitor, or audio and entertainments systems have been validated through a standardized immunity test process. As the development of ADAS (Automated Driver Assistance System) functions in the vehicle technology, the reliability and accuracy of these functions in the complex electromagnetic fields must be validated. Radar and Camera or Lidar sensor based functions of AEB (Automated Emerge Brake), ACC (Automated Cruise Control) or LDW (Lane Departure Warning) might be invalid, especially when these sensors were illuminated by electrical disturbances in the real word. This work presents a novel test methodology of whole-vehicle immunity to off-board electrical disturbances, considering the main ADAS functions. Target simulator and virtue
Jia, Jin, Li, Biao, Li, Xu
Technical Paper
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