Browse Topic: Highly automated vehicles

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Flight Test Evaluation of Autonomous Descending-Decelerating Precision Point-in-Space Approach to the GroundF-0081-2025-01235/20/2025
New forms of highly automated Advanced Air Mobility (AAM) aircraft, such as electric vertical take-off and landing (eVTOL) vehicles, could transform transportation, cargo delivery, and a variety of public services. The National Aeronautics and Space Administration (NASA) conducted a series of flight demonstrations in collaboration with the Defense Advanced Research Projects Agency (DARPA) and Sikorsky Aircraft (a Lockheed Martin company) to progressively evaluate autonomous technologies. The autoland flight test research is a first in series for investigating the world’s first procedural descending-decelerating automated landing with vertical guidance Instrument Flight Procedures (IFP). The Sikorsky Optionally Piloted Vehicle (OPV) experimental UH-60 Black Hawk was used to evaluate a flight path’s four-dimensional trajectory (4DT) management into primitive commands and then follow those commands to a Point-in-Space (PinS) landing to the ground. All flight procedures were manually flown
Zahn, David, Patterson, Gayle, Williams, Ethan, Eggum, Sarah, Fettrow, Tyler
Feasibility of Road Longitudinal Profiles for Automated Vehicles Based on Vehicle Dynamics2025-01-71503/19/2025
With the development and maturity of new generation digital technologies such as artificial intelligence, Internet of Things, and 5G mobile communication, their integration with physical products is becoming increasingly seamless. Automobiles serve as a prime example in this regard. In recent years, automated vehicle (AV) technologies have emerged as a prominent focal point, witnessing an escalating acceptance in the market and a growing number of self-driving vehicles on the roads, existing roads are primarily designed for traditional human-driven vehicles (HVs). Due to the differences in perception between automated systems and human drivers, it is essential to assess AVs' feasibility to current road infrastructure. This paper analyzes the safety and comfort of automated vehicles equipped with adaptive cruise control systems (ACC-AVs) on longitudinal road profiles from the perspective of vehicle dynamics. Firstly, a co-simulation platform integrating PreScan, CarSim, and Simulink
Li, Zezhou, Cai, Mingmao, Gu, Tianqi, Yu, Bin
Vehicle Experience and Human Interaction: Vol. 1EPRCOMPV1720235/3/2024
Connected and autonomous vehicles (CAVs) and their productization are a major focus of the automotive and mobility industries as a whole. However, despite significant investments in this technology, CAVs are still at risk of collisions, particularly in unforeseen circumstances or “edge cases.” It is also critical to ensure that redundant environmental data are available to provide additional information for the autonomous driving software stack in case of emergencies. Additionally, vehicle-to-everything (V2X) technologies can be included in discussions on safer autonomous driving design. Recently, there has been a slight increase in interest in the use of responder-to-vehicle (R2V) technology for emergency vehicles, such as ambulances, fire trucks, and police cars. R2V technology allows for the exchange of information between different types of responder vehicles, including CAVs. It can be used in collision avoidance or emergency situations involving CAV responder vehicles. The
Abdul Hamid, Umar Zakir, Roth, Christian, Nickerson, Jeffrey, Lyytinen, Kalle, King, John Leslie
Design of a Robust Optimal Multivariable Control for a Steer-by-Wire System2023-01-12186/26/2023
On the way to highly automated and autonomous driving, a robustly designed steering system is a key component. Therefore, the proposed article will present a new control approach for modern steer-by-wire systems. The novel approach consists of a true multivariable control for the driver´s steering torque and the rack position simultaneously using the requested torques of the downstream (SRU) and upstream (SFU) motor as control variables. Here, the plant model is a detailed model of a steer-by-wire system with nine degrees of freedom (see Fig.1). For the control design, an optimal reduced model is derived. The reduced plant model is linearized and augmented by linear models for the reference and disturbance environment of the steer-by-wire system and by a linearized model for the complete feeling generator computing the requested steering torque. The feeling generator consists of a rack force feedback, an active damping and an active steering wheel return. For this augmented model, a
Irmer, Marcus, Degen, René, Nüßgen, Alexander, Thomas PhD, Karin, Ruschitzka PhD, Margot, Henrichfreise PhD, Hermann
EDITORIAL: Platooning still promising for trucking22TOFHP08_048/1/2022
There is “no business case” for platooning, or the electronic coupling of two or more trucks in close formation. That was the assessment of Daimler Trucks in 2019 when it decided to pause its years-long platooning development activities. The OEM determined that for U.S. long-distance applications, where conditions were expected to be ideal, the fuel savings were less than stellar and diminished further when the platoon got “disconnected” and trucks had to accelerate to reconnect. Instead, the company turned its full attention to developing highly automated (SAE Level 4) trucks. The fate of Peloton Technology, a company all-in on platooning but that ceased operations in 2021, is another indicator that perhaps platooning's promise has faded.
Gehm, Ryan
Dynamic Vehicle-in-the-Loop: A Novel Method for Testing Automated Driving Functions12-05-04-00296/23/2022
In automated driving functions (ADF) testing, novel methods have been developed to allow the combination of hardware and simulation to ensure safety in usage even at an early stage of development. This article proposes an architecture to integrate an entire test vehicle—denominated Dynamic Vehicle-in-the-Loop (DynViL)—in a virtual environment. This approach enables the interaction of a real vehicle with virtual traffic participants. The vehicle is physically tested on an empty track, but connected to the CARLA simulator, in which virtual driving scenarios are created. The simulated environment is transmitted to the vehicle driving function which controls the real vehicle in reaction to the virtual objects perceived in simulation. Furthermore, the performance of the DynViL in different test scenarios is evaluated. The results show that the reproducibility of the tests with the DynViL is satisfactory. Furthermore, the results indicate that the deviation between simulation and DynViL
Drechsler, Maikol Funk, Sharma, Varun, Reway, Fabio, Schütz, Christoph, Huber, Werner
Navigating Deep Learning to Improve ADAS22AVEP04_044/1/2022
How edge computing drives real-time decision making in AI for smarter, safer automated vehicles. Automotive ‘big data’ is here. The immense scope of data generated by automated or ADAS-integrated vehicles spans the five SAE levels of autonomous driving, with reliance on high-resolution cameras, radar, lidar, ultrasonic sensors, GPS and other sensors for vehicles to see or perceive their surroundings. Ultimately, this sensory information - massive amounts of data - is used to navigate, avoid obstacles and read road markers necessary for safe driving. Artificial intelligence (AI) is at the heart of these operations, grounded in software algorithms and fueled by deep-learning training and deep-learning inference models that are essential to faultless performance. Enabling these vital and instantaneous processes requires AI algorithms to be trained and then deployed on-vehicle. It's a process that has developers tapping into both sophisticated software design and smart hardware strategies
Seetoo, Dustin, SintzUSER, Jeneane
The Effect of Pre-crash Seat Rotation with and without Feet Support in Highly Automated Vehicle Rear-end Crash2022-01-10463/29/2022
Automotive industry aims at reaching higher levels of driving automation as described in SAE J3016TM. From the perspective of occupant safety, an automated driving system (ADS) shall provide safer conditions for highly automated vehicle (HAV) users compared to standard vehicles since the human error is excluded. In following decades, however, one can expect the mixed fleet of both standard and automated vehicles on roads. Therefore, collision between manually driven cars and HAVs are to be expected. For instance, a research’s result in 2019 showed that 60% of autonomous vehicles crashes was rear-ended. At the same time, future HAVs are mostly considered with non-standard seating configurations. That is, HAVs’ occupants access more room in the vehicle which allows them to rotate their seats to have comfortable positions. This brings a challenging topics for the safety of HAVs’ occupants considering various impact directions. This work aims to address this issue using tools of numerical
Talimian, Abbas, Vychytil, Jan
Modern Product Development Platform for Living Products in Perpetual Systems2022-01-02613/29/2022
In 1930, John Maynard Keynes predicted, that due to software and automation, 15-hour work weeks would be a reality by the end of the century. While that envisioned “utopia” has not been realized, Mr. Keynes did have the radical vision to imagine a pretty radical low code highly automated future - one to which the future of software in mobility arguably depends on. So, what went wrong? Well, its not about as much about what went wrong but about how adoption is taking place and how it needs to change. In any software development, no matter where in history, as soon as software testing became a hot topic, automation tools started springing up and then "selective parts" that were iterative and time-consuming in the software were automated away. This begs several questions. The first and obvious, why automate these parts - and the second - whether software developers are making themselves obsolete by building automation tools. If more and more machines can write code for themselves, what do
Minarcin, Monika, Rush, David
Effects of combined Phone use and Alcohol-impaired Driving Behaviours among Female Drivers; A Driving Simulator Study2022-01-09723/29/2022
Driver behavior and passenger safety remain one of the foremost axes developed for investigative research in driving simulator studies. However, a plethora of studies on driver’s behaviour using driving simulators has seen the underrepresentation of female participants whose characteristics have scarcely been investigated. More tellingly, the responsibility of female drivers for road traffic accidents with respect to cell phone use and alcohol-impaired behaviours is overlooked. Using a driving simulator experiment, this study thematically modelled and analysed the combined upshot of cell phone use and alcohol-impaired tasks among 15 female driver participants. The experiment was carried out in an urban simulated environment to extract discrete responses from these intoxicated drivers at four different levels of blood alcohol concentration (BAC) (0%, 0.02%, 0.05%, and 0.08%). Vehicle telematic variables such as acceleration (m/s2), vehicle speed (m/s), angular velocity (rad/s2) and RPM
Frimpong, Justice Alex, Prince PhD, Owusu-Ansah, Agyeman, Philip, Arhin, Ebenezer, Fayzullayevich, Jamshid
2.0.105 - Piston Sealing System Structure Design for Automobile's Lightweight Auto-TransmissionSAE-PP-004359/24/2021
Current automobile's auto-transmission has problems of defects and cost reduction because of welding process and very complicated assembly process due to individualized transmission piston and sealing components. Also, size and heavy weight of transmission piston components are the source of low mileage because they are made of aluminum, steel material. In this study, therefore, we perform structure design for piston sealing system which integrates piston and sealing material for automobile's lightweight auto-transmission. Also performed stress analysis through finite element analysis to secure required suitable strength when internal pressure is applied after assemble.
Mutagaana, Festo
0071 - Testing DownloadSAE-PP-004209/13/2021
The combustion occurring in an internal combustion engine subsequently emits high-intensity acoustic pulse along with exhaust gas flow. Formula SAE competition is imposing restrictions on acoustic emissions from an engine, which necessitates the activity of design and optimization of a high-performance muffler. The muffler has to be designed with the objectives of satisfying acoustic emission norms imposed and as well strategically designed to have less obstruction to exhaust flow and being lightweight to maintain the integrity of a Formula Student car. A novel approach of combining the effect of adsorptive and resonating muffler design has been inculcated in this work after the estimation of muffler size and resonance. The acoustic pressure analysis and exhaust flow efficiency are carried out using Ricardo WAVE. These simulation results are validated with the developed prototype. The developed prototype is ascertained to fulfil the requirement of acoustic emission norms (103 dB[C
SintzADMIN, Jeneane, SintzUSER, Jeneane, Anthony, Lindsay, Mutagaana, Festo, Mutz, Jennifer
rtyeuy testing testing testingSAE-PP-003593/3/2021
etyirui
SintzADMIN, Jeneane
workflow - take 2SAE-PP-003172/19/2021
workflow - take 2
2.0.116 - Emission Optimization Approach to Meet the Current Indian Emission Norm Without EGR Cooling for a Vehicle Equipped with Common Rail Diesel EngineSAE-PP-003142/19/2021
In India, diesel engine powered vehicles are finding rising demand due to the subsidy offered on diesel. Currently, BS-IV emission norm (equivalent to E-IV in Europe) is in existence. To meet this emission norm, OEM look for improved engine design, use of common rail injection system, advanced after treatment. In the current article, a methodology is demonstrated by which the required emissions on multipurpose vehicle (MPV) powered with 2.2L common rail injection system was met with no need of EGR cooling. This was achieved by identifying the operating points from the BS-IV emission cycle where EGR cooling is beneficial. The next step involves assessing the loss of function due to its removal. The final step involves strategies which can bring the original optimized value of NOx-PM. Removal of EGR cooling avoids the cooling of intake charge and reduces the HC and CO emission. Also, it gets rid of complication in the under bonnet packaging and leads to maintenance free operation. This
Mutagaana, Festo
testing rc-2255SAE-PP-003132/19/2021
testing rc-2255
csp1071 test Construction of The Traffic Law and Regulation Framework for Automated DrivingSAE-PP-002902/18/2021
Road automated driving as a new generation of information technology and the integration of the transport industry's development has become a new round of global scientific and technological innovation and industrial transformation. This technology will promote the continuous upgrading of the field of road traffic. At present, the government, enterprises, and investors all take this as the goal and direction to accelerate automated driving in China. A reasonable traffic law and regulation system is required to promote the healthy development of automatic driving and fully release scientific and technological innovation subjects' vitality. Until now, China has formulated an official rule concerning the road testing of automated driving. According to this rule, no passenger and freight transportation can be officially applied using automatic vehicles. Therefore, this paper tries to construct the traffic law and regulation framework to promote automated driving development. This paper
SintzADMIN, Jeneane, Anthony, Lindsay
7.0.108 - Challenges Faced for Parameterization & Validation of a Small Gasoline Engine Plant Model for Application of EMS DevelopmentSAE-PP-002842/4/2021
Control algorithm development for typical Engine Management System is a challenging task. To develop a reliable control algorithm, proper closed loop testing environment is required. In such development activity, it is of prime importance to validate the algorithm on a standalone target engine. This can be achieved in engine test cell where the actual engine will be controlled by prototype ECU. But this process has drawbacks like higher testing cost, time consuming, non-reusability of test bed etc. Simulation based engine plant model development for closed loop ECU testing is an effective technique for such application. Various generic engine models are available for such application.to suit a particular target engine these model need to be parameterized with precise engine data. The vehicle parameters used for parameterization are typically obtained from actual test and engine design data. This paper elaborates the process and challenges faced while parameterization and validation of
Lname, Fname
7.0.107 - Design and Development of Capacitance Type Level Sensor for Automotive Vehicle ApplicationSAE-PP-002832/4/2021
Fuel level sensor is a device to indicate the level of the fuel in fuel tank fitted in an automobile. This will have features to communicate the fuel level to the dashboard of the vehicle and is of significant attention to the driver during vehicle usage. The advanced instrumentation provides a lot of information on the dashboard display such as information about fuel level, computing mileage, miles to go or miles to empty, fuel economy, average mileage, etc. Presently, the float arm type with Thick Film Resistor(TFR) and Reed switch type fuel level sensors are being used. To have accurate information for computing, the present sensors are not supporting due to its limitations like nonlinearity, fluctuating output due to slosh, output variations in steps and not continuous. The measurement accuracy of the fuel level sensor needs to be focused to rely on the information available on the dashboard instrument. Hence, it is vital to have a sensor with better reliability, accuracy and
Lname, Fname
6.0.104 - Warm Forming of 3t Mg Alloy Sheet for An Automotive Electronic Compressor CaseSAE-PP-002602/4/2021
Recently, the applications of magnesium alloy to automobile and electric parts have been increased because of its high specific strength, excellent machinability, high electrical and thermal conductivity. The efforts of automobile industry to reduce fuel consumption by using lightweight structural materials have accelerated the deep drawing technology of magnesium alloy sheet. In the present study, the basic study to fabricate an automotive compressor case have been carried out. In order to apply ductile fracture criterion to predict the forming failure, critical damage values were determined from uniaxial tensile tests and FE simulations, and then they were expressed as the function of strain rate and temperature. The proposed methodology was applied to design the deep drawing process for fabrication of magnesium automotive compressor case without any defect. Based on the simulation and experimental results, AZ31 EL-cover part 39% lighter than ADC12 die casting EL-cover could be
Mutagaana, Festo
Construction of The Traffic Law and Regulation Framework for Automated DrivingSAE-PP-002462/3/2021
Road automated driving as a new generation of information technology and the integration of the transport industry's development has become a new round of global scientific and technological innovation and industrial transformation. This technology will promote the continuous upgrading of the field of road traffic. At present, the government, enterprises, and investors all take this as the goal and direction to accelerate automated driving in China. A reasonable traffic law and regulation system is required to promote the healthy development of automatic driving and fully release scientific and technological innovation subjects' vitality. Until now, China has formulated an official rule concerning the road testing of automated driving. According to this rule, no passenger and freight transportation can be officially applied using automatic vehicles. Therefore, this paper tries to construct the traffic law and regulation framework to promote automated driving development. This paper
MobrxivNonAdmin, Lindsay
1.1.216 - Tailored Design and Layout for Loss Minimization or Cost-Effective Commonality of Parts - A Contradictory ConflictSAE-PP-002422/3/2021
In order to minimize the development and production costs in the automotive industry, despite steadily increasing variety of models and applications offered by the OEMs, the pressure on standardization of components and production processes is increasing continuously. As a direct consequence, modular engine families are already established with high degrees of common parts and kits as well as standardized interfaces for all vehicle platforms by most manufacturers these days. At the same time, the world adopted and announced massive legal demands concerning the reduction of CO2 emissions for the entire vehicle fleet. In addition to the optimization of the combustion process, the exhaust gas aftertreatment and thermal management, the use of improved and more resilient materials for higher reduction of mechanical friction leads to a significant amount of the realized lowering in fuel consumption respective CO2 emissions. Significant future potential for friction reduction and loss
Mutagaana, Festo
1.1.204 - Cost Effective Emergency Intimation System Design for AutomobilesSAE-PP-002192/2/2021
The death toll due to traffic accidents in India is on a rise, according to the latest Road Transport ministry report, a total of 4.97 lakh road accident was reported in 2011. Though compared to 2010, the accidents have gone down by 1,945, the number of deaths at 1,42,485 has increased by over 7,000.[1] This paper proposes a design of an Emergency Intimation System (EIS) tailored to fit for Indian consumer needs and available infrastructure. EIS is an emergency alert technology devised to assist drivers and passenger in an event of vehicle crash. Majority of deaths are caused by slow accident response time. EIS is aimed to lower this response time and ensure that the required rescue and medical services are made available in time. This device employed to make this emergency alerts will be fitted into the vehicle Electrical and Electronics (E/E) architecture and will have interfaces with crash sensor network, CAN network and GSM etc. In an event of crash, this device shall send an SMS
Mutagaana, Festo
2.0.104 - Tackling Three Critical Issues of Transportation: Environment, Safety and Congestion Via Semi-autonomous PlatooningSAE-PP-002142/1/2021
In recent years, platooning emerged as a realistic configuration for semi-autonomous driving. In the SARTRE project, simulation and physical tests were performed to validate the platooning system not only in testing facilities but also in conventional highways. Five vehicles were adapted with autonomous driving systems to have platooning functionalities, enabling to perform platoon tests and assess the feasibility, safety and benefits. Although the tested system was in a prototype, it demonstrated sturdiness and good functionality, allowing performing conventional road tests. First of all the fuel consumption decreased up to 16% in some configurations and different gaps between the vehicles were tested in order to establish the most suitable for platooning in terms of safety and economy. Additionally, the platooning technology enables a new level of safety in highways. Around 85% of the accident causation is the human factor. With platooning, the human factor is reduced almost entirely
Mutagaana, Festo
050 - Diesel Combustion Characteristics of Coconut Oil Ester FuelsSAE-PP-001881/30/2021
In order to improve the cold flow properties of coconut oil biodiesel and to reduce the lifecycle CO2 emission by using bio-alcohol at biodiesel manufacturing, varying the types of alcohol used at transesterification was examined. The pour point of coconut oil ester decreases as the carbon number of alcohol increases. Among 5 ester fuels, the pour point of coconut oil isobutyl ester (CiBE) made from isobutanol is lowest, −12.5 °C, compared to that of coconut oil methyl ester (CME), highest, −5 °C. The pour point of coconut oil 1-butyl ester (CBE) is −10 °C, second lowest. Furthermore, CBE, CiBE, CME and JIS No.2 diesel fuel (gas oil) were tested using a DI diesel engine. CBE and CiBE have shorter ignition delay compared to the gas oil although slightly longer than CME. CBE and CiBE have the same thermal efficiency and NOx emissions compared to the gas oil. HC, CO and Smoke emissions of coconut oil ester fuels slightly increase when the ester molecule carbon number increases. However
Mutagaana, Festo
A Practical Fail-Operational Steering Concept02-13-03-001310/2/2020
Automated vehicles require some level of subsystem redundancy, whether to allow a transition time for driver re-engagement (L3) or continued operation in a faulted state (L4+). Highly automated vehicle developers need to have safe miles accumulated by vehicles to assess system maturity and experience new environments. This article presents a conceptual framework suggesting that hardware newly available to commercial vehicle application can be used to form a steering system that will remain operational upon a failure. The key points of a provisional safety case are presented, giving hope that a complete safety case is possible. This article will provide autonomous vehicle developers a view of a near term possibility for a highly automated commercial vehicle steering solution.
Pandy, Ananda, Pathuri, Nagamani, Salunke, Pranav, Subba, Srujana Sree, Williams, Dan
TAKING AUTONOMY TO THE NEXT LEVEL20TOFHP10_0210/1/2020
More work still needs done on AI, reaction strategies and assessing technology readiness before L4 trucks are market ready. Despite a pandemic that continues to punish global economic markets, not to mention vehicle manufacturers' and suppliers' product plans, many heavy-duty truck makers are not relaxing on efforts to bring high-level (SAE Level 4 or 5) autonomous trucks to market. Partnerships with self-driving tech startups can be a big part of the roadmap, the latest example coming in mid-July as Navistar announced it will co-develop SAE L4 trucks, targeted for production by 2024, with San Diego-based TuSimple. The producer of International commercial trucks and IC Bus school and commercial buses also has taken a minority stake in TuSimple. These moves follow a two-year “technical relationship” with the startup, which operates a U.S. fleet of 40 self-driving trucks that move freight between Arizona and Texas for companies like UPS and McLane Company. TuSimple plans to demonstrate
Gehm, Ryan
Autonomy is Coming to Commercial Vehicles20AVEP09_109/1/2020
But not without its share of technical and implementation hurdles - and tech-startup casualties. Despite a pandemic that continues to punish global economic markets, not to mention vehicle manufacturers' and suppliers' product plans, many heavy-duty truck makers are not relaxing on efforts to bring to market high-level (SAE Level 4 or 5) autonomous trucks. Partnerships with self-driving tech startups can be a big part of the roadmap, the latest example coming in mid-July as Navistar announced it will co-develop SAE L4 trucks, targeted for production by 2024, with San Diego-based TuSimple. The producer of International commercial trucks and IC Bus school and commercial buses also has taken a minority stake in TuSimple. These moves follow a two-year “technical relationship” with the startup, which operates a U.S. fleet of 40 self-driving trucks that moves freight between Arizona and Texas for companies like UPS and McLane Company. TuSimple plans to demonstrate completely driverless
Gehm, Ryan
Training Data-hungry AI Algorithms20AVEP09_059/1/2020
Large-scale data refinement is key to bringing more sophisticated automated-driving functions to series production. Training the algorithms of Artificial Intelligence (AI)-based systems for autonomous or highly automated driving requires enormous volumes of data to be captured and processed. The algorithms must be able to master numerous challenges so that self-driving cars can detect all essential details of their environment, make the right decisions and safely take people to their destination. Why does training require this much data? AI-based systems enable quick progress, but this progress slows down after a certain point. It must be ensured that systems can also sensibly and reliably handle rare events. Bringing sophisticated AI-based driving functions to the road safely therefore requires a growing amount of ever higher-quality data.
Rödler, Daniel
Unsettled Issues Facing Automated Vehicles and InsuranceEPR20200158/5/2020
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
Making Data Logging, Replay and Prototyping More Efficient20AVEP07_057/1/2020
High levels of continuity and compatibility are vital to avoid interruptions in the development process - and reduce cost. The development of advanced driver assistance (ADAS) and highly automated driving systems poses great challenges for OEM and supplier engineers. It is important, therefore, that powerful, flexibly configurable development systems optimally support the various use cases in data-driven development to make it as efficient as possible. In the case of functionality for both ADAS autonomous driving, the chain of effects can be divided into several steps, starting with environment detection with the aid of extensive sensor technology - including camera, radar, lidar and ultrasonics - and ending with the final implementation of the driving strategy and actuator control (Fig. 2).
Mertens, Frank, Müller, Marius
Remote Control Reduces Risk20AVEP05_115/1/2020
Caterpillar's new electro-hydraulic platform is ready for expanded automated and remote-operation technologies. Remote control for heavy construction and earthmoving machines was a major focus area across Caterpillar product groups at the ConExpo-Con/Agg 2020 tradeshow in Las Vegas. Cat Command, the term it uses for remote control and other automated capabilities, now is available for select machines: D6 and D7 dozers; 320-340 next-generation excavators and a variety of wheel loaders. “Applications where you're putting that machine in harm's way. You're trying to lower that risk level for the operator,” said product application specialist Brian Stellbrink, during a ConExpo press event. For example, machines operating in ship holds or in high-risk environments for remediation or demolition work. “Whether it's out of the factory or added to an existing machine, that's key. It's a kit that you can put on a machine if and when a customer decides that's the route they want to go.”
Gehm, Ryan
AVSC Best Practice for Describing an Operational Design Domain: Conceptual Framework and LexiconAVSC000022020044/15/2020
An ADS-operated vehicle’s operational design domain (ODD) is defined by the manufacturer based on numerous factors. Research is underway at other organizations to define and organize ODD elements into taxonomies and other relational constructs. In order to enhance collaboration and communication between manufacturers and developers and transportation authorities, common terms and consistent frameworks are needed. The conceptual framework presented by Automated Vehicle Safety Consortium establishes a lexicon that can be used consistently by ADS developers and manufacturers responsible for defining their ADS ODD. A common framework and lexicon will reduce confusion, align expectations, and therefore build public trust, acceptance, and confidence. The guidance in this document is intended for: The technical community (e.g. manufacturers and developers) Public agencies (e.g. regulatory authorities) Infrastructure owner-operators The public This document, Best Practice for Describing an
Automated Vehicle Safety Consortium
Modes of Automated Driving System Scenario Testing: Experience Report and Recommendations2020-01-12044/14/2020
With the widespread development of automated driving systems (ADS), it is imperative that standardized testing methodologies be developed to assure safety and functionality. Scenario testing evaluates the behavior of an ADS-equipped subject vehicle (SV) in predefined driving scenarios. This paper compares four modes of performing such tests: closed-course testing with real actors, closed-course testing with surrogate actors, simulation testing, and closed-course testing with mixed reality. In a collaboration between the Waterloo Intelligent Systems Engineering (WISE) Lab and AAA, six automated driving scenario tests were executed on a closed course, in simulation, and in mixed reality. These tests involved the University of Waterloo’s automated vehicle, dubbed the “UW Moose”, as the SV, as well as pedestrians, other vehicles, and road debris. Drawing on both data and the experience gained from executing these test scenarios, the paper reports on the advantages and disadvantages of the
Antkiewicz, Michał, Kahn, Maximilian, Ala, Michael, Czarnecki, Krzysztof, Wells, Paul, Acharya, Atul, Beiker, Sven
Driving Safety Performance Assessment Metrics for ADS-Equipped Vehicles2020-01-12064/14/2020
The driving safety performance of automated driving system (ADS)-equipped vehicles (AVs) must be quantified using metrics in order to be able to assess the driving safety performance and compare it to that of human-driven vehicles. In this research, driving safety performance metrics and methods for the measurement and analysis of said metrics are defined and/or developed. A comprehensive literature review of metrics that have been proposed for measuring the driving safety performance of both human-driven vehicles and AVs was conducted. A list of proposed metrics, including novel contributions to the literature, that collectively, quantitatively describe the driving safety performance of an AV was then compiled, including proximal surrogate indicators, driving behaviors, and rules-of-the-road violations. These metrics, which include metrics from on- and off-board data sources, allow the driving safety performance of an AV to be measured in a variety of situations, including crashes
Wishart, Jeffrey, Como, Steven, Elli, Maria, Russo, Brendan, Weast, Jack, Altekar, Niraj, James, Emmanuel
Defining Fundamental Vehicle Actions for the Development of Automated Driving Systems2020-01-07124/14/2020
Automated Driving Systems (ADSs) show great potential to improve our transport systems. Safety validation, before market launch, is challenging due to the large number of miles required to gather enough evidence for a proven in use argumentation. Hence there is ongoing research to find more effective ways of verifying and validating the safety of ADSs. It is crucial both for the design as well as the validation to have a good understanding of the environment of the ADS. A natural way of characterizing the external conditions is by modelling and analysing data from real traffic. Towards this end, we present a framework with the primary ultimate objective to completely model and quantify the statistically relevant actions that other vehicles conduct on motorways. Two categories of fundamental actions are identified by recognising that a vehicle can only move longitudinally and laterally. The fundamental actions are defined in detail to create a set that is collectively exhaustive and
Gyllenhammar, Magnus, Zandén, Carl, Törngren, Martin
Runtime Active Safety Risk-Assessment of Highly Autonomous Vehicles for Safe Nominal Behavior2020-01-01074/14/2020
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
Rathour, Swarn Singh, Ishigooka, Tasuku, Otsuka, Satoshi, MARTIN, RAUL
Perceptions of Two Unique Lane Centering Systems: An FOT Interview Analysis2020-01-01084/14/2020
The goal of this interview analysis was to explore and document the perceptions of two unique lane centering systems (S90’s Pilot Assist and CT6’s Super Cruise). Both systems offer a similar type of functionality (adaptive cruise control and lane centering), but have significantly different design philosophies and HMI (Human-Machine Interface) implementations. Twenty-four drivers drove one of the two vehicle models for a month as part of a field operational test (FOT) study. Upon vehicle return, drivers took part in a 60-minute semi-structured interview covering their perceptions of the vehicle’s various advanced driver-assistance systems (ADAS). Transcripts of the interviews were coded by two researchers, who tagged each statement with relevant system and perception code labels. For analysis, the perception codes were grouped into larger thematic bins of safety, comfort, driver attention, and system performance. Perceptions of adaptive cruise control (ACC) were similar across vehicles
Landry, Steven, Seppelt, Bobbie, Russo, Luca, Mehler, Bruce, Angell, Linda, Gershon, Pnina, Reimer, Bryan
Human-Driving Highway Overtake and Its Perceived Comfort: Correlational Study Using Data Fusion2020-01-10364/14/2020
As an era of autonomous driving approaches, it is necessary to translate handling comfort - currently a responsibility of human drivers - to a vehicle imbedded algorithm. Therefore, it is imperative to understand the relationship between perceived driving comfort and human driving behaviour. This paper develops a methodology able to generate the information necessary to study how this relationship is expressed in highway overtakes. To achieve this goal, the approach revolved around the implementation of sensor Data Fusion, by processing data from CAN, camera and LIDAR from experimental tests. A myriad of variables was available, requiring individuating the key-information and parameters for recognition, classification and understanding of the manoeuvres. The paper presents the methodology and the role each sensor plays, by expanding on three main steps: Data segregation and parameter selection; Manoeuvre detection and processing; Manoeuvre classification and database generation. It
Carello, Massimiliana, Ferraris, Alessandro, de Carvalho Pinheiro, Henrique, Cruz Stanke, Diego, Gabiati, Giovanni, Camuffo, Isabella, Grillo, Massimo
The Design of Safe-Reliable-Optimal Performance for Automated Driving Systems on Multiple Lanes with Merging Features2020-01-01224/14/2020
Safety function for automated driving systems including advanced driver assistance systems and autonomous vehicle systems is very important. Inside safety function, predictive judge sub-function should be designed with the consideration of more and more penetration of automated driving vehicles. This paper presents the design on multiple lanes with merging features based on the author's previous Patent JP2019-147944 using predictive time-head-way and time-to-collision maps. In the author's previous work (Model Predictive Control for Hybrid Electric Vehicle Platooning Using Slope Information-Published on IEEE Transactions on Intelligent Transportation Systems), a model predictive control framework was designed. Due to the difficulty to detail the sub-safety function deeply with merging features, few works are found to deal with sensor platforms focusing on rear side, and situations of merging lane side with the consideration of relative relation variations with other vehicles and road
Yu, Kaijiang
The Effects of Small Seat Swiveling Angles on Occupant Responses during a Frontal Impact2020-01-05714/14/2020
In highly automated vehicles (HAVs), new seat configurations may be desirable to allow occupants to perform new activities. One of the current HAV concepts is the swiveled seat layout, which might facilitate communication between occupants. The main objective of this study was to investigate the effects of seat swiveling angles on occupant kinematics and injury risk predicted by a Human Body Model (HBM) during a frontal impact. A detailed 50th percentile male HBM (GHBMC M50-O) was subjected to two frontal crash pulses in a sled setup. The model was positioned on a semi-rigid seat and restrained using a pre-inflated airbag and a three-point seatbelt. Simulations included four seat swiveling angles (0, -10, -20, and -30 degrees), three occupant positions (Sedan driver, large VAN driver or Laptop user), two airbag initial locations (nominal or matching the head Y location), and the inclusion of lateral supports on the seat pan. The effects of the seat swiveling angle were similar for all
Grébonval, Cyrille, Trosseille, Xavier, Petit, Philippe, Wang, Xuguang, Beillas, Philippe
Unsettled Issues Concerning Semi-Automated Vehicles: Safety and Human Interactions on the Road to Full AutonomyEPR20200012/28/2020
Across the span of the SAE International-defined Levels of Driving Automation, human drivers occupy a diverse range of responsibilities and authority on the vehicle movement and the monitoring of the outside environment. From both a technological and a regulatory perspective, there is a gap that divides lower levels of automation (L1 through L3) and higher levels of automation (L4 and L5). For those vehicles that require the cooperation between a human driver and the autonomous technology, it is important to ascertain the safety consequences of such a design choice. It is also important to understand what the transition between automated driving and manual driving entails for the human driver, as well as for the surrounding traffic. This SAE EDGE™ Research Report investigates unsettled issues concerning what is commonly referred to as “semi-automation,” including an overview of the role of human drivers, the quantification of the “transition-to-manual” problem, the role played by L3
Favaro, Francesca
Takeover Level of Autonomous Vehicle Based on Driver’s Neuromuscular Characteristic2020-01-50172/24/2020
Taking over vehicle control from a Level 3 conditionally automated vehicle can be a demanding task for a driver, to which great research effort has been contributed in recent years. Nevertheless, more attention should be given to the following aspects. The present research of take-over either only considers the influence of drivers’ visual and second task in single scenarios. However, the drivers’ NMS (Neuromuscular) characteristic hasn’t been investigated yet, especially in complex traffic scenarios. In this paper, a take-over experiment with complex traffic scenarios are conducted to observe the state of vehicle state and arm’ EMG (Electromyography) signal. After that, the driving styles are recognized based on the experimental data. Finally, a take-over level with driving style is proposed by clustering based on the condition of human-vehicle-road.
Hanbing, Wei, Yanhong, Wu, Yuxuan, Zhang, Rui, Xu
Superior Interiors20AVEP01_031/1/2020
New-mobility thinking is changing how vehicle interiors will work for everyone. Future-vehicle interior renderings have always stoked our imaginations for what may be possible in the cabin environment. Automated vehicle (AV) developments, including high-function driver assistance features and mobility as a service (MaaS), are bringing new dimensions to those possibilities. Ironically, while near-term prospects for privately-owned autonomous (SAE Level 4) AVs have hit the hype curve's downward slope, research and development into how passengers will interact with new-mobility technology promises interior designs and features that will likely be on the market long before most consumers experience self-driving cars.
Visnic, Bill
Unsettled Issues in Balancing Virtual, Closed-Course, and Public-Road Testing of Automated Driving SystemsEPR201901112/19/2019
This SAE EDGE™ Research Report identifies key unsettled issues of interest to the automotive industry regarding the challenges of determining the optimal balance for testing automated driving systems (ADS). Three main issues are outlined that merit immediate interest: First, determining what kind of testing an ADS needs before it is ready to go on the road. Second, the current, optimal, and realistic balance of simulation testing and real-world testing. Third, the challenges of sharing data in the industry. SAE EDGE™ Research Reports are preliminary investigations of new technologies. The three technical issues identified in this report should be discussed in greater depth with the aims of, first, clarifying the scope of the industry-wide alignment needed; second, prioritizing the issues requiring resolution; and, third, creating a plan to generate the necessary frameworks, practices, and protocols. NOTE: SAE EDGE™ Research Reports are intended to identify and illuminate key issues in
Beiker, Sven
Autonomous Vehicles Scenario Testing Framework and Model of Computation12-02-04-001512/18/2019
Autonomous Vehicle (AV) technology has the potential to fundamentally transform the automotive industry, reorient transportation infrastructure, and significantly impact the energy sector. Rapid progress is being made in the core artificial intelligence engines that form the basis of AV technology. However, without a quantum leap in testing and verification, the full capabilities of AV technology will not be realized. Critical issues include finding and testing complex functional scenarios, verifying that sensor and object recognition systems accurately detect the external environment independent of weather conditions, and building a regulatory regime that enables accumulative learning. The significant contribution of this article is to outline a novel methodology for solving these issues by using the Florida Poly AV Verification Framework (FLPolyVF).
Alnaser, Ala Jamil, Akbas, Mustafa Ilhan, Sargolzaei, Arman, Razdan, Rahul
Pedestrian Collision Avoidance System for Autonomous Vehicles12-02-04-002112/18/2019
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
Schratter, Markus, Hartmann, Michael, Watzenig, Daniel
Unsettled Issues in Determining Appropriate Modeling Fidelity for Automated Driving Systems SimulationEPR201900712/6/2019
This SAE EDGE™ Research Report identifies key unsettled issues of interest to the automotive industry regarding the challenges of achieving optimal model fidelity for developing, validating, and verifying vehicles capable of automated driving. Three main issues are outlined that merit immediate interest: First, assuring that simulation models represent their real-world counterparts, how to quantify simulation model fidelity, and how to assess system risk. Second, developing a universal simulation model interface and language for verifying, simulating, and calibrating automated driving sensors. Third, characterizing and determining the different requirements for sensor, vehicle, environment, and human driver models. SAE EDGE™ Research Reports are preliminary investigations of new technologies. The three technical issues identified in this report need to be discussed in greater depth with the aims of, first, clarifying the scope of the industry-wide alignment needed; second, prioritizing
Beiker, Sven
Q&A19TOFHP12_1312/1/2019
Together with its many partners, ZF supplies camera and radar technology and advanced components for both the passenger car and commercial truck markets, the latter being especially suited for the move to more complex driver-assistance systems, according to Dan Williams, director of ADAS & Autonomy at ZF. “The business case in commercial vehicle for reduction in driver hours of service, fuel cost reduction and safety have strong economic incentives to adopt ADAS/automated driving technology. Additionally, the regulations placed on the industry will require our customers to utilize certain solutions,” he said. ZF is working on both highly automated “revolutionary” systems and on “evolutionary” driver-assistance systems that are increasingly complex, he said, citing the supplier's OnTraX lane keep assist that will launch in 2020 with its first major OEM customer. Williams spoke with TOHE at the recent NACV Show in Atlanta, and he's scheduled to participate in a Commercial Vehicle Safety
Gehm, Ryan
V2X Standardization in Over-the-Air Solution2019-28-243511/21/2019
Today in-vehicle software is growing significantly resulting into increase in importance of over-the-air software/firmware updates dramatically. Various suppliers are providing the update-over-the-air solution in the automotive sector. Due to limited standardization in solution, each supplier needs more customization for specific customer. This paper is to bring in the required standardization in V2X resulting into ‘vehicle on-board components’ as one solution to multiple customer. “Update over-the-air improved solution through various standardization resulting into ‘vehicle on-board components’ as the product”
Kumaraswamy, Pavithra
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