advanced driver assistant systems -...
TRANSCRIPT
Advanced Driver Assistant Systems
KEFO – GAMF Kar
Kecskemét, 2011.03.01
Bence CSÁK, PhD
2
Intro
SW
3
Driver Assistant Systems
“Even the Greek ...”reins
Ramses’ war chariot
4
Driver Assistant Systems
“Reins even today ...”
5
Driver Assistant Systems
Driver assistant systems provide:
- comfort for the driver
- decreased driver load
- increased safety to avoid accidents
(98% - 2%)
Responsibility remains at the driver
100%. The driver must be able to
intervene at any time.
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Driver Assistant Systems From the Past
• e-starter
• electric lighting (instead of
candles)
• turn signal
• brake light
• roof for driver
• windscreen wiper (manual 1911,
pneumatic 1929, electric 1957)
• transmission-synchronizer
• ...
Rolls Royce 1936
Trabant 601 1963
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Driver Assistant Systems Today / Tomorrow
• ABS, ASR, DTC, ESP, HSA, EDL (e-difflock), HDC (Hill Descent Control), BAS (Brake Assistant)
• ADC (Automatic Damper Control), ASC (Automatic Suspension Control)
• CC, ACC, PEB, ACC+Lidar+Cam, Stop&Go Assistant, AHT
• ISA (Intelligent speed adaptation), IAP (Intelligent Accelerator Pedal), TSR (Traffic Sign Recognition)
• Night Vision
• LDW (Lane Departure Warning), LKS (Lane Keeping System), LCA (Lane Change Assistant)
• Light Control (high-beam ctrl, swiveling head light, BMW’s pixel light)
• Brake force dependent brake light, ambient light dependent position lights
• Alertness Assistant (via eyelid monitoring & face following) , HUD
• Blind Spot Detection
• Wiper Control, Tire Monitoring System
• Automatic parking, Rear-view camera , Park Assistant
• Navigation System
• Platooning, Autonomous Driving
• Car2Car Communication, V2V, Car2Infrastructure Comms
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ABS, ASR, DTC, EBS, ESP, HSA, EDL, HDC, BA
• ABS: vehicle stability by avoiding blocking wheels
• ASR: improved traction and stability during acceleration
• DTC: improved stability on low-µ during engine brake
deceleration
• EBS: electronically controlled brake application for
improved braking (strategies: lining wear, CFC, pedal characteristics, ...)
• ESP: drive stability by making the vehicle neutrally steered
by braking
• ESP+Steering: like ESP but enhanced with steering
intervention
• HSA: hill start aid via brake application till driver releases
the clutch
• EDL: electronic differential control, locks on µ-split
• HDC: hill descent control, for off-road vehicles
• BAS: brake assist: a) brake characteristic control, b) pre-fill
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Trailer Systems: EBS, RSP, ELC
EBS (electronic brake system)
trailer braking with no delay
trailer braking with correct braking force
trailer ABS with enhanced performance
(asphalt laying function)
RSP (roll stability program)
step 1: braking by lateral acceleration tendency
step 2: braking by lateral acceleration value
step 3: road groove caused trailer swing mitigation by brake
application
(dumper anti-tilt function)
ELC (electronic leveling control)
frame level regulation and adjustment (leveling underway or for
loading, ESP help)
lift axle operation (to spare tire wear at low loads)
traction help (given to tractor by lifting the front most trailer axle)
maneuvering help (to lower turn radius by lifting the rearmost
trailer axle)
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Cruise Control, Adaptive Cruise Control
• CC: cruise control to keep a speed set by the driver
• ACC: adaptive cruise control, like CC but enables to follow the
fluctuation of the traffic around (30..200km/h) by using a radar
• PEB: Predictive Emergency Braking for warnings, collision
avoidance, collision mitigation
Possible
vehicle path
Intervention
time
1: warning
2: partial braking + warning
3: full brake
4: impact ?
yaw-rate
wheel speed
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ACC radar in detail
• 76GHz frequency (λ=3.9mm, so no reflector but lens)
• FMCW – frequency modulated, continuous wave
• ±8° horizontal viewing angle (±2.5° vertical)
• 200m range (150m tracking)
frequency
P(f)
Doppler shift
difference frequency
difference
frequency
d fp+fn
vrel fp- fn
distance
relative velocity
fn
timetime
frequency
P(f)
Doppler shift
difference
frequency
difference
frequency
distance
relative
velocity
fptime
frequency
distance
relative
velocity
distance
relative
velocity
?
?
??
!
!
exclusion of virtual objects
far object
results in
stronger
doppler
effect, due
to linear
freq
change
moving
object
results in
asymetric
doppler
effect
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ACC+
• ACC radar accompanied by a short
range radar
• So, stop & go function is possible,
but only on highways and main
roads.
13
Why RADAR needs extensions
D=42.66mm
=
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Urban ACC
１２３４５６
θ1～θ6
Hexagon
Mirror
DC motor
Laser
Diode
PP
Urban ACC: ACC + (Lidar) + Cam
Problems:
ACC radar can not see sizes and has not enough viewing
angle, so it’s not able to conduct stop & go control in
complex environment
ACC radar can not distinguish between relevant and
irrelevant standing objects (channel top vs. standing veh.)
ACC radar does not cover the whole surrounding and can’t
see pedestrians
With added video processing, urban usage is possible
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Sensors & Ranges
sonic short range
radar (24GHZ)
cam infra long range
radar (77GHz)
1-200 m0.2-150 m0-80 m0.2-20 m0.2-1.5 m
comms
∞ m
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Ad-hoc Tempomat Tests
• Tests achieved
on a former
military airfield
• PC & CV both
equipped with
AHT
• CV follows PC
using GPS data
of both (shared
via WLAN)
• Time-gap
control
• Diagram shows
control
transients right
after cornering
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Blind Spot Detection
• Commercial vehicle drivers face big blind spots around their vehicle meaning a
considerable potential of accidents with severe injuries and damages
• Ultrasonic sensors can cover these spots and give a warning if necessary
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Parking Assistant
• The system measures the
given parking place by
means of ultrasonic
sensors as the vehicle
passes by.
• The driver stops and
activates the parking
maneuver function.
• The vehicle parks fully
automatically.
• Alternatively the system
does the steering job, while
the driver controls gas and
brake
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Wraparound view
Panorama view
Based on 4 cameras
No blind spot
Situation aware views
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Parking Assistance
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Video processing in vehicles
Road Sign Recognition
NightVision
Object Detection by cam
• Road Sign Assistance
• Speed Limit Assistance
• Intersection Assistance
• RADAR aided
• Collision Warning
• Pedestrian detection
• ACC Full Speed Range
• Low Speed Following
• Recognition of cut-in traffic
• high-beam visibility in
low beam situations
• increased safety NIR (700..3000nm) vs. MIR & FIR
(3000..50000..1000000nm)
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Video-based Lane Systems
• Lane Departure Warning System
• Lane Keeping System
• Lane Change Assistance
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Video-based Lane Systems
Processed video in different driving situations
Video conversion
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Lane Departure Systems
rear-view cam
Audi Side-Assist
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Video-based Lane Systems
Lane Keeping
&
Driver Distraction Monitoring
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Attention Assist
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Light Systems
Hella VarioX
brake force dependent brake light
- head light for each drive situation
- needs sensing & intelligence
Hella ASIGNIS
ambient light dependent navigation lights
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Light Systems
Digital Micro Mirror BMW (patent 1987 Texas)
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Head Up Display
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Wiper Control
• The rain sensor senses water
drops on the windscreen and
sets wiper pace accordingly.
• In addition measures the
ambient light and the light
coming from the direction
where the driver sees. This
information is used for
automatic light control.
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Tire Pressure Monitoring System
TPMS sensor is on
a turning part,
so supply and
communication
is an issue
• Valve mounted pressure and
temperature sensors measure these
parameters
• In case of limit override or dangerous
tendency, the system warns the driver.
• Tire pressure has also serious effect
on drive economy (fuel consumption &
tire wear)
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Going Wireless
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When cars communicate with each other and infrastructure
Car-to-car:
- Exchange data of local relevance (µ, jam,
accident, own trajectory, ...)
Car-Infrastructure:
- GPS navigation
- Road related information (µ, slippery road,
traffic signs, traffic density, pump station
- Aid for systems: shift, ESP, damper ctrl, ...
- Internet, Infotainment
Navi-based shifting
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Communicating Cars
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Car-to-Car Using Multi-hop Messages
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Car to Infrastructure / Infrastructure to Car
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Platooning & Autonomous Driving
Requirements
- Vehicles sense each other
- Vehicles communicate with each other
- Vehicles sense their position (locally & globally)
- Vehicles are capable of autonomous driving
Benefits
- Commercial vehicle can do more hours on road with no additional driver
- Usage of dedicated, extreme narrow lanes
- Denser traffic
- Less drag
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Platooning – Drag Benefit
1 m
0,25 L
1 L
30% reduced air
drag compared to
1L
14% reduced air-
drag compared to
1L situation
50% smaller air drag/unit compared to a single vehicle
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Trends
Sensor-based recognition of the surrounding traffic situation increases (radar,
cam, lidar, vibration, ...)
More complete traffic situation recognition (sensor fusion, more computing power)
More optimal distribution of driving tasks between driver and DAS
Widening of HMI via sound, speech generation, speech recognition, haptic (seat,
steering wheel, pedals)
Cost reduction via new technologies (navi, tpms, autoshift, no crash, ...)
Better vehicle control via cooperative systems (steer+brake EBS)
Increasing communication with infrastructure
Increasing communication with other vehicles
DAS
System complexity increases. The goal is to create the accident free vehicle, which
can cope with dense traffic and can decrease driver’s load. Driver assistant
systems turn to safety systems by the time.
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Contact
Dr. Bence CSÁKKNORR-BREMSE R&D Center Budapest
H-1119, Budapest, Major u. 69. Phone: +36 1 3829-979Fax: +36 1 3829 810 mailto: [email protected] http://www.knorr-bremse.com