Lecture Slides (driver Assistance And Vehicle Control)
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Andreas Tapani
TNK052 Intelligent Transportation Systems
Driver Assistance and Vehicle Control
The driver had to do everything!
2
The driver indicates direction and speed, the car takes care of the rest!
ABS, ESP, automatic transmission, rain sensors, panic brake assistant, …
Driver Assistance today and in the 1930’s
The road safety development in Sweden
Fatalities per 100 000 cars
Source: SCB 3
Unknown 11%
Technical failure 3%
Nearly all accidents are due to human error!
~450 in Sweden
~40 000 in the EU
Driver error 86%
Rear-end 13% Vehiclepedestrian 18%
Head-on 10%
Other 8%
Turning/crossing 30%
Single vehicle 21%
~1.2 million people killed in road traffic accidents each year
Accident statistics
4
Active countermeasures: Reduce the number of driver errors
Passive countermeasures: Reduce consequences of errors/accidents
Road safety improvement strategies
5
In-vehicle ITS or “Advanced Driver Assistance Systems” (ADAS)
6
(Japan)
How are this type of estimations done?
ACC: 60 % reduction in rear-end accidents (Netherlands)
ISA: 25-30 % reduction (Netherlands)
80 % reduction in total accidents
Estimations of the accident reduction potential of ITS related to vehicle safety
7
Reduced environmental impact
Reduced travel times
Increased capacity
Other potential effects on the traffic system
8
Examples of available ITS in series-produced passenger cars
9
(Biosignal measurements)
Camera technology
Detecting driver impairment or distraction
A simple form: passenger detection for seatbelts
Driver monitoring
10
Near or Far InfraRed (NIR or FIR) technology
To allow drivers to gain time to assess the situation and choose and appropriate response
Night vision
11
When challenging situations are detected Postpone or cancel non-urgent warnings or mobile phone calls.
Estimation of the driver workload using vehicle sensors (speed brakeforce, windshield wiper use)
Filtering and prioritizing the information presented to the driver
Workload management
12
Display brake force through the brake lights
Brake force display
13
Headlights that follow the road curvature
Switch between high and low beam
Cornering headlights
Safety effects? (Improved sight Higher speeds reduced safety?)
Adaptive headlights
14
Responsibility and legislation issues
Provide appropriate steering input
Lane keeping assistant:
Lane markings are required
Cameras
Recognize lanes and detect an imminent lane departure
Lane departure warning
15
Ongoing development: Linkage between the ACC and navigation
Early systems: limited speed range New systems: Full speed range including stop and go
Engine deceleration or Active deceleration with limited brake force
Mantain speed and distance to the vehicle infront
Adaptive Cruise Control (ACC)
16
Take into account the load distribution
Roll stability control
(Counter steering assistance)
Sensors: Steering wheel angle, gyro, yaw rate lateral and longitudinal accelation
One of the most safetyenhancing systems on the market
Braking of individual wheels (suspension and traction control)
Electronic stability control
17
Cameras or radar
Detecting objects in the ”blind spot” side and back
Blind spot detection systems
18
Driver warning and brake support
Lower vehicle speed
Avoid crashes and reduce the severity of imminent crashes
Pre-collision, collision avoidance and obstacle detection systems
19
a potential to avoid accidents
Autonomous braking systems are also available
More direct steering
Shorten stopping distance
Reduce steering gear ratio
Maxmizing pressure in the brake circuits
Optimizing the vehicle deceleration or steeing in emergency situations
Emergency steering and breaking assist
20
Mass of the driver
Automatic emergency call – notify the rescue service automatically
Partial window opening, door unlocking and engine and fuel cut off
Collision severity
Adapt the deployment power according to
Advanced airbags
Reposition head rest before a rear-end crash
Monitor the rear of the car using radar
Active whiplash injury reduction
Passenger injury mitigation and post-crash systems
21
Vehicle-to-vehicle and vehicle-to-infrastructure communication
Co-operative systems
22
23
Source: PREVENT IP
Driver assistance systems technology
Prediction of future situation
Traffic situation interpretation
Surveillance of the vehicle environment No
Critical?
ADAS control loop
Yes
Activate intervention system
24
Informativ e
Low response
High response
ACC
ABS
VISION ENH.
LDW
NAVIGATION
PA
Comfort
Response time > Driver reaction time
Response time < Driver reaction time
System classification
CA
ESP
Safety
Navigation
Guidance
Intervention
25
Information/ low response
Normal driving
Driving
Intervention
Pre-crash
Collision mitigation
Point of no return
High response systems
Collision avoidance
Critical situation Crash
Passive safety systems
Occupant protection
Crash
Emergency systems
Rescue
Post Crash
End of crash
Driver assistance systems and accident phases
26
27
In-vehicle ITS road map
28
29
Passenger car ITS - focus areas in the development process
30
Driver, car manufacturer and system developer liability
Driver acceptance and behavioural response
Technological requirement
Issues in the development process
31
…
Cost
Reliability
Specifications
Technological requirements
32
Is driver attention diverted from traffic due to the system?
Behavioural adaptation
Will the driver use the system as intended?
Do drivers want the system?
Driver acceptance and behavioural response
33
Non-overridable intervention systems
Overridable intervention systems
Information systems
Who is responsible for an accident?
Liability issues
34
Evaluation of the effects of in-vehicle ITS
35
Economic analysis
Traffic modelling
Field trials
Driving simulator studies
Methods for testing the impact of in-vehicle ITS
36
Issues that needs to be considered in the system development process
A peek to the future
An overview of in-vehicle ITS
Accident statistics
Changes in the nature of driving
What have we talked about today?
37
TNK052 Intelligent Transportation Systems
Driver Assistance and Vehicle Control
The driver had to do everything!
2
The driver indicates direction and speed, the car takes care of the rest!
ABS, ESP, automatic transmission, rain sensors, panic brake assistant, …
Driver Assistance today and in the 1930’s
The road safety development in Sweden
Fatalities per 100 000 cars
Source: SCB 3
Unknown 11%
Technical failure 3%
Nearly all accidents are due to human error!
~450 in Sweden
~40 000 in the EU
Driver error 86%
Rear-end 13% Vehiclepedestrian 18%
Head-on 10%
Other 8%
Turning/crossing 30%
Single vehicle 21%
~1.2 million people killed in road traffic accidents each year
Accident statistics
4
Active countermeasures: Reduce the number of driver errors
Passive countermeasures: Reduce consequences of errors/accidents
Road safety improvement strategies
5
In-vehicle ITS or “Advanced Driver Assistance Systems” (ADAS)
6
(Japan)
How are this type of estimations done?
ACC: 60 % reduction in rear-end accidents (Netherlands)
ISA: 25-30 % reduction (Netherlands)
80 % reduction in total accidents
Estimations of the accident reduction potential of ITS related to vehicle safety
7
Reduced environmental impact
Reduced travel times
Increased capacity
Other potential effects on the traffic system
8
Examples of available ITS in series-produced passenger cars
9
(Biosignal measurements)
Camera technology
Detecting driver impairment or distraction
A simple form: passenger detection for seatbelts
Driver monitoring
10
Near or Far InfraRed (NIR or FIR) technology
To allow drivers to gain time to assess the situation and choose and appropriate response
Night vision
11
When challenging situations are detected Postpone or cancel non-urgent warnings or mobile phone calls.
Estimation of the driver workload using vehicle sensors (speed brakeforce, windshield wiper use)
Filtering and prioritizing the information presented to the driver
Workload management
12
Display brake force through the brake lights
Brake force display
13
Headlights that follow the road curvature
Switch between high and low beam
Cornering headlights
Safety effects? (Improved sight Higher speeds reduced safety?)
Adaptive headlights
14
Responsibility and legislation issues
Provide appropriate steering input
Lane keeping assistant:
Lane markings are required
Cameras
Recognize lanes and detect an imminent lane departure
Lane departure warning
15
Ongoing development: Linkage between the ACC and navigation
Early systems: limited speed range New systems: Full speed range including stop and go
Engine deceleration or Active deceleration with limited brake force
Mantain speed and distance to the vehicle infront
Adaptive Cruise Control (ACC)
16
Take into account the load distribution
Roll stability control
(Counter steering assistance)
Sensors: Steering wheel angle, gyro, yaw rate lateral and longitudinal accelation
One of the most safetyenhancing systems on the market
Braking of individual wheels (suspension and traction control)
Electronic stability control
17
Cameras or radar
Detecting objects in the ”blind spot” side and back
Blind spot detection systems
18
Driver warning and brake support
Lower vehicle speed
Avoid crashes and reduce the severity of imminent crashes
Pre-collision, collision avoidance and obstacle detection systems
19
a potential to avoid accidents
Autonomous braking systems are also available
More direct steering
Shorten stopping distance
Reduce steering gear ratio
Maxmizing pressure in the brake circuits
Optimizing the vehicle deceleration or steeing in emergency situations
Emergency steering and breaking assist
20
Mass of the driver
Automatic emergency call – notify the rescue service automatically
Partial window opening, door unlocking and engine and fuel cut off
Collision severity
Adapt the deployment power according to
Advanced airbags
Reposition head rest before a rear-end crash
Monitor the rear of the car using radar
Active whiplash injury reduction
Passenger injury mitigation and post-crash systems
21
Vehicle-to-vehicle and vehicle-to-infrastructure communication
Co-operative systems
22
23
Source: PREVENT IP
Driver assistance systems technology
Prediction of future situation
Traffic situation interpretation
Surveillance of the vehicle environment No
Critical?
ADAS control loop
Yes
Activate intervention system
24
Informativ e
Low response
High response
ACC
ABS
VISION ENH.
LDW
NAVIGATION
PA
Comfort
Response time > Driver reaction time
Response time < Driver reaction time
System classification
CA
ESP
Safety
Navigation
Guidance
Intervention
25
Information/ low response
Normal driving
Driving
Intervention
Pre-crash
Collision mitigation
Point of no return
High response systems
Collision avoidance
Critical situation Crash
Passive safety systems
Occupant protection
Crash
Emergency systems
Rescue
Post Crash
End of crash
Driver assistance systems and accident phases
26
27
In-vehicle ITS road map
28
29
Passenger car ITS - focus areas in the development process
30
Driver, car manufacturer and system developer liability
Driver acceptance and behavioural response
Technological requirement
Issues in the development process
31
…
Cost
Reliability
Specifications
Technological requirements
32
Is driver attention diverted from traffic due to the system?
Behavioural adaptation
Will the driver use the system as intended?
Do drivers want the system?
Driver acceptance and behavioural response
33
Non-overridable intervention systems
Overridable intervention systems
Information systems
Who is responsible for an accident?
Liability issues
34
Evaluation of the effects of in-vehicle ITS
35
Economic analysis
Traffic modelling
Field trials
Driving simulator studies
Methods for testing the impact of in-vehicle ITS
36
Issues that needs to be considered in the system development process
A peek to the future
An overview of in-vehicle ITS
Accident statistics
Changes in the nature of driving
What have we talked about today?
37
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