Advanced Driver Assistant Systems

Transcription

1 Advanced Driver Assistant Systems KEFO GAMF Kar Kecskemét, Bence CSÁK, PhD

2 Intro SW 2

3 Driver Assistant Systems Even the Greek... reins Ramses war chariot 3

4 Driver Assistant Systems Reins even today... 4

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. 5

6 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

7 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 7

8 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 8

9 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) 9

10 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 ( km/h) by using a radar PEB: Predictive Emergency Braking for warnings, collision avoidance, collision mitigation yaw-rate wheel speed Possible vehicle path Intervention time 1: warning 2: partial braking + warning 3: full brake 4: impact? 10

11 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) relative velocity frequency difference frequency P(f) Doppler shift f p time difference frequency frequency Doppler shift P(f) relative velocity difference frequency f n difference frequency time relative velocity relative velocity frequency exclusion of virtual objects???? time distance far object results in stronger doppler effect, due to linear freq change moving object results in asymetric doppler effect! distance v rel f p - f n d f p +f n distance! distance 11

12 ACC+ ACC radar accompanied by a short range radar So, stop & go function is possible, but only on highways and main roads. 12

13 Why RADAR needs extensions = D=42.66mm 13

14 P P Urban ACC 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 θ1~θ6 Hexagon Mirror DC motor Laser Diode 14

15 Sensors & Ranges m comms sonic short range radar (24GHZ) cam infra long range radar (77GHz) m m 0-80 m m m 15

16 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 16

17 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 17

18 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 18

19 Wraparound view Panorama view Based on 4 cameras No blind spot Situation aware views 19

20 Parking Assistance 20

21 Video processing in vehicles Road Sign Recognition Road Sign Assistance Speed Limit Assistance Intersection Assistance NightVision high-beam visibility in low beam situations increased safety Object Detection by cam RADAR aided Collision Warning Pedestrian detection ACC Full Speed Range Low Speed Following Recognition of cut-in traffic NIR ( nm) vs. MIR & FIR ( nm) 21

22 Video-based Lane Systems Lane Departure Warning System Lane Keeping System Lane Change Assistance 22

23 Video-based Lane Systems Processed video in different driving situations Video conversion 23

24 Lane Departure Systems Audi Side-Assist rear-view cam 24

25 Video-based Lane Systems Lane Keeping & Driver Distraction Monitoring 25

26 Attention Assist 26

27 Light Systems Hella VarioX - head light for each drive situation - needs sensing & intelligence Hella ASIGNIS brake force dependent brake light ambient light dependent navigation lights 27

28 Light Systems Digital Micro Mirror BMW (patent 1987 Texas) 28

29 Head Up Display 29

30 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. 30

31 Tire Pressure Monitoring System 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) TPMS sensor is on a turning part, so supply and communication is an issue 31

32 Going Wireless 32

33 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 33

34 Communicating Cars 34

35 Car-to-Car Using Multi-hop Messages 35

36 Car to Infrastructure / Infrastructure to Car 36

37 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 37

38 Platooning Drag Benefit 1 m 50% smaller air drag/unit compared to a single vehicle 0,25 L 30% reduced air drag compared to 1L 14% reduced airdrag compared to 1L situation 1 L 38

39 Trends Sensor-based recognition of the surrounding traffic situation increases (radar, cam, lidar, vibration,...) More complete traffic situation recognition (sensor fusion, more computing power) DAS 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 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. 39

40 Contact Dr. Bence CSÁK KNORR-BREMSE R&D Center Budapest H-1119, Budapest, Major u. 69. Phone: Fax: mailto: bence.csak@knorr-bremse.com 40