A vehicle independent low cost platform for naturalistic driving studies Henning Mosebach, DLR

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1 A vehicle independent low cost platform for naturalistic driving studies Henning Mosebach, DLR A low cost platform for naturalistic driving studies > 14th of may 2009 > Folie 1 Institute of transportation systems> Technology from aerospace to raod and raailway

naturalistic driving studies > 14th of may 2009 > Folie 1

Motivation and objectives of the project Project overview Platform for acquisition of pre-crash data in ND-studies Overall concept for data acquisition and handling Funded by the german organisations

2 Motivation and objectives of the project Project overview Platform for acquisition of pre-crash data in ND-studies Overall concept for data acquisition and handling Funded by the german organisations FAT and BAst Period I/2008 II/2009 Project goal: Technical solution for ND-studies Datalogging system including sensors Focus on robust and serial components Flexibel solution Proof of concept in different vehicles

BAst Period I/2008 II/2009 Project goal: Technical solution for ND-studies Datalogging system including

3 Project concept and roadmap NDS-Requirements Merging to test vehicles Construction kit Implementation Driving situations Driver actions Scientific background Requirements per situation Structuring tool e.g. mind map Sensors (serial components Datalogger Use of vehicle data (CAN, OBD) Process Costs per vehicle Fleetmanagement

4 Scope requirements for the platform Basic requirements Low cost and vehicle independent Choice of relevant data Definition of sensor requirements Process of data handling Technical requirements Robustness of loggers and sensors Use of near serial products Complete solution ready to be integrated Acquired data comparative to reference systems Reference vehicle ViewCar

requirements Robustness of loggers and sensors Use of near serial products Complete solution

5 Development designspace Data acquisition Storage / Transfer Analysis Vehicle CAN Ext. sensors Cameras OBD PC Automotive PC Smart CAN logger ECU SD-card or HDD Datawarehouse Meta data Videorating Tools for analysis Fleetmanagement

sensors Cameras OBD PC Automotive PC Smart CAN logger ECU

6 Result Vehicle independent platform Datalogger 4 cameras (PAL) 12,5 Hz, 0,7 GB/h 1 private sensor CAN 3 additional CAN channels available Fleet management via GPRS Additional sensors (on private CAN) GPS (time, position, velocity) ESP-Sensor for acceleration, yawrate Optical lane recognition Radar front object detection OBD interface Data storage unit Capacity 64 GB CF-card: Approx. 100 h free driving 2h natural driving per day: 7 weeks 20 cm

position, velocity) ESP-Sensor for acceleration, yawrate Optical lane recognition Radar front object detection

7 Architecture LDW ACC Lane properties, lateral deviation Distance, velocity to front objects yaw_rate, accelerations opt. OBD GPS ESP Simulated bus, velocity private sensor CAN CANLogger 20 MB/h GPS Opt. vehicle-can PAL-cams, 12,5 Hz GPS DLR ECU for small aplications 32 GB 0,7 GB/h Videologger

OBD GPS ESP Simulated bus, velocity private sensor CAN CANLogger 20 MB/h

8 Scanning segments of the sensors PAL cameras Long range radar Optical lane recognition

9 Video logging system Properties Robust system for police operation Low power consumption GPS synchronized Wide range of PAL cams Including audio data Extended by 4Q-compositer CF-card up top 128 GB Resolution 720 * 570, 25 12,5 Hz

range of PAL cams Including audio data Extended by

10 CAN logging system Properties 4 Channel CAN logging GPS receiver GUI easy to handle 2 GB sd-card Trigger on CAN-signals Fleetmanagement available DBC-file support CAN datalogger Compatible to vector tools

11 Main components Lane recognition CANlogger Videologger DLR ECU Radar PAL cam Housing Harness

12 Pre-configured mounting kits Lane recognition Drivers scene Rearview cam ESP-sensor Radar Driver cam

13 Platform-Sensor unit ready for vehicle integration

14 Successful testruns in 4 vehicles ViewCar (DLR) Carai (TUC) Daimler Opel 3400 km of testdrives performed First integration in foreign vehicle Final system integrated Rented car without modifications Focus: Longitudinal control with 2nd task 1st test of final prototype Focus on city and highways Comparison against reference Focus on dynamic driving tests No parallel reference system No interface to vehicle at all Presentation vehicle on FOT workshop

control with 2nd task 1st test of final prototype Focus on city and highways Comparison against reference Focus

15 Example of test data Comparison to reference system Free driving without support Quality of video appropriate for videorating Successful use of acceleration sensor reference ESP- sensor

16 Example of test data 9 m/s^2 Simulation of emergency avoiding situation Characteristic pattern of yawrate and lateral acceleration

Toolchain from acquisition to analysis Data Acquisition Data Storage Data Analysis Static data Driver information Vehicle information Map data Dynamic data Video Sensors CAN GPS Import Mobile unit

17 Toolchain from acquisition to analysis Data Acquisition Data Storage Data Analysis Static data Driver information Vehicle information Map data Dynamic data Video Sensors CAN GPS Import Mobile unit Binary storage Offline export in DBC SQL-Database Meta data Multi-User Many applications Video- Archive Video-Display Exploration Diadem AErogator Excel Data Mining SPSS WEKA Synchronization Import SQL- Database (i.e. Oracle, PostGIS) Selection / Exploration

in DBC SQL-Database Meta data Multi-User Many applications Video- Archive Video-Display Exploration Diadem

18 Pre-crash exploration - Video

19 Pre-crash exploration full analysis

20 Conclusion and outlook Results Prototype of platform and sensors is finished Vehicle independent but also open for vehicle-can Testdrives and integrations in 4 vehicles Concept of data handling Applicable to a large NDS Outlook Platform will be used in several test vehicles Easy extensions with new sensor releases Open for following projects Visit the current test vehicle

of data handling Applicable to a large NDS Outlook Platform will be used in several test

21 Thank you for your attention! A low cost platform for naturalistic driving studies > 14th of may 2009 > Folie 21 Institute of transportation systems> Technology from aerospace to raod and raailway

A SOFTWARE TOOL FOR THE VISUALIZATION AND ANNOTATION OF NATURALISTIC DRIVING DATA STORED IN RELATIONAL DATABASES

A SOFTWARE TOOL FOR THE VISUALIZATION AND ANNOTATION OF NATURALISTIC DRIVING DATA STORED IN RELATIONAL DATABASES Holger Lietz, Matthias J. Henning, Tibor Petzoldt, Josef F. Krems, Gerd Wanielik Chemnitz