development and demonstration of a cost effective in...
Post on 20-Sep-2020
0 Views
Preview:
TRANSCRIPT
11/5/2018
1
Department of Electrical Engineering 1
Development and Demonstration of a Cost
Effective In-Vehicle Lane Departure and
Advance Curve Speed Warning System
Imran Hayee
EE Department, University of Minnesota Duluth
October 23, 2018
Department of Electrical Engineering
Outline
2
• Background• Project Overview and Goals• Development Status• Field Tests and Results• Summary and Next Steps• Questions/Discussion
11/5/2018
2
Department of Electrical Engineering
Problem:• Horizontal curves crash rate is three times higher than
that of the tangent road sections• Half of the fatal accidents occur on curved roads
Existing Solutions:• Lane departure warning systems (rumble strip,
video/sensor/GPS based solutions)• Advance curve speed warning systems (warning signs,
rumble strip )
Problems with Existing Solutions:• Expensive (implemented on high end vehicles)• Performance (severe weather, clear road marking signs)
Background
3
Department of Electrical Engineering
Proposed Project Overview
On-Board Unit
GPS Receiver
GPS Antenna
Warning Signal
Features:• Cost Effective (not uses video, differential GPS or high resolution maps)• Performance (weather proof, will not rely on road markings)• Easily Implementable (as a smartphone app or as a feature in navigational devices)
Direction Reference
4
11/5/2018
3
Department of Electrical Engineering
Goal 1: Lane Departure Warning
5
Lane departure detection and warning algorithm
Department of Electrical Engineering
Goal 2: Advance Curve Speed Warning
6
Start of the curve
Distance from the
start of the curve
Advance curve speed warning algorithm
11/5/2018
4
Department of Electrical Engineering
Implementation Plan
7
On-Board Unit
GPS Receiver
GPS Antenna
Warning Signal
Updates position periodically
• Receives position information from GPS Receiver• Accesses road curvature information from a mapping database• Detect lane departure and issue warning signal
Generates audible warning
Direction Reference
Department of Electrical Engineering
Path Average Heading
Shape Point
Spurious Shape Point
Path Average Heading
Reference Angle From Mapping Database
Valid Shape Point
9
11/5/2018
5
Department of Electrical Engineering
-60
-50
-40
-30
-20
-10
0
10
0 500 1000 1500 2000 2500 3000
Ref
he
adin
g (d
eg)
Distance (m)
h1
hn
h1
hn
N
An Example of Reference Angle
10
Department of Electrical Engineering
A Freeway Example
225
230
235
240
245
250
255
260
265
270
275
0 500 1000 1500 2000 2500 3000 3500 4000
Ref
He
adin
g (d
eg)
Distance (m)
N
11
11/5/2018
6
Department of Electrical Engineering
PnPn-1
Pn-3n
1n2n
Pn-2
ref
Constant Yaw and Steering Angle
)( nnSinD
Accumulative
Lateral Distance
Dn Lateral Distance =
Pn
Pn-1
Pn-3 n1n
2n
Pn-2
refn headingveh _
12
Department of Electrical Engineering
Distance
Acc
um
ula
tive
Lat
eral
Dis
tance
Threshold
Threshold
Lane Departure Detection Algorithm
13
11/5/2018
7
Department of Electrical Engineering
Lane Width=3.6m
CW=1.6m
1 m
1 m
Max Deviation = 1 m (Normal Driving)
Lateral Distance Threshold
-1.5
-1
-0.5
0
0.5
1
1.5
0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300 3600 3900 4200
Late
ral D
ista
nce
(m
)
Distance (m)
14
Department of Electrical Engineering
Safe Distance
Starting point of
curve
L
HE
AD
ING
DISTANCE
-
Advanced Curve Detection Algorithm
17
11/5/2018
8
Department of Electrical Engineering
Field Tests
Department of Electrical Engineering
-60
-50
-40
-30
-20
-10
0
10
0 500 1000 1500 2000 2500 3000
Ref
he
adin
g (d
eg)
Distance (m)
h1
hn
h1
hn
N
Field Tests on Rice Lake Rd.
19
11/5/2018
9
Department of Electrical Engineering 20
Department of Electrical Engineering 21
11/5/2018
10
Department of Electrical Engineering
Field Tests on I-35
225
230
235
240
245
250
255
260
265
270
275
0 500 1000 1500 2000 2500 3000 3500 4000
Ref
He
adin
g (d
eg)
Distance (m)
N
22
Department of Electrical Engineering 23
11/5/2018
11
Department of Electrical Engineering 24
Department of Electrical Engineering
V2V Communication
First time traveling vehicle on this road
Frequently traveling vehicle on this road
Next Steps: Reference Angle via Past Trajectory and/or V2V Communication
27
11/5/2018
12
Department of Electrical Engineering
Summary
23
On-Board Unit
GPS Receiver
GPS Antenna
Warning Signal
OR
Proof of Concept Demo
Concept
Product Development
• Algorithm design• Software development
• Patent/licensing• App development
Department of Electrical Engineering
-3.5
-2.5
-1.5
-0.5
0.5
1.5
2.5
3.5
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
Acc
um
ula
tive
Lat
eral
D
ista
nce
(m
)
Distance (m)
A Sample Result: Rice Lake Rd
15
11/5/2018
13
Department of Electrical Engineering
-3.5
-2.5
-1.5
-0.5
0.5
1.5
2.5
3.5
0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300 3600 3900 4200
Acc
um
ula
tive
Lat
eral
D
ista
nce
(m
)
Distance (m)
False Alarm
A Sample Result: I-35 Interstate
16
top related