www.bmvi.de

Automatically Commanded Steering

Function (ACSF)Demonstration of Feasibility of Proposed Test Cases with a Production Vehicle

www.bmvi.de

Test Equipment and Facilities

• Mercedes E300 W213 with

ADAS package

(„Fahrerassistenzpaket“)

• Vehicle

• Position Measurement:

GeneSys ADMA v3

(combined DGPS + IMU)

• Relative Position Measurement:

GeneSys ADMA v3 DELTA

function

(via WiFi communication)

3

Test Vehicle #1

Test Vehicle #2

• Mercedes E240 W210 as Target /

Towing Vehicle

• Position Measurement:

GeneSys ADMA v3

(combined DGPS + IMU)

• Relative Position Measurement:

GeneSys ADMA v3 DELTA

function

(via WiFi communication)

• Vehico Driving Robots for Speed

and Deceleration

(on test track only)

4

• BMW R1150GS R21

• Position Measurement:

GeneSys ADMA v3

(combined DGPS + IMU)

• Relative Position Measurement:

GeneSys ADMA v3 DELTA function

(via WiFi communication)

5

Test Vehicle #3

• Aldenhoven Test Center

www.atc-aldenhoven.de

• In-between Aachen

and Cologne

• Owned by Aachen University

& the county of Düren

• One of the smaller

commercial test tracks

• Certified EuroNCAP test

track for BASt and TNO

• No Motorcycles on round

course!

• All but FU2 tests performed here

6

Test Track #1

• DEKRA Automobil Testcenter

www.dekra.de

• In-between Dresden

and Cottbus

• Motorcycles allowed on Round

Course

• FU2 – Abort of lane change

performed on Oval Round Course

Locationfor FU2

7

Test Track #2

Target

EuroNCAP Vehicle Target (EVT)

8

Target Trailer for Moving Tests

Damper Rails

Target Carrier

9

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Functional Tests

FU0 – Hands-Off test (1)

Pay attention to hands-off

icon:

Actual vehicle speed

11

Dr.

Patric

k

Seinig

er

Refer

at F1

Folie Nr. 12

12

FU0 - Data

-20 -10 0 10 20 30 40 500

20

40

60

vx,V

uT in k

m/h

Speed

Hands-Off

First Warning

-20 -10 0 10 20 30 40 50

Time [s], Hands Off at t=0s

-1

-0.5

0

0.5

ay,V

uT in m

/s²

13

FU1 – Lane Keeping test

Attention: both cameras are NOT accurately synchronized

(no common audio signal available in these tests)

14

Dr.

Patric

k

Seinig

er

Refer

at F1

Folie Nr. 15

15

FU1 - Data

0 10 20 30 40 50 60 70 8046.8

47

47.2

47.4

0 10 20 30 40 50 60 70 80

Time [s]

-1.5

-1

-0.5

0

0.5

R=186,5 m

16

FU2 – Aborted Lane Change

17

• Motorcycle overtakes a convoy (120 to 70 km/h)

• Convoy

− Lead vehicle (Cruise control to 70 km/h)

− ACSF vehicle (time gap selected by vehicle)

− Closing vehicle (ACC, time gap 2 s)

• Lane change commanded in ACSF vehicle when motorcycle

becomes critical

• ACSF vehicle must not overtake

• Test vehicle changes lanes only on real roads � cannot be

tested with this method

Test Setup

Own ACC set to 2 s time gap

ACSF

CC / Limiter

Manually driven

with speed display

18

FU2 Tests - Video

Attention: both cameras are NOT accurately synchronized

(no common audio signal available in these tests)

19

Dr.

Patric

k

Seinig

er

Refer

at F1

Folie Nr. 20

FU2 - Data

0 2 4 6 8 10 12 14

Time [s]

-50

0

50

100

VuT speed [km/h]

VuT deceleration [m/s²]

Trg speed [km/h]

Trg deceleration [m/s²]

0 2 4 6 8 10 12 14-5

0

5

10

yrel,VuT

[m]

tGap,VuT

[s]

21

FU2 – Repeatability

Mo

torc

ycle

sp

ee

d [km

/h]

0 5 10 15

Time [s]

0.5

1

1.5

2

Motorcycle Speed

(TTC 5 to -5 s)Motorcycle Distance to Lane

(TTC 5 to -5 s)

Sugggested speed tolerance

120 ± 5 km/h

Sugggested lateral distance

1 ± 0.5 m

Current tolerance

Current tolerance

22

FU3 – Successful Lane Change

• Vehicle Mercedes E300 CAN perform automated lane changes

(driver-initiated)

• ONLY on real roads (not possible on any test track)

• Time gap selected to approx. 1 s (to not annoy other traffic)

23

FU3

Distance Vehicle Front – Vehicle Front [m]

Actual Speed [km/h]

Dr.

Patric

k

Seinig

er

Refer

at F1

Folie Nr. 25

25

0 5 10 15 20 25 30

Time [s]

-50

0

50

100 VuT speed [km/h]

VuT deceleration [m/s²]

Trg speed [km/h]

Trg deceleration [m/s²]

0 5 10 15 20 25 30-4

-2

0

2

4

yrel,VuT

[m]

tGap,VuT

[s]

FU3 - Data

Lateral Shift: ~3.7 m

26

Conclusions – Functionality Tests

• FU0: yes/no assessment is possible with camera and UTC time

reference.

• FU1: yes/no assessment for crossing lane markings is possible

with simple wheel camera.

• FU2: is possible with a motorcycle, tolerances might have to be

extended.

• FU3: currently only on highway. Suggested time gaps (based on

overtaken vehicle‘s speed) seems to be too restrictive (1 s time

gap not acceptable by other traffic).

27

EM

28

EM1 – Setup

29

Dr.

Patric

k

Seinig

er

Refer

at F1

Folie Nr. 30

30

31

-1 -0.5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5

Time [s]

-20

0

20

40

60 VuT speed [km/h]

VuT deceleration [m/s²]

tAEB

Trg speed [km/h]

Trg deceleration [m/s²]

-1 -0.5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5

Time [s]

-40

-20

0

20

40

xrel

[m]

vxrel

[km/h]

EM1 - Data

30m initial distance

Time gap ~1.5s

32

EM2 – Setup

33

Dr.

Patric

k

Seinig

er

Refer

at F1

Folie Nr. 34

34

35

EM2 – Data

70 km/h

TTC=2.8s

80 km/h

TTC=1.8s

90 km/h

TTC=2.1s

36

Conclusions – EM tests (1)

EM1 tests are a modification of current Euro NCAP braking tests

• Speed is higher (70 to 50 km/h).

• Tests can be performed with current target and propulsion

system

• Equipment of Vehicle under Test (VuT) with robots is NOT

necessary

• Target vehicle needs to be equipped with brake robot for exact

brake profile

=> EM1 tests possible.

37

Conclusions – EM tests (2)

EM2 tests are a modification of current Euro NCAP stationary tests

• Tests have been conducted up to 90 km/h approach speed

• Current Euro NCAP vehicle target can be used for the tests

• Test vehicle has passed

If not passed, impact with > 50 km/h needs to be avoided

• Abort the test by automatically applying full brake force at a limit

TTC

• Proposal: TTC= v/(2µg)+0.3 [s] (close to physical limit!)

• Determine µ before test run, ensure full brake force 0.3 s after

activation

38

Summary

• BASt has carried out demonstration tests for ACSF functionality

and emergency scenarios

• All scenarios can be tested using state-of-the-art target systems

39

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Thank you for your attention!

Federal Ministry of Transport

and Digital Infrastructure

Robert-Schuman-Platz 1

D-53175 Bonn