lecture slides (driver assistance and vehicle control)
DESCRIPTION
Linkoping University lecture about Driver assistance and vehicle control (Andreas Tapani) 2009thank's to : Andreas Tapani, Linkoping Unversity, MSTT Universitas Gadjah Mada, DEPDIKNAS Indonesia. NOT for commercial purposeTRANSCRIPT
Driver Assistance and
Vehicle Control
TNK052 Intelligent TransportationSystems
Andreas Tapani
2
Driver Assistance today and
in the 1930’s
The driver had to do everything!
ABS, ESP, automatic transmission,
rain sensors, panic brake assistant, …
The driver indicates direction and speed,
the car takes care of the rest!
3
The road safety development in Sweden
Source:
SCB
Fatalities per 100 000 cars
4
Driver error
86%
Technical failure
3%
Unknown
11%
Single vehicle
21%
Turning/crossing
30%
Vehicle-
pedestrian
18%
Rear-end
13%H
ead-on
10%
Other
8%
Accident statistics
�~1.2 million people killed in road traffic accidents each year
�~40 000 in the EU
�~450 in Sweden
�Nearly all accidents are
due to human error!
5
Road safety improvement strategies
�Passive counterm
easures:
Reduce consequences of
errors/accidents
�Active counterm
easures:
Reduce the number of
driver errors
6
In-vehicle ITS or “Advanced
Driver Assistance Systems”
(ADAS)
7
Estimations of the accident reduction potential
of ITS related to vehicle safety
�80 %
reduction in total accidents (Japan)
�ISA: 25-30 %
reduction (Netherlands)
�ACC: 60 %
reduction in rear-end accidents (Netherlands)
How are this type of estimations done?
8
Other potential effects on the traffic system
�Increased capacity
�Reduced travel times
�Reduced environmental impact
9
Examples of available
ITS in series-produced
passenger cars
10
Driver monitoring
�A simple form
: passengerdetectionfor seatbelts
�Detectingdriver impairmentor distraction
�Camera technology
�(Biosignalmeasurements)
11
Night vision
�To allowdriversto gaintime to assessthe situation and choose
and appropriateresponse
�Near or Far InfraRed(NIR or FIR) technology
12
Workloadmanagement
�Filteringand prioritizingthe inform
ation presentedto the driver
�Estimationof the driver workloadusingvehiclesensors
(speed brakeforce, windshieldwiperuse)
�Whenchallengingsituations are detected�
Postponeor
cancelnon-urgentwarningsor mobile phonecalls.
13
Brakeforcedisplay
�Display brakeforce
throughthe brakelights
14
Adaptive headlights
�Headlightsthat followthe road curvature
�Switchbetweenhigh and lowbeam
�Corneringheadlights
�Safetyeffects? (Improvedsight�
Higherspeeds �
reducedsafety?)
15
Lane departure
warning
�Recognize lanes and detect an
imminent lane departure
�Cameras
�Lane markings are required
�Lane keeping assistant:
�Provide appropriate steering
input
�Responsibility and legislation
issues
16
Adaptive Cruise Control (ACC)
�Mantainspeed and distance
to the vehicleinfront
�Engine decelerationor
Activedecelerationwith
limitedbrakeforce
�Earlysystems: lim
itedspeed
range
New systems: Full speed
rangeincludingstop and go
�Ongoingdevelopment:
Linkagebetweenthe ACC
and navigation
17
Electronic stabilitycontrol
�Brakingof individualwheels
(suspension and traction
control)
�One of the mostsafety-
enhancingsystems on the
market
�Sensors: Steeringwheel
angle, gyro, yawratelateral
and longitudinal accelation
�(Countersteeringassistance)
�Roll stabilitycontrol
�Takeinto
accountthe load
distribution
18
Blind spotdetectionsystems
�Detectingobjectsin the ”blind spot”sideand back
�Cameras or radar
19
Pre-collision, collisionavoidanceand
obstacledetectionsystems
�Avoidcrashesand reducethe severityof imminentcrashes
�Lowervehiclespeed
�Driver warningand brakesupport
20
Emergencysteeringand breakingassist
�Optimizingthe vehicledecelerationor steeingin emergency
situations
�Maxmizingpressure
in the brakecircuits
�Reducesteeringgearratio
�Shortenstoppingdistance
�More
directsteering
�Autonomousbrakingsystems are alsoavailable
�a potential to avoidaccidents
21
Passengerinjurymitigationand
post-crashsystems
�Activewhiplashinjuryreduction
�Monitor the rear of the carusingradar
�Repositionheadrest before
a rear-end
crash
�Advancedairbags
�Adaptthe deploymentpower according
to �Collisionseverity
�Massof the driver
�Partialwindowopening, doorunlocking
and engineand fuelcutoff
�Automaticemergencycall–notifythe
rescueservice automatically
22
Co-operative systems
Vehicle-to-vehicle and
vehicle-to-infrastructure communication
23
Driver assistance systems technology
Source: PREVENT IP
24
ADAS control loop
Surveillance of
the vehicle
environment
Traffic situation
interpretation
Activate intervention system
Prediction of
future situation
Critical?No
Yes
25
System classification
Comfort
Safety
Inform
ativ
eLow
response
High
response
Response
time
>
Driver
reaction
time
Response
time
<
Driver
reaction
time
Intervention
Guidance
Navigation
ABS
ESP
CA
LDW
ACC
PA NAVIGATION
VISION ENH.
26
Driver assistance systems and accident phases
Rescue
Occupant protection
Collision mitigation
Collision avoidance
Norm
al driving
Emergency
systems
Passive safety systems
High response systems
Inform
ation/
low response
Post Crash
Crash
Pre-crash
Intervention
Driving
Critical
situation
Point of no
return
End of
crash
Crash
27
28
In-vehicle ITS
road map
29
30
PassengercarITS -focusareas in the
developmentprocess
31
Issues in the development process
�Technological requirement
�Driver acceptance and behaviouralresponse
�Driver, car manufacturer and system developer liability
32
Technological requirements
�Specifications
�Reliability
�Cost
…
33
Driver acceptance and behaviouralresponse
�Do drivers want the system?
�Will the driver use the system as intended?
�Behaviouraladaptation
�Is driver attention diverted from traffic due to the system?
34
Liability issues
�Who is responsible for an accident?
�Inform
ation systems
�Overridableintervention systems
�Non-overridableintervention systems
35
Evaluationof the effectsof in-vehicleITS
36
Methods for testing the impact of in-vehicle ITS
�Driving simulator studies
�Field trials
�Traffic modelling
�Economic analysis
37
What have we talked about today?
�Changes in the nature of driving
�Accident statistics
�An overview of in-vehicle ITS
�A peek to the future
�Issues that needs to be considered in the system
development process