pr 13400 ipd 040531 v10 sensor data sheets

Preventive and Active Safety Applications Integrated Project

Contract number FP6-507075 eSafety for road and air transport

Subproject

ProFusion

Deliverable type IP DeliverableDeliverable name Sensor Data Sheets - State-of-

the-art of Sensors and Sensor Data Fusion for Automotive

Preventive Safety Applications

Version number 1.0

Lead contractor FORWISS, University of Passau

Confidentiality status Public

Due date of deliverable 31.05.2004

Actual submission date 19.07.2004

File name <PR-13400-IPD-040531-v10- Sensor_Data_Sheets>

IP Deliverable PReVENT ProFusion

<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> ii

Authors Tobias Strobel, FORWISS, University of Passau

Alain Servel, PSA PEUGEOT CITROEN

Project Co-ordinator Peter Konhäuser

DaimlerChrysler AG

Research and Technology

Information and Communication

096/T729 - RIC/T

70546 Stuttgart / Germany

Phone +49 711 17 41512

Fax +49 711 17 41242

Mobile +49 160 8630458

E-mail [email protected]

Copyright: PReVENT Consortium 2004

Copyright on template: Irion Management Consulting GmbH 2004


<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> iii

Revision chart and history log

Version Date Reason

0.1 22-03-2004 First draft version of the ‘Compendium on Sensors’

0.2 05-04-2004 Preliminary scheme for the representation of the information fixed

0.3 22-04-2004 Draft version publicised in advance of the sensor workshop

0.4 30-04-2004 Preliminary roadmaps inserted, to be written out

0.5 16-05-2004 Section on the state-of-the-art of sensor data fusion included

0.6 21-06-2004 Draft version publicised in advance of the final workshop

1.0 19-07-2004 Final draft.


<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> iv

Table of contents

Authors............................................................................................ ii Project Co-ordinator ........................................................................ ii Revision chart and history log ........................................................ iii Table of contents............................................................................ iv Technical Abstract...........................................................................1 Executive Summary ........................................................................2 1 Introduction.............................................................................1

1.1 Purpose of the document ....................................................1 1.2 Overview .............................................................................1

2 Sensors for preventive and active safety functions ................2 2.1 LIDAR / RADAR ..................................................................1

2.1.1 Bosch..........................................................................1 2.1.2 Continental TEMIC .....................................................1 2.1.3 DENSO.......................................................................1 2.1.4 DELPHI.......................................................................1 2.1.5 Hella ...........................................................................1 2.1.6 IBEO...........................................................................1 2.1.7 RoadEye (for the ‘DenseTraffic’ project) ....................1 2.1.8 TRW Automotive ........................................................1 2.1.9 Valeo ..........................................................................1

2.2 Vision Devices.....................................................................1 2.2.1 Bosch..........................................................................1 2.2.2 Continental TEMIC .....................................................1 2.2.3 DENSO.......................................................................1 2.2.4 Hella ...........................................................................1 2.2.5 Siemens VDO.............................................................1 2.2.6 SMaL ..........................................................................1

References......................................................................................1


<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> 1.0 1

Technical Abstract


<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> 1.0 2

Executive Summary These sensor data sheets complement the information collected and fed back in the ‘Compendium on Sensors’, once more pointing up the current state-of-the-art.

For this, ProFusion sent out several questionnaires, among others one was sent to sensor suppliers all over Europe and to partners having great expertise on these fields; Additionally, ProFusion held several workshops dealing with sensors and sensor data fusion concepts, to identify the current state-of-the-art.

The whole information collected, as regards to the state-of-the-art, has been analysed and complemented and is now being fed back to the Preventive Safety Community in the ‘Compendium on Sensors and in the ’Compendium on Sensor Data Fusion’, complemented with concrete ‘examples’ for sensors offered on the market today in this document.


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1 Introduction Complementary to the ‘Compendium on Sensors’ (compare [prosotas: 04]), which introduces the state-of-the-art as regards to the sensor technologies used within PReVENT as well as recent and future trends with respect to these technologies, sensor data sheets of sensors offered on the market already or in their pre-production stage are best capable to show the performance and the limitations of sensor systems used in the automotive sector for preventive safety applications today.

As it was already said in [prosotas:04], several questionnaires have been sent to the other subprojects of PReVENT as well as to all PReVENT partners asking them for their preliminary sensor configurations and the sensor data fusion concepts they intend to use, and in addition data sheets of sensors offered on the market or in the pre-production stage have been collected from the sensor suppliers all over Europe (in detail Bosch, Continental Temic, DENSO, Delphi, Hella, IBEO, RoadEye, TRW Automotive, Valeo, Siemens VDO and SMaL contributed to the compendium). This document is based on exactly these contributions.

Hence, our thank is directed towards our PReVENT partners Uwe Beutnagel-Buchner (Bosch), Horst Kornemann (Continental Temic), Tomoji Suzuki (DENSO), Ulrich Lages (IBEO), Claudio Hartzstein (RoadEye), Alastair Buchanan (TRW Automotive), Joachim Mathes (Valeo), Ludwig Ertl (Siemens VDO) and Michael Kayat (SMaL) deputy to all the persons which spent efforts on supporting ProFusion with their indispensable contributions to this document. But especially, we have to thank Christian Böhlau from Hella. Hella, even though being not partner in PReVENT, took part in our activities to identify the state-of-the-art and supported ProFusion with data sheets of their respective sensors.

1.1 Purpose of the document The ‘Sensor Data Sheets’ should give a brief overview on both the performance and the limitations of sensor systems used in the automotive sector today. Generally speaking, this document is intended to be a reference book to find the introduction to the sensor technologies offered from the European suppliers for preventive safety applications.

For more detailed information we refer you to the respective companies. The addresses and the contact information is given on the ‘company pages’ before the sensor data sheets are presented.

1.2 Overview In principal, the ‘Sensor Data Sheets’ document is divided in two parts, one section on ranging sensors like LIDAR and RADAR sensors (see section 2.1), an other one on imaging sensors (compare section 2.2), e. g. monocular cameras, stereo cameras and 3D range cameras, and finally, we present data sheets from ‘virtual sensors’ such as digital maps, for example.



2 Sensors for preventive and active safety functions This paper deals with sensors offered for preventive and active safety functions in the automotive environment, as mentioned above.

All the sensors offered for preventive and active safety functions are specified in a set of parameters. These parameters may be separated at least into four groups:

• the technology independent mechanical parameters,

• parameters specifying the operating environment,

• the interface parameters, and finally,

• the technology and product specific key parameters.

For all these groups of parameters, the following scheme will be used to map the information received from the suppliers:

Feature Value Unit Remark

Table 1 Scheme

Feature The feature field defines what is specified. For example, for all types of sensors, at least the size, the weight and other characteristics have to be specified.

Value Here, the concrete value for the feature is given.

Unit In this field, the physical, or respectively the technical unit for the specified value is given.

Remark The remark field is designated to comments, remarks, etc., complementing the information specified before. For example, bracketed values show the original information presented in the suppliers’ data sheets.

The sensors for preventive and active safety functions under consideration in this paper are described subject to the following specifications.



Value Unit Remark

Size

Height m

Width m

Depth m

Weight kg

Mounting

Others

Table 2 Mechanical parameters

Size The size parameter specifies the height, the width and the depth of the sensor.

Weight As the name says, the weight of the sensor is given here.

Mounting The mounting field is, more or less free text information to describe the integration of the sensor in the vehicle.

Others Any other mechanical complements, specifications or comments are described here.

Value Unit Remark

Thermal operating environment

Operating temperature

° C Limits

Temperature for storage

° C Limits

Mechanical

…

Table 3 Operating environment parameters



Thermal operating

environment Both parameters, the operating temperature and the temperature for storage give limits for the temperature constraints related to the sensor operating, respectively the sensor being stored switched-off. Within these limits the sensor operates, respectively may be stored, as specified by the key parameters.

Mechanical Here, mechanical constraints required from the sensor to perform within the limitations given in the key parameters table are specified.

Value Unit Remark

Power consumption W

Voltage V

Data interfaces

…

Control interfaces

…

Table 4 Interface parameters

Power consumption The power consumption parameter specifies the electrical power consumed by the sensor.

Voltage As the name says, the voltage the sensor may be conducted with is given here.

Data interfaces The data interfaces parameters specify properties or standards for the data exchange protocol used by the sensor to transfer its measurement data and the processing outcome, respectively.

Control interfaces This field specifies the control interfaces of the sensor.



2.1 LIDAR / RADAR To describe the different LIDAR / RADAR sensors under consideration in this document, the following key parameters are used to map the information provided from the sensor suppliers:

Value Unit Remark

Frequency For LIDAR sensors, the wavelength of the emitted light is given..

Waveform

Scan mechanism

Resolution

Horizontal performance

Field of view

Beam width

Accuracy

Separation Two closed objects resolution

Resolution

Vertical performance

Field of view

Beam width

Accuracy

Resolution

Ranging and detection

Coverage

Accuracy


Resolution Versus type of target

Measuring of relative speed

Coverage

Accuracy


Resolution

Handling of stationary objects

Measuring of relative acceleration

Coverage m/s²

Accuracy m/s²

Resolution m/s²



Acquisition delay

Update rate

Maximum number of targets tracked

Table 5 Key parameters for LIDAR / RADAR sensors

Frequency The frequency parameter specifies the frequency of the radiated energy, for example the frequency of the emitted radio waves. For LIDAR sensors in general, the not the frequency but the wavelength of the emitted light is given.

Waveform …specifies which waveform is used for the emitted electromagnetic radiation. Examples are continuous waves as well as pulsed waves, continuous but modulated waves, etc.

Scan mechanism Here, the scan mechanism of the LIDAR / RADAR is explained, if the respective sensor uses any.

Horizontal performance This group of parameters describes the field of view, the beam width, the (angular) accuracy and the resolution of the detection in horizontal direction.

Vertical performance Same as for horizontal performance parameters group, but in vertical direction.

Ranging and detection These parameters specify the performance of the described sensor as regards to its ranging and detection capability. Key parameters are the coverage, meaning the distance spectrum in which objects can be detected, the accuracy of the range measurements, the separation of two closed objects (that means, how close may to objects be compared to each other so that the LIDAR / RADAR sensor still detects them as two objects) and, finally, the resolution.


Similar to the parameters specifying the ranging and detection performance of the sensor, here the coverage, the accuracy, the separation and the resolution of the relative speed measuring functionality of the LIDAR / RADAR is given. The handling of stationary objects tries to describe, how stationary objects are treated during the sensor processing, e. g. wether they are simply ignored, or not. For example, ‘YES’ means, the LIDAR / RADAR sensor in question is able to detect them, and vice versa.


Same for the relative acceleration. But: in any case, the relative acceleration is determined via calculation (corresponding objects in two or more consecutive measurements are tracked, and then the relative acceleration is calculated), and not measured directly as opposed to the relative speed, at least for Doppler-LIDARs / RADARs.

Acquisition delay The acquisition delay parameter specifies how long the acquisition of one measuring takes.

Update rate Here, the update rate is given, that means the number of measurements per second is specified in the update rate.




The maximum number of targets the LIDAR / RADAR sensor may track at the same time is given in maximum number of targets tracked parameter.



2.1.1 Bosch In the field of LIDAR / RADAR sensors, Bosch offers the following long range RADAR sensor.

For further information, please get in touch with

Uwe Beutnagel-Buchner

E-mail: [email protected]

Postfach 10 60 50

70049 Stuttgart, Germany

Tel.: +49 711 811 3 74 68

Fax.: +49 711 811 3 64 68



2.1.1.1 Bosch ‘Long Range RADAR Sensor’ The Bosch ‘Long Range RADAR Sensor’ operates based on standard 77 GHz frequency modulated continuous wave (FMCW-RADAR) technology.

Value Unit Remark

Size

Height 0.073 m

Width 0.070 m

Depth 0.060 m

Weight < 0.3 kg

Mounting

Others

Table 6 Mechanical parameters of the Bosch 'Long Range RADAR Sensor'

Value Unit Remark



-40 to 90 ° C Limits (100 ° for short-time)


° C Limits

Mechanical

…

Table 7 Operating environment parameters of the Bosch 'Long Range RADAR Sensor'

Value Unit Remark

Power consumption < 10 W (< 39 W with lens heating on)

Voltage V

Data interfaces

…

Control interfaces

…

Table 8 Interface parameters of the Bosch 'Long Range RADAR Sensor'



Value Unit Remark

Frequency 77 GHz

Waveform Continuous wave Frequence modulated

Scan mechanism None

Resolution 4 beams


Field of view ± 8 °

Beam width ?

Accuracy 0.5 °

Separation ? ° Two closed object resolution

Resolution 0.25 °


Field of view ± 1.5°

Beam width ± 1.5°

Accuracy

Resolution


Coverage 2 to 120 m

Accuracy 5 % (but with a maximum accuracy of 0.5 m)

Separation 5 m Two closed objects resolution

Resolution 0.05 m


Coverage ± 50 m / s

Accuracy 5 % (but with a maximum accuracy of 0.4 m / s)

Separation 1 m / s

Resolution 0.1 m / s


Yes


Coverage m / s²

Accuracy m / s²

Resolution m / s²

Aquisition delay 0.1 s

Update rate 10 Hz

Maximum number of 32



targets tracked

Table 9 Key parameters of the Bosch 'Long Range RADAR Sensor'



2.1.2 Continental TEMIC Continental TEMIC provides both, RADAR and LIDAR sensors for preventive and active safety functions, as well.

For further information please get in touch with

Horst Kornemann

Manager Institutional Projects


Continental Automotive Systems

Gürickestraße 7

60488 Frankfurt am Main, Germany

Tel.: +49 (0) 69 7603 5994

Fax.: +49 (0) 69 7603 3902

Mobile: +49 (0) 170 35 15 080



2.1.2.1 Continental Temic ‘Adaptive Cruise Control RADAR System ARS 200’

Value Unit Remark

Size

Height 0.132 m

Width 0.132 m

Depth 0.050 m

Weight ? kg

Mounting

Others

Table 10 Mechanical parameters for the Continental 'ARS 200'

Value Unit Remark


Operating temperatures

-40 to 85 ° C Limits



Mechanical

…

Table 11 Operating parameters for the Continental 'ARS 200'

Value Unit Remark

Power consumption < 7.5 W

Voltage ? V

Data interfaces CAN (high-speed CAN)

…

Control interfaces CAN (high-speed CAN)

…

Table 12 Interface parameters for the Continental 'ARS 200'

Value Unit Remark

Frequency 77 GHz

Waveform Pulsed

Scan mechanism Yes

Resolution 3 beams




Field of view ± 5.1 °

Beam width 3.4 °

Accuracy 0.25 °

Separation 6.8 °

Resolution 3.4 °



Beam width 3.4 °

Accuracy None

Resolution None


Coverage 1 to 150 m

Accuracy ± 1 m

Separation 7.5 m

Resolution 3.75 m Versus type of target


Coverage -24.7 to 73.6 m / s (-89 to 265 km / h)

Accuracy 0.2 m / s (0.7 km / h)

Separation 1.53 m / s (5.52 km / h)

Resolution 0.76 m / s (2.76 km / h)


Coverage -20 to 20 m / s²

Accuracy 0.1 m / s²

Resolution ? m / s²


Yes (Same as for moving objects)


Update rate 20 Hz (Update time of 50 ms)


20

Table 13 Key parameters for the Continental 'ARS 200'



2.1.2.2 Continental Temic ‘Adaptive Cruise Control RADAR System ARS 300’

Value Unit Remark

Size

Height 0.070 m

Width 0.103 m

Depth 0.050 m

Weight ? kg

Mounting

Others

Table 14 Mechanical parameters for the Continental 'ARS 300'

Value Unit Remark






Mechanical None

…

Table 15 Operating environment parameters for the Continental 'ARS 300'

Value Unit Remark


Voltage V

Data interfaces CAN (others on request)

…

Control interfaces CAN (others on request)

…

Table 16 Interface parameters for the Continental 'ARS 300'

Value Unit Remark

Wave length 77 GHz

Waveform Pulsed

Scan mechanism Yes

Resolution 17 beams





Beam width 2 °

Accuracy 0.1 °

Separation 3 °

Resolution 1 °



Beam width 4.2 °

Accuracy None

Resolution None


Coverage 0.25 to 170 m

Accuracy ± 0.25 m

Separation 2 m

Resolution 1 m



Accuracy 0.2 m / s (0.7 km / h)

Separation 1.53 m / s (5.52 km / h)

Resolution 0.76 m / s (2.76 km / h)




Coverage -20 to 20 m / s²



Aquisition delay 0.2

Update rate 20 Hz (Update time of 50 ms)


40

Table 17 Key parameters for the Continental 'ARS 300'



2.1.2.3 Continental Temic side looking short range RADAR ‘SLR 100’

Value Unit Remark

Size

Height 0.070 m

Width 0.105 m

Depth 0.021 m

Weight ? kg

Mounting

Others

Table 18 Mechanical parameters for the Continental 'SLR 100'

Value Unit Remark






Mechanical None

…

Table 19 Operating environment parameters for the Continental 'SLR 100'

Value Unit Remark


Voltage ? V

Data interfaces CAN (others on request)

…

Control interfaces CAN (others on request)

…

Table 20 Interface parameters for the Continental 'SLR 100'

Value Unit Remark

Wave length 24 GHz

Waveform Pulsed

Scan mechanism None

Resolution 2 beams




Field of view 120 °

Beam width 80 °

Accuracy 2 to 10 °

Separation None °

Resolution 60 °


Field of view 15 °

Beam width 15 °

Accuracy None

Resolution None



Accuracy 0.05 m

Separation 0.2 m

Resolution 0.1 m


Coverage -35 to 35 m / s (-127 to 127 km / h)

Accuracy 1 m / s (5 km / h)

Separation None m / s

Resolution None m / s




Coverage None m / s²

Accuracy None m / s²

Resolution None m / s²

Aquisition delay 0.12

Update rate 25 to 50 Hz


16

Table 21 Key parameters for the Continental 'SLR 100'



2.1.2.4 Continental Temic cosing velocity detecting short range LIDAR ‘CID 100’

Value Unit Remark

Size

Height m

Width m

Depth m

Weight 0.200 kg

Mounting

Others

Table 22 Mechanical parameters for the Continental 'CID 100'

Value Unit Remark






Mechanical None

…

Table 23 Operating environment parameters for the Continental 'CID 100'

Value Unit Remark

Power consumption W

Voltage 12 V (with a minimum of 8.5 V, and a maximum of 24 V)

Data interfaces

…

Control interfaces

…

Table 24 Interface parameters for the Continental 'CID 100'

Value Unit Remark

Wave length 905 nm

Waveform Pulsed



Scan mechanism None

Resolution 3 beams (depenent on the application)


Field of view 36 °

Beam width 12 °

Accuracy ?

Separation ?

Resolution ?


Field of view 8 °

Beam width ?

Accuracy ?

Resolution ?


Coverage 10 m

Accuracy ± 0.1 m

Separation ?

Resolution ?


Coverage 1 to 56 m / s (5 to 200 km / h)

Accuracy ? m / s

Separation ? m / s

Resolution ? m / s


No


Coverage ? m / s²

Accuracy ? m / s²


Aquisition delay ?

Update rate ? Hz


More than one (Multi …)

Table 25 Key parameters for the Continental 'CID 100'



2.1.2.5 Continental Temic short range LIDAR ‘SIS 200’

Value Unit Remark

Size

Height 0.088 m

Width 0.072 m

Depth 0.057 m

Weight 0.400 kg

Mounting

Others

Table 26 Mechanical parameters for the Continental 'SIS 200'

Value Unit Remark






Mechanical

…

Table 27 Operating environment parameters for the Continental 'SIS 200'

Value Unit Remark

Power consumption W

Voltage 12 V (with a minimum of 8.5 V, and a maximum of 24 V)

Data interfaces

…

Control interfaces

…

Table 28 Interface parameters for the Continental 'SIS 200'

Value Unit Remark

Wave length 905 nM

Waveform Pulse

Scan mechanism YES



Resolution 30 beams



Beam width 1 °

Accuracy ? °

Separation ?

Resolution 0.01 ° (resolution of beam movement)


Field of view 3 to 6.5 °

Beam width 3 to 6.5 °

Accuracy -

Resolution None



Accuracy ? m

Separation ?

Resolution ?


Coverage -60 to 60 m / s

Accuracy 0.1 to 0.8 m / s

Separation ? m / s

Resolution ? m / s


Yes


Coverage ? m / s²



Aquisition delay ?

Update rate 26 Hz


? (multi target detection)

Table 29 Key parameters for the Continental 'SIS 200'



2.1.3 DENSO DENSO provides both, LIDAR and RADAR sensors for preventive and active safety functions, as well.


Tomoji Suzuki

Manager, Technical Research Department


DENSO AUTOMOTIVE Deutschland GmbH

Freisinger Str. 21, 85386 Eching, Germany

Tel.: +49 (0) 8165 944 233

Fax.: +49 (0) 8165 944 858

Mobile: +49 (0) 174 333 5972



2.1.3.1 DENSO ‘LIDAR Sensor’ Value Unit Remark

Size

Height 0.060 m

Width 0.116 m

Depth 0.065 m

Weight 0.350 kg

Mounting Behind the front grill or under the bumper.

Others

Table 30 Mechanical parameters for the DENSO 'LIDAR Sensor'

Value Unit Remark






Mechanical

…

Table 31 Operating environment parameters for the DENSO 'LIDAR Sensor'

Value Unit Remark

Power consumption 5 W

Voltage 12 V

Data interfaces CAN

…

Control interfaces CAN

…

Table 32 Interface parameters for the DENSO 'LIDAR Sensor'

Value Unit Remark

Wave length 870 nm For LIDAR sensors, the frequency is given in terms of the wavelength of the light emitted.

Waveform Pulsed

Scan mechanism Mechanical rotating mirror

(2D scanning laser)



Resolution



Beam width 0.1 °

Accuracy ?

Separation ?

Resolution ? °


Field of view 4 °

Beam width 1.57 °

Accuracy ?

Resolution ? °


Coverage 0 to 130 m ± 20 m

Accuracy ± 0.5 m

Separation ? m

Resolution 0.075 m


Coverage 51 m / s

Accuracy ? m / s

Separation ? m

Resolution ? m / s


?

Measuring of relative accel.

Coverage 6.35 m / s²

Accuracy ? m / s²


Acquisition delay ? s (Moving average for the last four measurings is used)

Update rate 10 Hz


4

Table 33 Key parameters for the DENSO 'LIDAR Sensor'



2.1.3.2 DENSO ‘RADAR Sensor’ The DENSO ‘RADAR Sensor’ operates, as the one from Bosch (see above), based on 77 GHz RADAR technology.

Value Unit Remark

Size

Height 0.085 m

Width 0.147 m

Depth 0.074 m

Weight 0.495 kg

Mounting

Others

Table 34 Mechanical parameters for the DENSO 'RADAR Sensor'

Value Unit Remark






Mechanical None

…

Table 35 Operating environment parameters for the DENSO 'RADAR Sensor'

Value Unit Remark


Voltage 12 V

Data interfaces CAN

…


…

Table 36 Interface parameters for the DENSO 'RADAR Sensor'

Value Unit Remark

Frequency 77 GHz

Waveform Continuous wave (triangular frequence modulation)

Scan mechanism Electronical (with digital beam forming)



Resolution 4 °


Field of view ±10 °

Beam width 20 °

Accuracy 0.25 °

Resolution 0.5 °


Field of view 4 °

Beam width 4 °

Accuracy

Resolution None


Coverage 5 to 180 m

Accuracy ± 0.5 %

Separation ?

Resolution 0.7 m


Coverage -55.5 +27.8 m / s

Accuracy ? m / s

Separation ? m / s



?

Measuring of relative accel.

Coverage 6.35 m / s²

Accuracy ? m / s²


Acquisition delay 0.1 s

Update rate 10 Hz


4

Table 37 Key parameters for the DENSO 'RADAR Sensor'



2.1.4 DELPHI For further information, please get in touch with

Lali Ghosh


DELPHI Delco Electronics Europe GmbH

Customer Technology Center

Vorm Eichholz 1

42119 Wuppertal, Germany

Mobile: +49 (0) 170 999 4814



2.1.4.1 DELPHI ‘Long Range RADAR Sensor’

Value Unit Remark

Size

Height 0.138 m

Width 0.073 m

Depth 0.096 m

Weight ? kg

Mounting

Others

Table 38 Mechanical parameters for the DELPHI 'Long Range RADAR Sensor'

Value Unit Remark





° C Limits

Mechanical

Table 39 Operating environment parameters for the DELPHI 'Long Range RADAR Sensor'

Value Unit Remark

Power consumption W

Voltage V

Data interfaces

…

Control interfaces

…

Table 40 Interface parameters for the DELPHI 'Long Range RADAR Sensor'

Value Unit Remark

Frequency 76 GHz

Waveform ?



Scan mechanism Mechanical

Resolution

Angle of detection


Field of view ?

Beam width ?

Accuracy ± 0.5 °

Resolution ?


Field of view ?

Beam width ?

Accuracy ?

Resolution ?


Coverage 1 to 150 m

Accuracy ?

Resolution < 0.5 m Versus type of target



Accuracy < 0.6 m / s (< 2 km / h)

Resolution ?


?


Coverage ? m / s²

Accuracy ? m / s²


Acquisition delay ?

Update rate 10 Hz


?

Table 41 Key parameters for the DELPHI 'Long Range RADAR Sensor'



2.1.4.2 DELPHI ‘Short Range RADAR Sensor’ Value Unit Remark

Size

Height ? m

Width ? m

Depth ? m

Weight ? kg

Mounting

Others

Table 42 Mechanical parameters for the DELPHI 'Long Range RADAR Sensor'

Value Unit Remark





? ° C Limits

Mechanical

Table 43 Operating environment parameters for the DELPHI 'Long Range RADAR Sensor'

Value Unit Remark

Power consumption W

Voltage V

Data interfaces

…

Control interfaces

…

Table 44 Interface parameters for the DELPHI 'Long Range RADAR Sensor'

Value Unit Remark

Frequency 24 GHz

Waveform ?

Scan mechanism None



Resolution

Angle of detection


Field of view ?

Beam width ?

Accuracy ± 0.5 °

Resolution ?


Field of view ?

Beam width ?

Accuracy ?

Resolution ?


Coverage 0 to 6 m

Accuracy ?

Resolution 0.22 m Versus type of target


Coverage ± 8.8 m / s

Accuracy ? m / s

Resolution ?


?

Acquisition delay ?

Update rate 120 ms


?

Table 45 Key parameters for the DELPHI 'Long Range RADAR Sensor'



2.1.5 Hella For further information, please get in touch with

Christian Böhlau

Grundlagen- und Prozessentwicklung (GE-ADS)


Hella KGaA Hück & Co.

Beckumer Straße 130

59552 Lippstadt, Germany

Tel.: +49 (0) 2941 38 2827

Fax.: +49 (0) 2941 38 8074



2.1.5.1 Hella ‘Adaptive Cruise Control (ACC) B’ (LIDAR sensor) Hella provides, among others, the ACC ‘Adaptive Cruise Control (ACC) B’ system - based on a LIDAR sensor which is strongly adapted to satisfy the needs of the mentioned ACC function.

For a more detailed technical specification see the tables below.

Value Unit Remark

Size

Height 0.065 m

Width 0.104 m

Depth 0.104 m

Weight 0.430 kg

Mounting

Others

Table 46 Mechanical parameters for the Hella 'Adaptive Cruise Control (ACC) B'

Value Unit Remark






Mechanical

Table 47 Operating environment parameters for the Hella 'Adaptive Cruise Control (ACC) B'

Value Unit Remark


Voltage 9 to 16 V

Data interfaces CAN 500 kBit / s

…

Control interfaces

…

Table 48 Interface parameters for the Hella 'Adaptive Cruise Control (ACC) B'



Value Unit Remark

Frequency 905 GHz

Waveform Pulsed (Ultra-short-pulse, eye-safe LIDAR)

Scan mechanism None (Multi beam LIDAR)

Resolution

Angle of detection


Field of view 16 °

Beam width 1 °

Accuracy ± 0.5 °

Resolution 1


Field of view 3 °

Beam width 3 °

Accuracy None

Resolution None


Coverage 200 m

Accuracy 1 %

Resolution 0.1 m


Coverage ± 50 m / s

Accuracy 0.5 m / s



Yes

Acquisition delay 60 ms

Update rate 8 Hz (120 ms update time)


25

Table 49 Key parameters for the Hella 'Adaptive Cruise Control (ACC) B'



2.1.5.2 Hella ‘24 GHz Short Range RADAR Sensor’ Value Unit Remark

Size

Height 0.089 m

Width 0.105 m (Without connector and mounting points’)

Depth 0.027 m

Weight 0.24 kg

Mounting 1) The sensors are mounted by three mounting points directly to the bumper. The sensors are not visible from outside because they are located between the vehicle body and the bumper.

2) It is possible to mount the sensors with an extra bracket to the vehicle body, too.

Others

Table 50 Mechanical parameters of the Hella ’24 GHz Short Range RADAR Sensor’

Value Unit Remark



-40 to 70 ° C (Customer specification)


-40 to 90 ° C (Customer specification)

Mechanical None

…

Table 51 Operating environment parameters of the Hella '24 GHz short range RADAR Sensor'

Value Unit Remark

Power consumption 3.5 W (…per sensor, master and slave)

Voltage 9 to 15 V

Data interfaces CAN

…


…

Table 52 Interface parameters of the Hella '24 GHz Short Range RADAR Sensor'



Value Unit Remark

Frequency 24 to 24.250 GHz

Waveform Continuous wave Frequence modulated

Scan mechanism None

Resolution 1 beam


Field of view ± 50 to ± 70 °

Beam width 120 °

Accuracy 1 ° (Typically better than 1°)

Separation None ° Two closed object resolution

Resolution None °


Field of view 13 °

Beam width °

Accuracy ?

Resolution ?


Coverage 0.75 to 50 m (Up to 120 m, depending on the target)

Accuracy 2 %

Separation 1.80 m Two closed objects resolution

Resolution 1.80 m


Coverage 0 to 70 m / s

Accuracy 0.14 m / s

Separation 0.28 m / s



(Stationary objects are eliminated)


Coverage m / s²

Accuracy m / s²

Resolution m / s²


Update rate 31.25 Hz


16



Table 53 Key parameters of the Hella '24 GHz Short Range RADAR Sensor'



2.1.6 IBEO In cooperation with HELLA, IBEO developed a LIDAR sensor which is strongly adapted to the needs of the Preventive Safety Community, and satisfies ‘application-independent’ requirements of the automotive sector.


Ulrich Lages

Managing Director


IBEO Automobile Sensor GmbH

Fahrenkrön 125

22179 Hamburg, Germany

Tel.: +49 (0) 40 64587 170 or +49 (0) 40 64587 190

Fax.: +49 (0) 40 64587 109

Mobile: +49 (0) 172 417 3855



2.1.6.1 IBEO ‘ALASCA’ The IBEO ‘ALASCA’ was developed with the goal of reliable object detection and tracking all around the vehicle, independent of the final application. Even so the requirements which have been kept in mind during the development of this LIDAR sensor were taken from the following automotive applications, especially in terms of features as detection range, field of view, pitching angle compensation and insensitivity to environmental conditions, for example:

• Automatic Emergency Braking,

• Stop & Go,

• PreCrash,

• Parking Assistance, and

• ‘Application-independent’ pedestrian detection.

Additionally, the ‘ALASCA’ sensor provides a high resoluted LIDAR sensing of the environment at both, high angular accuracy and at a high detection range.

The pitching angle of the vehicle is compensated scanning in four planes at the same time, and due to its ‘double echo capability’ (see the technical specification below), which means in each line of sight two echoes per measuring can be detected, IBEO’s ‘ALASCA’ comes up with a better insensitivity to environmental conditions than other LIDAR sensors.

In detail, the specification of the ‘ALASCA’ looks as follows:

Value Unit Remark

Size

Height 0.150 m

Width 0.095 m

Depth 0.090

0.130

m

m

(only the sensor head)

(for the whole sensor housing)

Weight 1,3 kg (without mounting and integration tube)

Mounting For the IBEO ‘ALASCA’ LIDAR sensor, several mounting possibilites are offered:

3) In the frontal area, one sensor in the middle, under the bumper or in the bumper. Then, a specific infrared-transparent plastic coverage for the window in the bumber is needed (available in many colours today)

4) In the frontal area, but two sensors in the corners, under the bumper or in the bumper. Again, a specific infrared-transparent plastic coverage for the window in the bumber is needed (available in many colours today)

Others Up to three ALASCA sensors can be connected by one IBEO ‘Fusion Unit’ to achieve a 360° field of view all around the vehicle.

Table 54 Mechanical parameters for the IBEO 'ALASCA'



Value Unit Remark



-20 to +70 ° C (Limits of the A-sample)


-20 to +85 ° C (Limits of the A-sample)

Mechanical None

…

Table 55 Operating environment parameters for the IBEO 'ALASCA'

Value Unit Remark


Voltage 12 V

Data interfaces

For object and application information (for example ‘Automatic Emergency Braking’)

CAN

For raw data and object as well as application information (for example ‘Automatic Emergency Braking’)

Ethernet

Control interfaces

For parameter setting (online and offline) and calibration parameters

CAN

For parameter setting (online and offline) and calibration parameters

Ethernet

Table 56 Interface parameters for the IBEO 'ALASCA'



Value Unit Remark

Frequency 905 nm

Waveform Pulsed (eyesafe LIDAR)

Scan mechanism Constant rotation (rotation of 360°; non-sweeping)

Resolution 1 cm


Field of view 240 ° (may be limited by the integration under design constraints)

Beam width < 0.25 °

Accuracy +/-0.0625 °

Separation --- (not existing as a stand alone criterium for object seperation -depending on range)

Resolution 0.25 … 1 ° (depending on the choosen update rate, respectively the scanning frequency)


Field of view 3.2 ° (in the driving direction for the compensation of the pitching angle; four planes measured at the same time)

Beam width < 0.8 °

Accuracy +/-0.1 °

Resolution 0.8 °

Ranging and detection (double echo capability, that means two distances can be measured per shot and channel)

Coverage 0.3 … 80 m

Accuracy +/-5 cm (in the whole coverage range)

Separation 0.5 … 1 m (depending on the distance and the viewing angle of the echo)

Resolution 1 cm


Coverage -250 … +250 km/h

Accuracy +/-1 … +/-3.6 km/h (depending on the object type)

Separation <2.5 km/h

Resolution 0.5 km/h


YES

Acquisition delay 75 … 300 ms (depending on the choosen update rate, respectively the scanning



frequency)

Update rate 10 … 40 Hz


25 (multi target detection)

Table 57 Key parameters for the IBEO 'ALASCA'



2.1.7 RoadEye (for the ‘DenseTraffic’ project) As an outcome of the ‘DenseTraffic’ project, RoadEye provides its ’76 GHz RADAR Sensor’ as cost and performance effective, forward looking RADAR sensor.

RoadEye’s ’76 GHz RADAR Sensor’ development was supported by the European Commission through the 5th framework program, under the ‘DenseTraffic’ project, as already mentioned above.

The ‘DenseTraffic’ consortium included ‘UMS’ from France, ‘EADS Microwave Factory’ (Germany), ‘ERA’ from England, ‘Groeneveld Groep’ from the Netherlands and finally ‘RoadEye FLR GP’ (Israel).


Claudio Hartzstein

General Manager


RoadEye FLR G.P.

PO Box 6362

Karmiel 20101, Israel

Tel.: +972 4 988 2220

Fax.: +972 4 988 3179



2.1.7.1 RoadEye ‘Forward looking RADAR (FLR) sensor’ As the ‘Forward looking RADAR (FLR) sensor’ Roadeye offers for preventive safety applications was, more or less, the outcome of a EC-funded project, the documentation and the specification is quite comprehensive. For even more details, we refer to the project ‘DenseTraffic’.

“RoadEye’s ‘Forward looking RADAR sensor (FLR)’ is a multiple beam (one transmit, and seven receive beams) sensor based on microwave monolithic integrated circuit (MMIC, see glossary in appendix B) for more detailed information; annotation of the author) technology for the radio frequency transceiver, and thyxomolded magnesium for the antenna.

The transceiver transmits a linear frequency modulated continuous waveform, here by means of a Direct Digital Signal (DDS) generator. The use of a DDS permits the generation of multiple waveforms with a great degree of flexibility: for example frequency modulated continuous wave and a ranging Doppler-RADAR at different range resolutions become possible at the same time.

Due to its wide angular field of view, RoadEye’s ‘Forward looking RADAR sensor (FLR) allows an excellent performance even when tracking objects in sharp curves and in ‘cut-in’-scenarios. The frequency modulated continuous waveforms at wide bandwidth permit the tracking of objects up to very short ranges.

At low speeds, static objects are not longer neglected; at higher speeds, static targets may be separated from moving objects using the relative speed information of the ranging Doppler-RADAR functionality (so called range-Doppler mode; annotation of the author). Based on all that, a ‘Stop & Go’ functionality was successfully implemented’ with RoadEye’s RADAR sensor presented here.”

The horizontal resolution of the RADAR sensor is achieved using multiple beams: one ‘illuminator beam’, having a horizontal beam width of 12° and intentionally increased sidelobes to illuminate the scene up to ± 20° , a left, center and right beam covering long distance areas (having a horizontal beam width of 4° each), two ‘squinted beams’ (‘LL’ on the left and ‘RR’ on the right hand side), having a horizontal beam width of 12° each covering ‘wide angle’ areas, and finally, left- and right-side ‘guard beams’ intended for side lobe cancelling.

One of the advantages of RoadEye’s ’76 GHz RADAR Sensor’ is the shallow antenna, and as a consequence, its quite small casing. The antenna, which includes 5 apertures is produced in thyxomolded magnesium technology which is able to reproduce the fine mechanical details necessary for radio frequency manipulation at 76GHz. In addition, this technology is low cost in mass production, too.

In detail, the ‘Forward looking RADAR (FLR) sensor’ from RoadEye provides the following features:



Value Unit Remark

Size

Height 0.085 m

Width 0.155 m

Depth 0.074 m

Weight 0.900 kg

Mounting

Others

Table 58 Mechanical parameters for the RoadEye '76 GHz RADAR Sensor'

Value Unit Remark Thermal operating environment

Operating temperature -40 to 85 ° C Limits

Temperature for storage -55 to 120 ° C Limits

Mechanical None

Table 59 Operating environment parameters for the RoadEye '76 GHz RADAR Sensor'

Value Unit Remark

Power consumption W

Voltage 12 V (for trucks 24 V)

Data interfaces CAN

Bandwith 0.5 Mb / s

…


…

Table 60 Interface parameters for the RoadEye '76 GHz RADAR Sensor'

Finally, let’s have a close look to the summary of Roadey’s ’76

GHz RADAR Sensor’ key parameters, specifying its overall

benefits:

Value Unit Remark

Frequency 76 to 77 GHz Waveform Continuous wave (linear frequence modulation,

waveform adapted to the scenario)



Linearity < 0.5 % (DDS generated)

Scan mechanism None

Resolution Several beams (see the description of the sensing principle for more details)

Horizontal performance Field of view ± 18 ° Beam width of the illuminator 12 ° (see the description of sensing

principle for more details) Beam width of the left, center and right beams

4 ° (see the description of sensing principle for more details)

Beam width of the left and the right squinted beams

12 °

(see the description of sensing principle for more details)

Accuracy ± 0.5 ° (within ± 10 °)

Separation > 4 ° (target separation mainly based on range and velocity)

Resolution > 4 °

Vertical performance Field of view 4 ° Beam width 4 ° Accuracy ? Resolution ?

Ranging and detection Coverage 2 to 150 m (limited by processing) Accuracy < 2 % Separation 1.5 to 9 m Depending on waveform and rangeResolution 0.5 to 3 m Depending on waveform and range


Coverage ± 50 m/s Range rate Accuracy 0.5 m/s Separation 1.5 m/s Two closed objects resolution Resolution 0.5 m/s


Yes (see the description of sensing principle for more details)


None

Coverage m / s² Accuracy m / s² Resolution m / s²

Acquisition delay 100 ms (for a strong target)



Update rate 20 Hz Maximum number of targets tracked 20 (software adjustable)

Table 61 Key parameters for the RoadEye '76 GHz RADAR Sensor'



2.1.8 TRW Automotive For further information, please get in touch with

Alastair Buchanan


TRW Conekt

Stratford Road

Solihull B90 4GW, Great Britain

Tel.: +44 (0)121 627 4146

Fax.: +44 (0)121 627 4243



2.1.8.1 TRW Automotive long range RADAR sensor ‘AC 10’ Value Unit Remark

Size

Height ? m

Width ? m

Depth ? m

Weight ? kg

Mounting

Others

Table 62 Mechanical parameters for the TRW Automotive 'AC 10'

Value Unit Remark





? ° C Limits

Mechanical

…

Table 63 Operating environment parameters for the TRW Automotive 'AC 10'

Value Unit Remark

Power consumption ? W

Voltage ? V

Data interfaces

…

Control interfaces

…

Table 64 Interface parameters for the TRW Automotive 'AC 10'

Value Unit Remark

Frequency 76 GHz

Waveform Continuous wave Frequency shift technology

Scan mechanism None

Scan resolution 1 beam





Beam width ± 6 °

Accuracy 0.3 ° (0.1° in centre line of the beam)

Separation 0 ° Two obstacles at the same angle, but at different ranges and velocities may be discriminated.

Resolution ° (floating point number’s resolution)



Beam width ± 2.5 °

Accuracy °

Resolution °


Coverage 200 m

Accuracy ± 5 %

Separation 0 m Two obstacles at the same range, but at different angles and velocities may be discriminated.

Resolution m (floating point number’s resolution)


Coverage ± 50 m/s

Accuracy 0.025 m/s

Separation 0.025 m/s Closed objects discrimination

Resolution 0.025 m/s


YES


Coverage m / s² (dependent on application)

Accuracy m / s² (dependent on application)

Resolution m / s² (dependent on application)

Acquisition delay s (dependent on application)

Update rate s (dependent on application)


20 (dependent on application)

Table 65 Key parameters for the TRW Automotive 'AC 10'



2.1.9 Valeo For further information, please get in touch with

Joachim Mathes

Branch Director Research & Development


Laiernstrasse 12

74321 Bietigheim-Bissingen, Germany

Tel.: +49 (0) 7142 916 1114

Fax.: +49 (0) 7142 916 4114

Mobile: +49 (0) 173 389 6592



2.1.9.1 Valeo ‘Multiple Beam RADAR’ Value Unit Remark

Size

Height 0.120 m

Width 0.069 m

Depth 0.035 m

Weight 0.330 kg

Mounting

Others

Table 66 Mechanical parameters for the Valeo 'Multiple Beam RADAR'

Value Unit Remark



? ° C Limits


? ° C Limits

Mechanical None

…

Table 67 Operating environment parameters for the Valeo 'Multiple Beam RADAR'

Value Unit Remark


Voltage ? V

Data interfaces

…

Control interfaces

…

Table 68 Interface parameters for the Valeo 'Multiple Beam RADAR'

Value Unit Remark

Frequency 24 GHz

Waveform Continuous wave

Scan mechanism Electronically scanning

(electronic phase array)



Resolution 7 beams

Angle of detection

?


Field of view 150 °

Beam width ?

Accuracy ?

Resolution ?


Field of view ?

Beam width ?

Accuracy ?

Resolution ?


Coverage 0.5 to 60 m Dependent on the detected object

Accuracy ?

Resolution ? Versus type of target


Coverage 0 to 69.4 m / s (0 to 250 km / h)

Accuracy ?

Resolution ?


?

Acquisition delay

Update rate 20 to 100 Hz (Update time from 10 to 50 ms)


more than 20

Table 69 Key parameters for the Valeo 'Multiple Beam RADAR'



2.2 Vision Devices For vision devices, the following key parameters are of interest:

Value Unit Remark

Spectral sensitivity nm

Resolution

Pixels

Number of lines

Size of chip Length x Width

Optics

Field of view

Zoom

Focal length m

Sensitivity Bandwidth of the vision device

Dynamic range

intra-scene

inter-scene

Accuracy

Resolution

Acquisition delay s For vision devices, the acquisition delay is the integration time.

Update rate Hz For vision devices, the update rate is synonymous to the frame rate.

Table 70 Key parameters for vision devices

Spectral sensitivity The spectral sensitivity parameter specifies the frequency spectrum the respective vision device, or to be more precise, the apperture of the vision device (e. g. the chip) is sensitiv to.

Resolution Here, the resolution of the vision device is given. Either the number of pixels in both, horizontal or vertical direction, or at least the number of lines (of pixels) is given.

Size of chip Specifies the size of the chip used.

Optics In the optics parameters group, the lenses, etc. of the vision device is described. Key parameters of interest for it are the field of view, the zoom and the focal length.

Sensitivity […]

Dynamic range […]

Acquisition delay The acquisition delay parameter specifies, how long the acquisition of one measuring takes.

Update rate Here, the update rate is given, that means the number of measurings per second is specified in the update rate.



2.2.1 Bosch Bosch offers, in the field of vision devices, a camera module.


Uwe Beutnagel-Buchner


Postfach 10 60 50

70049 Stuttgart, Germany

Tel.: +49 711 811 3 74 68

Fax.: +49 711 811 3 64 68



2.2.1.1 Bosch ‘Camera Module’ Value Unit Remark

Size

Height ? m

Width ? m

Depth ? m

Weight ? kg

Mounting

Others

Table 71 Mechanical parameters for the Bosch 'Camera Module'

Value Unit Remark



? ° C Limits


? ° C Limits

Mechanical

…

Table 72 Operating environment parameters for the Bosch 'Camera Module'

Value Unit Remark


Voltage ? V

Data interfaces

…

Control interfaces

…

Table 73 Interface parameters for the Bosch 'Camera Module'

Value Unit Remark

Spectral sensitivity nm

Resolution

Pixels 640 x 400

Number of lines

Size of chip ? Length x Width



Optics

Horizontal field of view

± 22.5 °

Vertical field of view

± 12.5 °

Zoom

Focal length m


Dynamic range

intra-scene ?

inter-scene ?

Accuracy ?

Resolution ?

Acquisition delay s For vision devices, the acquisition delay is the integration time.

Update rate Hz For vision devices, the update rate is synonymous to the frame rate.

Table 74 Key parameters for the Bosch 'Camera Module'



2.2.2 Continental TEMIC For further information please get in touch with

Horst Kornemann

Manager Institutional Projects


Continental Automotive Systems

Gürickestraße 7

60488 Frankfurt am Main, Germany

Tel.: +49 (0) 69 7603 5994

Fax.: +49 (0) 69 7603 3902

Mobile: +49 (0) 170 35 15 080



2.2.2.1 ‘LWCS 100’ The vision device ‘LWCS 100’ was designed for and supports applications such as ‘blind spot detection’ and ‘lane change support’. It provides the following performance:

Value Unit Remark

Size

Height ? m

Width ? m

Depth ? m

Weight ? kg

Mounting

Others

Table 75 Mechanical parameters for the Continental TEMIC 'LWCS 100'

Value Unit Remark



? ° C Limits


? ° C Limits

Mechanical None

…

Table 76 Operating environment parameters for the Continental TEMIC 'LWCS 100'

Value Unit Remark


Voltage ? V

Data interfaces ?

…

Control interfaces ?

…

Table 77 Interface parameters for the Continental TEMIC 'LWCS 100'

Value Unit Remark

Spectral sensitivity ? nm

Resolution



Pixels 640 x 480

Number of lines


Optics

Field of view 45 x 33 °

Zoom ?

Focal length ? m


Dynamic range

intra-scene ?

inter-scene ? dB

Accuracy ?

Resolution ?

Acquisition delay ? s For vision devices, the acquisition delay is the integration time.

Update rate 25 Hz For vision devices, the update rate is synonymous to the frame rate.

Table 78 Key parameters for the Continental TEMIC 'LWCS 100'

2.2.2.2 ‘BSCD 100’ Continental TEMIC’s vision device ‘LWCS 100’ supports ‘lane departure warning’ as well as ‘lane keeping support’ and meets the following specification:

Value Unit Remark

Size

Height ? m

Width ? m

Depth ? m

Weight ? kg

Mounting

Others

Table 79 Mechanical parameters for the Continental TEMIC 'BSCD 100'



Value Unit Remark



? ° C Limits


? ° C Limits

Mechanical None

…

Table 80 Operating environment parameters for the Continental TEMIC 'BSCD 100'

Value Unit Remark


Voltage ? V

Data interfaces ?

…

Control interfaces ?

…

Table 81 Interface parameters for the Continental TEMIC 'BSCD 100'

Value Unit Remark

Spectral sensitivity ? nm

Resolution

Pixels 640 x 480

Number of lines


Optics

Field of view 72 x 54 °

Zoom ?

Focal length ? m


Dynamic range

intra-scene ?

inter-scene ? dB

Accuracy ?

Resolution ?

Acquisition delay ? s For vision devices, the acquisition



delay is the integration time.


Table 82 Key parameters for the Continental TEMIC 'BSCD 100'



2.2.3 DENSO For further information, please get in touch with

Tomoji Suzuki

Manager, Technical Research Department


DENSO AUTOMOTIVE Deutschland GmbH

Freisinger Str. 21, 85386 Eching, Germany

Tel.: +49 (0) 8165 944 233

Fax.: +49 (0) 8165 944 858

Mobile: +49 (0) 174 333 5972



2.2.3.1 DENSO ‘Vision sensor’ The DENSO ‘Vision Sensor’ is based on standard CMOS-technology.

Value Unit Remark

Size

Height 0.063 m

Width 0.084 m

Depth 0.029 m

Weight 0.150 kg

Mounting

Others

Table 83 Mechanical parameters for the DENSO 'Vision Sensor'

Value Unit Remark






Mechanical None

…

Table 84 Operating environment parameters for the DENSO 'Vision Sensor'

Value Unit Remark

Power consumption W

Voltage V

Data interfaces CAN

…


…

Table 85 Interface parameters for the DENSO 'Vision Sensor'



Value Unit Remark

Spectral sensitivity 400 to 800 nm (visible spectrum)

Resolution

Pixels 352 x 288 (CIF)

Number of lines


Optics

Field of view ± 22 ° (horizontal field of view)

Zoom

Focal length m


Dynamic range

intra-scene ?

inter-scene 90 dB

Accuracy ?

Resolution ?



Table 86 Key parameters for the DENSO 'Vision Sensor'



2.2.4 Hella For further information, please get in touch with

Christian Böhlau

Grundlagen- und Prozessentwicklung (GE-ADS)


Hella KGaA Hück & Co.

Beckumer Straße 130

59552 Lippstadt, Germany

Tel.: +49 (0) 2941 38 2827

Fax.: +49 (0) 2941 38 8074



2.2.4.1 Hella ‘Camera module’ Value Unit Remark

Size

Height 0.040 m

Width 0.035 m

Depth 0.033 m

Weight 0.040 kg (Camera module only, 0.115 kg including carrier and cable)

Mounting

Others

Table 87 Mechanical parameters for the Hella 'Camera Module'

Value Unit Remark






Mechanical

…

Table 88 Operating environment parameters for the Hella 'Camera Module'

Value Unit Remark

Power consumption 1.8 W (Typically)

Voltage 10 to 16 V (Typically)

Data interfaces LVDS

…


…

Table 89 Interface parameters for the Hella 'Camera Module'



Value Unit Remark

Spectral sensitivity 450 to 950 nm

Resolution

Pixels 820 x 480 (at 12 bit color depth)

Number of lines

Size of chip (1/3 ’’ chip) Length x Width

Optics

Horizontal field of view

45 °

Vertical field of view

20 ° (down to 14 ° due to cut off by the carrier)

Zoom None

Focal length 0.055 to 0.060 m

Sensitivity 3 Lux (1 Lux for gray level images)

Bandwidth of the vision device

Dynamic range

intra-scene 110 dB

inter-scene ?

Accuracy ?

Resolution ?


Update rate 25 to 30 Hz For vision devices, the update rate is synonymous to the frame rate.

Table 90 Key parameters for the Hella 'Camera Module'



2.2.5 Siemens VDO In the field of vision devices, Siemens VDO offers one of the above mentioned systems consisting of a modified camera module, to provide the ability of ranging.


Ludwig Ertl

Video Sensor Systems


SiemensVDO Automotive AG

Osterhofener Straße 19

93055 Regensburg

Tel.: +49 (0) 941 790 4462

Fax.: +49 (0) 941 790 5714



2.2.5.1 Siemens VDO ‘CMOS High Dynamic Range Camera’ The Siemens VDO ‘CMOS High Dynamic Range Camera’ represents, as the name says, a CMOS technology-based range camera.

The sensing principle is easy to see:

Value Unit Remark

Size

Height 27 mm

Width 36 mm

Depth 23 mm Optics not considered

Weight 100 g

Mounting

Others

Table 91 Mechanical parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'

Value Unit Remark



-40 … +105 ° C Limits


125 ° C Limits

Mechanical

…

Table 92 Operating environment parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'

Value Unit Remark

Power consumption 0.500 W

Voltage 7 V

Data interfaces LVDS

…

Control interfaces LVDS

…

Table 93 Interface parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'



Value Unit Remark

Spectral sensitivity 400 … 1000 nm

Resolution

Pixels 750 x 400 (high fill-factor)

Number of lines


Optics

Field of view 25 … 130 °

Zoom None

Focal length 0.001 to 0.016 m

Sensitivity

Dynamic range

intra-scene 120 dB

inter-scene 180 dB

Accuracy < 1 LSB

Resolution 10 Bit

Illuminator

Wave length nm

Acquisition delay 0.005 … 50 mS For vision devices, the acquisition delay is the integration time.


Table 94 Key parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'



2.2.6 SMaL For further information, please get in touch with

Michael Kayat

Director of Sales Automotive & Security


10 Wilson Road

Cambridge, MA 02138, USA

Tel.: +1 617 715 6652

Fax.: +1 617 661 7601



2.2.6.1 SMaL ‘IM 103’ Value Unit Remark

Size Automotive camera module packaging depends on customer requirements

Height m

Width m

Depth m

Weight kg

Mounting

Others

Table 95 Mechanical parameters for the SMaL ‘IM 103’

Value Unit Remark



-40C to +85C ° C Limits


+125C ° C Limits

Mechanical

…

Table 96 Operating environment parameters for the SMaL ‘IM103’

Value Unit Remark

Power consumption 0.015 W Very low power consumption

Voltage 3.3 V

Data interfaces IEEE 1394,

LVDS,

12 bit NTSC

Control interfaces I2C

…

Table 97 Interface parameters for the SMaL ‘IM103’


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Value Unit Remark

Spectral sensitivity 400 to 1100 nm (Spectral curve is sensitive over visible and near infra-red wavelengths)

Resolution

Pixels 640x480

850x480

(Size can be extended for particular applications, from QVGA, SVGA to XVGA)

Number of lines 480 (Size can be extended)


Optics

Field of view 15° to over 90° (Depends on the application)

Zoom (Depends on the application)

Focal length m (Depends on the application)

Sensitivity 1 nW/cm² (550nm)

3 nW/cm²

(950nm)

Bandwidth of the vision device

Dynamic range

intra-scene 120 dB (Autobrite® adaptive and programmable wide dynamic range)

inter-scene 120 dB (Autobrite® adaptive and programmable wide dynamic range)

Accuracy

Resolution

Acquisition delay 0.033 to 1 s For vision devices, the acquisition delay is the integration time.

Update rate 1 to 60 Hz For vision devices, the update rate is synonymous to the frame rate.

Table 98 Key parameters for the SMaL ‘IM103’


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References

PReVENT documents and deliverables

[prevann: 04] PReVENT - Technical Annex.

[prosotas: 04] T. Strobel, A. Servel; ProFusion – Compendium on Sensors.

[prosotasdf: 04] T. Strobel, A. Servel, C. Coue, T. Tatschke; ProFusion – Compendium on Sensors.

pr 13400 ipd 040531 v10 sensor data sheets

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