Rear-End Collision Warning System Field Operational Test .

Rear-End Collision WarningSystem Field OperationalTest - Status ReportPresented by:David L. Smith, Ph.D., P.E.DivisionDivision ofof AdvancedAdvanced SafetySafety SystemsSystems Research/IntelligentResearch/Intelligent VehicleVehicle InitiativeInitiativeOfficeOffice ofof VehicleVehicle SafetySafety ResearchResearch NHTSANHTSA

Presentation Outline Field Operational Test OverviewCollision Warning SystemOverviewProgram Information

Program Team General Motors Delphi Delco Electronics SystemsDelphi Chassis SystemsHughes Research Laboratories (HRL)University of Michigan Transportation Research Institute(UMTRI)National Highway Traffic SafetyAdministration (NHTSA) - Office ofVehicle Safety ResearchVolpe National TransportationSystems Center

Program Goals Deploy and test a state-of-the-artrear-end collision warning system Measure system performance Estimate real-world safety benefits Obtain information about useracceptance

Program ScheduleJune ‘99Mar ’01Dec ‘01Feb ‘02Phase IEngineeringDevelopmentVehiclesJan ‘03 May ‘04Phase IIPrototypeVehiclePilotVehiclesDeployVehiclesFOT

System Block Diagramand MechanizationBrakeActuatorBrakePedal ollerClass 2 BusSceneTrackingProcessorTargetPath-Estimation& CW Processor(Data Fusion &Threat Assessment)AcceleratorPedal N BusDigital Cell PhoneVisionSystemSensor & VehicleInterface UnitAudioCameraComment ButtonVoice InputHaptic ActuatorClass 2 BusProduction Sensors & SwitchesPRNDLTurn SignalSteering AngleWheel SpeedsBrake PressureThrottle PositionLateral AccelerationBrake Pedal ActiveExtended Brake SwitchYaw RateScene CameraDriver CameraACAS Installed SensorsYaw RateLateral AccelerationLongitudinal AccelerationVertical AccelerationCompass HeadingDataAcquisitionSystemRadioRainHVAC ControlsAudio ControlsOutside TemperatureRoad Surface RoughnessHeadlight Switch PositionWindshield Wiper SettingCompass.)resHeading (lowAmplifierAmbient Noise MicrophoneSpeakerHead-UpDisplayOperator ControlsCruise Control On/OffSet/Coast/Tap Down/Tap UpAccelResume/Headway/SensitivityHaptic On/OffHUD Controls

Forward Vision System Estimate road shape, lane width,vehicle heading, and vehicle lateralposition within the lane using a videocamera.Three university teams support DelphiDelco Electronics: University of PennsylvaniaOhio State UniversityUniversity of Michigan -Dearborn

Map-Based Road GeometryMap-BasedProcessor Predict upcoming road geometry: Differential GPSDigital road mapsDead reckoningDead reckoning from accelerometersaugments DGPS during signaloutages to update host vehicleposition and speed.

Scene Tracking Processor Utilize the trajectories of thepreceding vehicles and roadsideobjects as measured by the radar to: Estimate the upcoming road curvatureDistinguish between in-lane and adjacent lanevehiclesDetermine the heading of the host vehicle in its lane

Forward-Looking RadarForward-Looking Millimeter-wave Monolithic IntegratedCircuit (MMIC) Design Determines kinematic variables of visibletargets Used for both Adaptive Cruise Control and Forward CrashWarningRange (measured), Range-rate (measured), Deceleration(computed)Key Technical Challenges: In-Lane Threats on Curved, Multi-Lane RoadwaysFalse Alarms from Overhead Signs/Bridges

Path Estimation and TargetSelection Uses the Data Fusion outputs for hostpathPredicts path trajectories for host andtargetsSelects the in-path vehicle of interest,either stationary or moving: Accounts for in-lane weaving and drift.Accounts for lane change maneuvers.

Data Fusion and ThreatAssessment Fusion of data to estimate host lanegeometry, host kinematics, driverdistraction, and environment: On-board yaw rate estimatorForward vision systemMap-based road geometry processorScene tracking processorDriver distraction estimatorEnvironmental sensorsCrash threat assessment Driver warning algorithm to energize displays

Driver-Vehicle InterfaceDriver-Vehicle Interface Hardware: Visual Full-Color Head-Up DisplayTonal Alert Delivered over Vehicle Sound SystemCandidate Visual DisplayFormats: Single-Stage Imminent Crash AlertGraded Multi-Stage WarningContinuous Display of Safe Following Information

FOT Data Acquisition System Support Field Operational TestObjectives Crash avoidance estimationsUser acceptance determinationsPresent State of DevelopmentIncludes: System Conceptual DesignList of Recorded VariablesStrategies to Recognize and Capture Critical EventsData Storage and Retrieval ArchitectureTest and Evaluation of a Rapid Prototype

Program Status First Annual Report published Dec 2000Prototype vehicle system integration to becompleted by end of AugustVerification testing will be conducted thisFall (September-November) Interim Report due in January 2002 Phase II to begin in January 2002

Program Contacts andInformation NHTSA Contact: GM Contact: Jack J. FerencePhone: (202) 366 -0168E-mail: jference@nhtsa.dot.govRonald C. Colgin, Ph.D.Phone: (810) 986 -4775E-mail: ronald.c.colgin@gm.comProgram First Annual Report: http://www.nhtsa.dot.gov

System Block Diagram and Mechanization and Mechanization Data Acquisition System FCW Processor (Data Fusion & Threat Assessment) Vision System Haptic Actuator CAN Bus Speaker Sensor & I/O Processor Driver-Vehicle Interface Unit Scene Tracking Processor Target Path-Estimation & Selection Processor ACC/Radar Subsystem ACC Controller Radar Camera