8 Vehicle Systems

Miroslav Svítek, Zuzana Bělinová Faculty of Transportation Sciences, Czech Technical University in Prague

TELEMATIC SYSTEMS AND THEIR DESIGN – part Systems Lecture 8

8 L E C T U R E

Vehicle telematic systems



Lecture 8 - overview

• Vehicle systems (Smart Car, Intelligent vehicle)

– Currently widely used systems (ABS, …)

– Systems being introduced

– Future systems



Types of vehicle systems

• Assistance systems – e.g. ABS, ESC,

• Prediction of meteo conditions, status of the

communication

• Analysis of driver‘s competence for driving

• Video systems (improving information driver has)

• Systems lowering visual load - acoustic

• Parking systems

• Specialized systems for different categories of

drivers



Smart Cars technologies

• Anti-lock Braking System (ABS)

• Adaptive Cruise Control (ACC)

• Adaptive Headlights

• Lane Change Assistant / Blind Spot Detection

• Driver Drowsiness Monitoring and Warning

• Dynamic Traffic Management

• eCall

• Electronic Brake Assist System

• Electronic Stability Control (ESC)

• Extended Environment Information

• Gear Shift Indicator

• Intersection Assistant (not yet commercially available)

• Lane Departure Warning

• Local Danger Warning

• Night Vision

• Obstacle and Collision Warning

• Pedestrian/ Vulnerable Road User Protection (not yet commercially available)

• Speed Alert

• Tyre Pressure Monitoring System (TPMS)

• Wireless Local Danger Warning (not yet commercially available)



Technologies used

• Vision sensor systems – LIDAR (Light Detection And Ranging)

– RADAR,

– Infrared sensors

– Video-detection

• position identification – via GNSS

– acceloremeter

– Odometer

• Internal sensors

Important part of all vehicle systems

• Software – E.g. that identifies and classifies objects



ABS: The Anti-lock Braking System

• prevents the wheels from locking up by automatically modulating the brake pressure when the driver brakes hard

• The system detects sudden decelerations in the spinning of each wheel, and reduces the pressure on that brake until it again detects acceleration. It can do this very quickly, before the tyre can actually significantly change speed. The result is that the tyre slows down at the same rate as the vehicle, with the brakes keeping the tyres very near the point at which they will start to lock up. This gives the system maximum braking power.

• ABS was first used in cars in 1970

• In 2006, 91% of new vehicles were equipped, the penetration rate was 66% in the whole vehicle park in Europe.

http://tzywen.com/modules.php?name=News&file=article&sid=678



Electronic Stability Control (ESC)

• Helping in situation when the driver cannot turn quickly enough (under-steer) or turns too quickly and spins (over-steer)

• The Electronic Stability Control detects the deviation between the vehicle's trajectory and the intended direction.

• small amounts of braking are applied separately to each wheel and this can bring the vehicle back to the intended course

• driver maintains often does not even notice that the Stability Control system has intervened.

• First used in 1995, the system, which is based on ABS, had a penetration rate of 40% in new cars in 2005.

• Based on the European Parliament decision all vehicles newly approved in the EU must have ESC

Source: http://www.life.com/image/2108362 http://tendytoyota.blogspot.com/2009/11/toyota-yaris-dengan-electronic.html



Video systems

• For enhancing disponible information - Pattern recognition – e.g. Traffic signs

– Vehicle detection

– pedestrians

• Using infrared band has advantages, weather conditions - fog, rain, etc. are less problematic

• Disadvantage – these system further increase number of visual inputs

• Systems to lower number of visual inputs – e.g. „speaking signs“

http://isl.postech.ac.kr/xe/iv



• Examples of element for elder drivers

– Good assessible control buttons with clear markings

– Automatic gearbox

– Illumination of the cabin

• Impact to social (enable people to carry out more

activities)

• Safety impact

Specialized systems for disabled people or old drivers



Parking systems

• To ease parking in difficult (e.g. city) conditions

• Based on ultra-sound sensors

• From the acustic warning up to the systems

capable of parking the vehicle by themselves

• So far skilled driver‘s capability is better

http://futureofmankind.tumblr.com/



Adaptive Headlights and others

• Directing the beams by moving each headlamp left, right, up or down

• in reaction to steering wheel angle, speed and movement of the vehicle

• Used in curves (preventing illuminating the side of the road)

• Used when hard decelerating or accelerating (preventing shining up in the air when accelerating or down when deccelerating) adapting headlights based on the position of the car gained from GNSS systems

• Adaptive shifting form distance lights to dimmed lights when meeting other vehicle

• Systems for dimming the mirrors

http://www.jdpower.com/autos/articles/IIHS-Reports-on-Emerging-Safety-Technologies/



Gear Shift Indicator

• assists the defensive motoring style of the driver helping him to save fuel and to drive more smoothly and economically

• gives a visual warning when a gear change is necessary

• motor management system supplies all information needed for the GSI

• essentially a simple device which tells the driver using a manual gear box when to shift up or down.

http://www.bmw.in/in/en/newvehicles/z4/z4/2009/allfacts/effdyn/gear_shift_indicator.htm

l

http://www.bmw.com/com/en/newvehicles/x/x3/2010/showroom/efficiency/gear_shift_indicator.html



Speed Alert

• alerts the driver with

– audio

– visual

– haptic feedback

• when the speed exceeds the local legal speed

limit.

• The speed limit information received

– from transponders in speed limit signs

– from a digital road map – requires reliable positioning

information

– from traffic sign detection

– combination of inputs



Tyre Pressure Monitoring System (TPMS)

• electronic system to monitor the air pressure inside a pneumatic tyre: – Direct TPMS delivers real time tyre pressure information to the driver

of the vehicle These systems employ physical pressure sensors inside each tyre together with some means of sending that information from inside the tyre to the vehicle instrument cluster.

– Indirect TPMS measure the air pressure indirectly by monitoring individual wheel speeds and other signals available in the vehicle.

• Why – environmental perspective, - under-inflated tyres result in wasteful use of fuel,

– Improves safety (could save the lives of more than 1/5 of victims ) (The French institution Sécurité Routière ('Road Safety') estimates that 9% off all road accidents involving fatalities are attributable to under-inflated tyres. The German body, DEKRA has estimated that 41% of accidents with physical injuries are linked to tyre problems.)

http://www.autoexpress.co.uk/news/autoexpressnews/226749/tyresure_tyre_pressure_monitoring_system_tested.html



Night Vision

• At night and using normal dipped lights, the driver's visibility is reduced to around 40 meters

• perception of depth and colour recognition is compromised

• Night Vision system - increased night-time visibility by far- or near-infrared sensors with a range equivalent to upper beam headlights

• Advantage comparing to upper beams – it does not dazzle oncoming traffic

• illuminated scene presented to the driver in a special display, which gives a better view of the road ahead, including other vehicles and obstacles in the distance

http://www.globalgiants.com/archives/2006/04/night_vision_sy.html

http://cararcade.blogspot.com/2009/05/2010-mercedes-e-class-sedan-first-drive.html



Adaptive Cruise Control (ACC)

• improves the function of standard cruise control by automatically adjusting the vehicle speed and distance to the vehicle ahead using – long range radar sensor

– signal processor

– longitudinal control of the vehicle

• If the vehicle ahead slows down, or if another object is detected, the ACC adjusts vehicle speed and headway accordingly without any action on the part of the driver. Once the road is clear, the system will re-accelerate the vehicle back to the set speed.

• As with standard cruise control, the driver can override the system at any time.

• The current ACC systems are mainly comfort functions with a limited speed range.

http://www.autointhenews.com/heres-to-the-year-2020-the-future-of-automotive-technology/



Pre-crash systems

• Active sensors (radars for 10-100 m, lidars for 1-

10m, sonars for 0,05-1m)

• „virtual bubble“ to identify objects threatening with

a collision

• Prediction of trajectories of these objects

http://consumerguideauto.howstuffworks.com/featured-auto-expert-advice10.htm



Obstacle and Collision Warning

• detecting vehicles or other obstacles on the road ahead

• warning the driver

• Current solutions – additional function of Adaptive Cruise Control, using information obtained from radar sensors to give

visual and acoustic warnings

• Future systems – long range/near range radar sensors

– LIDAR

– video image processing

• In addition to warning, the system can also in order to prepare the vehicle for an imminent collision

– pre-fill the braking system to provide full braking force (Brake Assistant) as soon as the driver applies the brakes

– pre-arm airbags

– pre-tension seatbelts

• Obstacles and Collision warning systems are available as an option in several European models

http://blogs.automotive.com/6601961/miscellaneous/ford-makes-adaptive-cruise-control-more-safety-features-available-on-cars/index.html/



Lane Change Assistant / Blind Spot Detection

• continuously monitor the rear blind spots on both sides of the vehicle

• Useful before overtaking or changing lanes

• When the turn signal is activated indicating that the driver is about to change lane, these systems warn the driver when it is not safe to do this

• Means of warning – visually

– acoustic

– by discreet vibration of the steering wheel

Source: http://carsafetyresearch.blogspot.com/2010_07_01_archive.html

http://www.esafetychallenge.eu/en/esafety_on_board/esafety_videos/blind_spot_monitoring/



Lane Departure Warning System (LDWS)

• electronic systems that monitor the position of the vehicle within its lane and warn the driver if the vehicle deviates or is about to deviate from the lane

• Currently available LDWS are forward-looking, vision-based systems that use algorithms to interpret video images to estimate vehicle state (lateral position, lateral velocity, heading, etc.) and roadway alignment (lane width, road curvature, etc.)

• LDWS warn the driver of a lane departure when the vehicle is travelling above a certain speed and the vehicle's turn signal is not activated

• In addition, LDWS notify the driver when lane markings are inadequate for detection, or if the system malfunctions.

• These systems should become obligatory for selected vehicle types

http://www.saabsunited.com/2010/04/saab-9-5-preliminary-information-lane-departure-warning-system.html http://www.trendbird.co.kr/2548



Electronic Brake Assist System

• aid in emergency braking situations when the driver wants the vehicle to stop as quickly as possible

• most drivers apply the brake fast, but not with the maximum pressure,

• when the brake assist recognizes the fast and hard braking by the driver classified as typical 'emergency braking' and activates the maximum braking power immediately

• even moderate pedal force leads to maximum deceleration

• There are plans that these systems should be obligatory in the EU



Driver Drowsiness Monitoring and Warning

• Possibilities of detection the driver's drowsiness in several ways – tracking the driver's facial features

– movements of hands and feet

– analysing eye-closures and head pose

– changes in heartbeat

• This information – or the combination of several factors – is continuously analysed and the driver is alerted if drowsiness or distraction is detected

Source: http://wn.com/Driver_Drowsiness_Detection_System http://www.richardbanks.com/trends/?m=200610



Driver Intoxication Detection

• Detection of influence of alcohol or drugs

• Based on breath test – so called e.g. interlock

breathalyzer

• In case intoxication detected, the engine does not

start

• Necessary every time when starting the vehicle

• No guarantee that it is the driver, who is

examined

http://www.thetruthaboutcars.com/2009/07/mandatory-ignition-interlock-law-in-the-offing/



Traffic Control Centres information - Local Danger Warning

• Local danger warnings are used to increase the safety and traffic flow in cases of disturbance caused for example by accidents, congestion and adverse weather.

• The systems are operated automatically, semi-automatically or manually from traffic control centres based on fixed monitoring systems or mobile sensors (FCD etc.) on location.

• The systems employ Variable Message Signs or VMS to give the information to the drivers.



Future systems



Fuel Economy Enhancements Based on Situational

Awareness

• algorithms that enhance fuel economy by

assisting the driver

• Necessary - without compromising safety or

perceived control

• It is the goal of the research to quantify the fuel

economy benefits from traffic conditions,

intersections, grades and driver habit awareness

• Optimization of fuel composition



Sensor Fusion for Vehicle Detection and Classification

• Recognizing the difference between static obstacles such as highway barriers and dynamic obstacles such as other vehicles would be useful for on-road driving safety including estimating its position and velocity.

• more important than simply detecting a vehicle

• developing algorithms to identify, classify and track multiple targets (in this case, street-legal vehicles)

• implementing high- and low-level sensor fusion techniques on information provided by both passive (such as cameras) and active (such as LIDAR, radar) sensors

http://www.engadget.com/2006/10/16/siemens-vdo-showcases-electronic-sign-recognition/



Wireless Local Danger Warning – cooperative systems

• communication-based system that extends the driver's horizon and intelligently warns the driver of dangerous situations ahead

• Wireless local danger warning covers: – The detection of and warning about obstacles on the

road, and warning if one's own car is an obstacle for others

– Alerts to the presence of emergency vehicles or slow vehicles

– The Detection of reduced friction or reduced visibility through bad weather

– Electronic beacon alerts to danger spots such as construction zones



Pedestrian/ Vulnerable Road User Protection

• help prevent collisions and protect vulnerable road users such as pedestrians and cyclists

• The sensor systems (often a combination of several sensor types) monitor the area in front of the vehicle, reliably detect vulnerable road users and distinguish them from other obstacles

• The system uses different actuators, such as autonomous braking/brake assist which help avoid collisions or significantly mitigate their impact

• If a collision cannot be avoided, protective structural actuators can be triggered (e.g. airbags in the bumper, lifting the hood of the car etc.) which reduce the chance of serious injuries or even save the lives of vulnerable road users.

http://www.autointhenews.com/heres-to-the-year-2020-the-future-of-automotive-technology/

http://www.autointhenews.com/wp-content/uploads/2010/04/Stopping-for-Pedestrians-image.jpg



Anti-collision systems – without driver‘s assistence

• Question – to determin the treshold of vehicle‘s control - the point at which the vehicle takes over control from the driver is not well defined

• This decision is based on numerous factors both inside and outside the vehicle.

• Developing the ability to dynamically detect vehicle control thresholds during — or preceding — activation of active safety systems and warnings allows the vehicle to respond appropriately and at the right time.

• If time to impact les than 0,5 s, driver cannot manage the situation

• System takes over and tries to prevent

• Legal aspects – driver is still responsible (in that time he could not do anything)

http://www.trendbird.co.kr/2548

http://www.trendbird.co.kr/attach/1/1397951049.jpg



Enhanced Safety for Inevitable Crashes

• In case accident is inevitable

• To lower the casualties

• Rotating a vehicle just before an accident

• i.e. instead of a T-Bone collision, the vehicle will

rotate to create a rear-ending

http://www.dddilaw.com/library/side-impact-crash-tbone-accident-in-new-york-car-crash-lawyer.cfm http://conroetxlaw.com/AreasOfInterest.htm



Plans

• Second generation of the cooperative systems

• Integration of the pre-crash systems with

cooperative systems

• Level of organization of the traffic flow increases

– Optimizing of distances between vehicles

– With collision coming drivers are set aside

– Automation systems communicate and coordinate its

activity



Robotic systems

• Both tactic and operational part of driving are up

to the systems

• Driver only as contracting authority – set the goal,

destination, has the supervision and solves the

unexpected situations

• Coming in dozen? years

(DARPA Urban Challenge 2007

– http://www.youtube.com/watch?v=lULl63ERek0

– http://www.youtube.com/watch?v=BSS0MZvoltw)



Thank you for your attention



References

• http://www.swri.com/3pubs/brochure/d10/AVSA/h

ome.htm

• http://ec.europa.eu/information_society/activities/i

ntelligentcar/technologies/index_en.htm

• http://www.autointhenews.com/heres-to-the-year-

2020-the-future-of-automotive-technology/

8 Vehicle Systems

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