Bitte decken Sie die schraffierte Fläche mit einem Bild ab.

Please cover the shaded area with a picture.

(24,4 x 18,0 cm)

Bitte decken Sie die schraffierte Fläche mit einem Bild ab.

Please cover the shaded area with a picture.

(24,4 x 18,0 cm)

From Advanced Driver Assistance Systems toward Automated vehicle

Serge Boverie

www.conti-engineering.com

Continental Engineering Services

Excellence always succeeds

Continental – 150 Years of Progress and Achievement

Merger with major companies of the German rubber industry to form Continental Gummi-WerkeAG.

Acquisition of a US company’s Automotive Brake & Chassis unit, the core of which is Alfred TevesGmbH in Frankfurt.

Continental-Caoutchouc- andGutta-Percha Compagnie is founded in Hanover, Germany.

Continental strengthens its position in the ASEAN region and Australia by establishing its Continental Sime Tyrejoint venture.

Takeover of the European tire operations of Uniroyal, Inc., USAthe tire operations of the Austrian company Semperitthe North American tire manufacturer General Tire

Continental reinforces its activities by acquiring Temic, the international electronics specialist.

Creation of ADAS Bu

Continental expands its activities in telematics, among other fields, with the acquisition of the automotive electronics business from Motorola.

Through the acquisition of Phoenix ContiTech becomes the world’s largest specialist for rubber and plastics technology outside the tire industry.

1871

1929

1979

1985

1987 1998

2001

2003 2004

20062007

Continental acquires a majority interest in the Slovak company Continental Matador Rubber s.r.o. and expands its position for the Tires and ContiTech divisions in central and eastern Europe.

2012

Continental acquires Siemens VDO Automotive AG and advances to among the top five suppliers in the automotive industry worldwide, at the same time boosting its market position in Europe, North America and Asia.

› Automation in passenger cars is constantly increasing.

› Many automated functions have already been developed for enhancing safety and efficiency of driving.

› Simulation studies and field operational tests indicate that current advanced driver assistance systems (ADAS), such as adaptive cruise control (ACC), have already positive effects, both on traffic flow efficiency and traffic safety .

› OEMs and suppliers predict automated vehicles on highways by 2020.

› Fully and highly automated driving comprising also rural roads and inner-city situations will follow within the next decades.

13.10.20173

Impact of ADAS and automated vehiclesnot only focused on “Safe Mobility”

� SAFE Mobility“70% of all serious accidents could potentially be avoided by driver assistance systems”

Source: BAST Germany

e.g. Management of unnecessary acceleration and hard braking in response to sudden changes of traffic signals (traffic Light detection, Car ro X communication…)

e.g. predicting road profile (magic carpet)Substituting driver in some tasks (head lamp control)

e.g. Elderly drivers (project SAFE MOVE)

� Clean Power

� Comfort

� Mobility

“everything somewhere”,

› provides full autonomous support to the driver (“everything”),

› can be achieved only after a complete perception, comprehension and understanding of the environment

› possible only in specific conditions and situations (somewhere)

“something everywhere”,

› Provides a certain level of automation for every situation,

› this level is different, depending on the specific scenario.

Vehicle automation concepts

13.10.20175

Automation levels definition

13.10.20176

Level 0No

automation

Level 1Assisted

Level 2Partial

Automation

Level 3ConditionalAutomation

Level 4High

Automation

Level 5Full

Automation

Driver must monitor the

system at all the time

Driver Doesn’t have to

monitor the system at all the

time but must be in situation

to resume control

Driver is not required during

defined cases

Automated Vehicle road map

10/13/20178

Time Line 2015 2020 2025 2030 2030 +2010

Blind Spot monitoring

Intersection pilot

Intelligent Speed

Adaptation

Lane Keeping Assist (LKA)

Lane departure warning

Autonomous Emrgency Braking

Emergency Driver Assistant

3D Cloud Based navigation

Vehicle to Vehicle, Vehicle to Device and vehicle t o Infrastructure Communication

Cruise ControlAdaptive Cruise Control

Traffic Jam Assist

Highway Autopilot

Park assist (steering only) Valet Park Assist

Autonomy

Connectivity

Safety

Level 4 Highlyautomated car

Certain drivingsituations e.g.remote parkingand urbanautomateddriving

Level 5 Fully Automated car

Full end to end journey

Level 1 assisted cars

Level 2Partially

automated car

Level 3 Conditionally automated car

ADAS is the safety backbone for HAD

13 October 201710Author, © Continental AG

HAD

ADAS

Enable Fall-Back

ADAS Application

Time

Optimized normal driving DangerDuringaccident

Beforeaccident

Afteraccident

Accidentprevention

PrecrashAction

In Crash post crash actions

Emergency alerts

Somehundred of

ms

someSecondes

minuteSomeminutes

information

100%

Ene

rgy

effic

ienc

y

On-board ADAS functions

V2V

V2I

V2I

Impact domain

Strategic Tactic Operational

Emergency management

Accid

en

t pro

ba

biliy

Active safety Passive Safety

Sensor technologies

Technologies for ADAS and AD can be based upon systems local to the car, i.e. “vehicle resident systems”

Active or passive technologies (Camera, Radar, Lidar etc)

or

on smart, interconnected networks as in the case of vehicle-to-vehicle

(V2V), or vehicle-to-infrastructure (V2I) systems, jointly known as V2X

systems.

13

ADAS Functions

16

Lane Departure Warning – Lane Keeping Assist

� First lane departure warning, lane markers

� Lane-keeping road barrier detection using stereo camera

� Lane-keeping – any border

Applications

LDW assists the driver for vehicle lateral control

Key Features

�Single line tracking

�Detect and track multiple markers (up to 7)

�Lane estimation up to 90m

�Lane marker height check (road works)

�Exit detection (also used for no-navi TSA)

�Classification of multiple marker types

�Lateral Position,

�Lane Curvature, Lane Width, Marker Width, Marker

Type, marker colors, Relative Yaw

› Driver information and warning

› Automatic speed regulation

› Fusion with Navigation possible

Traffic Sign Assist (TSA)

13 October 201718Author, © Continental AG

In the sign post forests of today it’s not always easy to stay on top of things.The Traffic Sign Assist (TSA) features automatic recognition functions through a link between images captured by a camera and the speed limit information stored in the navigation system.

Application

Traffic Light Detection

19

Traffic light recognition intends at localizing, detecting and classifying traffic light and warn the driver about potential violations. Identification of the color (red, yellow, red_yellow, green), the light mode (continuous, blinking) and the shape (circular, arrow left/right…) of the detected traffic lights

Applications Key features

� Warn the driver of potential missed traffic signals

� Start/stop assist

� Emergency Braking

� detection distance up to 80m

� speed up to 80kph

Benefits

› Comfortable, stress-free driving with the flow of traffic

› Greater safety due to defined distance and warning if emergency braking is needed

ADAS FunctionAdaptive Cruise Control + Stop&Go (ACC+S&G)

13 October 201720Author, © Continental AG

This system controls the distance to the traffic in front, even if it’s only stop-and-go. It makes things a whole lot easier for the driver, particularly in congested traffic and tailback situations.

EU NCAP: City – Urban – PedestrianEmergency Brake Assist (EBA)

October 13, 201721Author, © Continental AG

Emergency Brake Assist detects critical traffic situations and ensures optimum braking.If rear-end collision is imminent, the driver is alerted and the braking system is put on emergency standby or even sometimes applies a slight pre-brake to save valuable stopping distance.

�MFCXXX stereo camera or Radar+ camera or SRL cam

�Different processes on the information delivered by the sensors

� Optical flow, Classification

� Object clustering, Object tracking

Key features

Applications

EBA City (2014)EBA Urban (2014) EBA Pedestrian (2016)

� Enhanced driving safety thanks to active braking support

� Reduction of impact speed and impact energy

� Possible interfaces for pre-crash applications, restraint systems or pedestrian protection

Emergency Brake Assist (EBA)Pedestrian Protection with stereoscopic vision

RectificationRectification

Disparityestimation

Optical Flow

ObjectClustering

(FOD)Autocalibration

(online)

Calib L Calib R

Image L Image R

Rect. Image R

2D flow map Disparity map

Object list

Calibration(offline)

ObjectTracking(POD)

Pedestrianclassification

Tracked Object

Rect. Image L

ADAS functions Automated parking

Application

�Surround view image with variable perspectives

�Camera-based environment perception

�Occupancy grid

�Parking space borders (lines, curbs)

�Remote Parking via Smartphone

Automated Parking System with Surround View for more Safety and Comfort

�4 Megapixel 185°-Fisheye Cameras

�Camera-based detection of parking spaces

� Automated longitudinal and lateral control

� Electrical brake control

� Electromechanical steering

� Spaces are displayed on a touchscreen

� Selection of parking space by driver

� Automated parking and maneuvering

24

Vehicle automation – New challenges

Vehicle Automation raises new problems of cooperation between vehicle and driver � Task sharing, Degree of freedom

� Authority, level of automation

� Trust, comprehension and conscience of activated modes

� Management of transition phases (systems hands over command to driver and vice versa)

� Situation awareness

� Workload Achieve reliable and robust models and

monitoring of the driver

Humans will remain part of the system for a long time

25

Why monitoring the driver?

� Road accident main factors: On the contrary to pilots, drivers are responsible of many of the on road accidents.

� Driver’s impairment: It is a critical issue and drivers are not aware of the occurrence of critical phases.

� Advanced driver Assistance: Should be adapted to the driver condition, behavior and environment.

� Driver's availability and ability: When active Driver assistance (lane keeping,…) handovers, drivers’ availability and ability to drive is critical; ADAS can result in driver under load situations.

� Driver's mobility: is a critical issue especially for elderly and disabled drivers but also for Driver with health constraints.

26

Overview of Driver monitoring functions and models

Attention & Distraction

Visual attentionDriving style

Drowsiness classification

Fatigue,Sleepiness& Alertness

Intention

Peripheral distraction

EmotionWorkload

DrivingBehavior

Driving performance

Driver health

Driver awareness

Two Measurement concepts

27

Measurement concepts

i. From in-vehicle sensors and communicationbusesDriving activity :Steering wheel, Pedals, Gearsnon driving activities: phone, radio, navigation,…

ii. From assistance functions camera and radarsensorsHead way, Lateral position,

iii. From vision sensors: Drivermovements/postures/activity

Direct measures

i. From camera sensors looking at driver face

ii. From biomedical sensors: Physiological information, Electro encephalogram, heart rate, etc

Indirect measures

28

Driver MonitoringExample of use case

Features

► Eye Gaze

► Head Pose

► Eye Lid opening

► On-board & ADAS data

► …

Dynamic adaption of driver assistance and the HMI to the driver state

New Warnings

Suppression of annoying warnings

Higher end user acceptance

Adaptive assistance

► Fatigue & Drowsiness

► Inattention & Distraction

► Awareness

► Driving performance

► Driving style

► ….

Main Trigger

Driver behavior

Criticality vs. Driver actions

AdequacyAppropriate?

HMI

Driver wishesLevel of assistance

Driving situation

Driver monitoring & models

Driver statemonitoring

29

Market share for Autonomous Cars

Last Page