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DAS(Driver Assistant System)ASV(Active Safety Vehicle) 1


Table of Contents

Longitudinal Safety Systems

• ACC (Adaptive Cruise Control) System

• PCS (Pre-Crash Safety) System

• Forward Collision Warning/Avoidance

Lateral Safety Systems

• LDWS (Lane Departure Warning System)

• LKA (Lane Keeping Assist) System

• BSD (Blind Spot Detection) System


ACC: Adaptive Cruise Control

CCC: Conventional Cruise Control

Cruise control (sometimes known as speed control or autocruise) is a system that automatically controls the speed of a motor vehicle. The system takes over the throttle of the car to maintain a steady speed as set by the driver.

Cruise control mounted on a 2000 Jeep Grand Cherokee Steering Wheel

http://en.wikipedia.org/wiki/Cruise_control

In modern designs, the cruise control may need to be turned on before use — in some designs it is always "on" but not always enabled, others have a separate "on/off" switch, while still others just have an "on" switch that must be pressed after the vehicle has been started. Most designs have buttons for "set", "resume", "accelerate", and "coast" functions. Some also have a "cancel" button. Alternatively, depressing the brake or clutch pedal will disable the system so the driver can change the speed without resistance from the system.



ACC: Adaptive Cruise Control, Autonomous Cruise Control

Autonomous cruise control is an optional cruise control system appearing on some more upscale vehicles. The system goes under many different trade names according to the manufacturer. These systems use either a radar or laser setup allowing the vehicle to slow when approaching another vehicle and accelerate again to the preset speed when traffic allows.

http://en.wikipedia.org/wiki/Autonomous_cruise_control_system

Schematic of Intelligent Cruise Control. The red car automatically follows the blue car.


CACC: Cooperative Adaptive Cruise Control

Fanping Bu, Ching-Yao Chan, “9. Adaptive and Cooperative Cruise Control,” Handbook of Intelligent Vehicles, Springer-verlag London Ltd. 2012.


• The ACC system senses the range (i.e., relative distance) and range rate (i.e., relative speed) to the preceding vehicle with a range sensor (i.e. radar or LIDAR).

• As an extension to ACC systems, a cooperative adaptive cruise control (CACC) system further incorporates vehicle-to-vehicle and vehicle-to-infrastructure communication to make use of rich preview information about the surrounding vehicles and environments.


Operation Modes



• The driver can take over longitudinal control by either turning off the ACC system or using brake/throttle pedal to override the ACC system commands.


ACC 시스템 구성




ACC 제어기 구성



• A hierarchical control system structure which consists of an inner loop (“servo loop”) and an outer loop controller is usually adopted.

• The outer loop controller, also called the high-level controllers, synthesizes a desired speed vd or acceleration command ad. The inner loop controller or the low-level controller will generate corresponding throttle or brake commands so that the vehicle will follow the desired speed or acceleration profile generated by the high-level controller.



Vehicles supporting adaptive cruise control

http://en.wikipedia.org/wiki/Adaptive_cruise_control



Speed selection

Distance selection

밀리파 레이더 나 레이저 레이더



Stop & Go <30km/h

Collision Warning

Adaptive Cruise Control ACChttp://youtu.be/alS6EqpqT0E


Stop & Go 제한 이유

• 교차로에서 앞차 우회전 하는 상황

• 저속 대응 시 차륜속 센서 사양 변화



PCS (Pre-Crash Safety) System

A precrash system is an automobile safety system designed to reduce the severity of an accident. Also known as forward collision warning systems they use radar and sometimes laser sensors to detect an imminent crash. Depending on the system they may warn the driver, precharge the brakes, inflate seats for extra support, move the passenger seat, position head rests to avoid whip lash, tension seat belts and automatically apply partial or full braking to minimize impact. In 2009 the NHTSA began studying whether to make frontal collision warning systems and lane departure warning systems mandatory.

http://en.wikipedia.org/wiki/Precrash_system



http://en.wikipedia.org/wiki/Precrash_system

Precrash systems are currently available on the following vehicles:

Acura RL, Acura MDX, Acura ZDX ("Collision Mitigation Braking System")Audi A8, A7 Pre-SenseBMW (Newer Models)Ford Taurus ("Collision Warning with Brake Support")Honda FCX Clarity, Legend ("Collision Mitigation Braking System")Infiniti QX56, M, GLexus LS, IS, ES, GS, RX, LXLincoln MKT, MKS ("Collision Warning with Brake Support")Mercedes-Benz S-Class and E-class ('Pre-Safe with Brake Support')Toyota Harrier, Toyota Prius, Toyota AvensisVolkswagen Touareg Front AssistVolvo S80, XC70, S60 and XC60 ("Collision Warning with Brake Assist")



• Radar• Audible warning + BAS(Brake Assist System) + Seat belt tensioner

2010 Land Cruiser LC150 - PreCrash Safety systemhttp://www.youtube.com/watch?v=tjYAng48o2s


• Radar

• Vehicle Motion Sensors

ABS BAS ESP



Mercedes-Benz PRE-SAFE® Brakehttp://www.youtube.com/watch?v=6nNf1ceiJZc

ESP



Mercedes Benz Pre-Safe, S-Class.http://www.youtube.com/watch?v=fMqEf4NwsKg



• Audible and visible warning• Full automatic braking• BSD + Collision Warning + Collision Avoidance

Volvo Collision Avoidancehttp://www.youtube.com/watch?v=SQh5Fp2wJyE

Collision Warning and Avoidance


City Safety: Low-Speed Collision Avoidance

Volvo XC60: City Safety Demonstrationhttp://youtu.be/8DBf8GBVmME

InfraRed laser sensor


• Mercedes-Benz, Distronic Plus• Precrash warning + Full-range ACC

Distronic Plus - 2010 Mercedes-Benz E-Class Safety Featureshttp://www.youtube.com/watch?v=T8NyctsNuIU

Full Range ACC

Maximum braking in emergency


AEB

http://www.euroncap.com/rewards/technologies/brake.aspx

• EURO NCAP에서는 (Pre-) Crash System과 AEB를 구분

• (Pre-) Crash System: Manufacturers take care to ensure that their safety systems are effective for occupants of different sizes and for those sitting in different positions. However, the very best levels of protection can be achieved when the interaction between occupant and restraint systems is optimised. Several manufacturers have developed systems designed to allow a vehicle's protection systems to operate most effectively during an impact.

• Car manufacturers are now developing systems which can alert the driver to an imminent crash and can help him use the maximum braking capacity of the car, and which can also apply the brakes independently of the driver if the situation becomes critical. Such intervention is known as Autonomous Emergency Braking (AEB).


AEB

http://www.euroncap.com/results/aeb.aspx


AEB


• Euro NCAP defines city systems as those which can avoid an impact by autonomous braking at speeds up to 20km/h where 80% of all whiplash injuries occur.

• Low-speed AEB systems use sensors to monitor the road ahead, typically 6-8m.

• If there is an object in front of the car which presents a risk, the AEB system will, typically, pre-charge the brakes so that the car will provide its most efficient braking response, should the driver react. If the driver does not respond, the car will automatically apply the brakes to avoid, or in some cases to mitigate, the accident.


AEB


• Systems fall into this category if they do more than simply warn the driver and operate over the speed range 50-80km/h.

• Inter-Urban AEB systems use long-range radars to ‘look’ further ahead of the vehicle (typically 200m).

• a warning signal is given to the driver to try to alert him to the danger. If the driver does not respond, a second warning may be given (for example a brake jerk or seatbelt tug) and the brakes will be pre-armed for maximum braking. Again, if there is no reaction from the driver, the system will itself apply heavy braking. Some systems also prepare the restraint systems for optimum performance in the impact, for example by pre-tensioning the seatbelts.


AEB


• Instead of detecting other vehicles, some systems are designed to detect pedestrians and other vulnerable road users. Images from a forward-looking camera are analysed to identify shapes and characteristics typical of humans. The way in which they are moving relative to the path of the vehicle is calculated to determine whether or not they are in danger of being struck. If so, the AEB system applies full braking to bring the car to a halt and, at the same time, it may issue a warning to the driver.


LDWS: Lane Departure Warning System

In road-transport terminology, a lane departure warning system is a mechanism designed to warn a driver when the vehicle begins to move out of its lane (unless a turn signal is on in that direction) on freeways and arterial roads. These systems are designed to minimize accidents by addressing the main causes of collisions: driving error, distraction and drowsiness.

In 2009 the NHTSA began studying whether to mandate lane departure warning systems and frontal collision warning systems on automobiles.

http://en.wikipedia.org/wiki/Lane_departure_warning_system


LDWS: Lane Departure Warning System

Volvo - Lane Departure Warninghttp://youtu.be/zGBvv1wmOkM

Camera-based lane detection Audible warning


LKA: Lane Keep(ing) Assist

Lane Keeping Assist offers two functions:

Lane Departure Warning: If the possibility of inadvertent lane departure is detected, the system provides an audio-visual warning and applies a brief corrective steering force.

Lane Keep: This can provide additional steering torque to help the driver apply the appropriate steering input to keep the vehicle within the lane.

http://www.lexus.eu/range/Ls/key-features/safety/safety-lane-keeping-assist.aspx


2010 Prius Lane Keep Assisthttp://youtu.be/1bqnojpUDIg

일반적으로 ACC가 ON될 때만 LKA 작동4가지 구성요소

LKA: Lane Keep(ing) Assist


Combined System: LKAS/ACC/CMBS

Honda Accord with LKAS / ACC / CMBS - Explanation of Systemshttp://youtu.be/Mde5U2RqfD8


BSD: Blind Spot Detection (Blind Spot Monitoring)

A blind spot monitor is a vehicle-based sensor device that detects other vehicles located to the driver’s side and rear. Warnings can be visual or audible. Increased warnings indicate potentially hazardous lane changes.

Volvo was the first to introduce blind spot monitors to production automobiles, their Blind Spot Information System (BLIS) used a camera to visually detect vehicles. Some newer and more costly systems use side radar offering better performance and also warn of fast approaching vehicles entering the blind spot.

http://en.wikipedia.org/wiki/Blind_spot_detection



Valeo - Blind Spot Detectionhttp://youtu.be/DtmyjAN7KAY

Radar-based sensing

Audible, visible warning



Volvo's Blind Spot Information Systemhttp://youtu.be/mpkRHnaJ1aY

Camera-based sensing Warning light

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