Development and Demonstration of a Cost Effective In...
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11/5/2018 1 Department of Electrical Engineering 1 Development and Demonstration of a Cost Effective In-Vehicle Lane Departure and Advance Curve Speed Warning System Imran Hayee EE Department, University of Minnesota Duluth October 23, 2018 Department of Electrical Engineering Outline 2 • Background • Project Overview and Goals • Development Status • Field Tests and Results • Summary and Next Steps • Questions/Discussion
Transcript of Development and Demonstration of a Cost Effective In...
11/5/2018
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Department of Electrical Engineering 1
Development and Demonstration of a Cost
Effective In-Vehicle Lane Departure and
Advance Curve Speed Warning System
Imran Hayee
EE Department, University of Minnesota Duluth
October 23, 2018
Department of Electrical Engineering
Outline
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• Background• Project Overview and Goals• Development Status• Field Tests and Results• Summary and Next Steps• Questions/Discussion
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Problem:• Horizontal curves crash rate is three times higher than
that of the tangent road sections• Half of the fatal accidents occur on curved roads
Existing Solutions:• Lane departure warning systems (rumble strip,
video/sensor/GPS based solutions)• Advance curve speed warning systems (warning signs,
rumble strip )
Problems with Existing Solutions:• Expensive (implemented on high end vehicles)• Performance (severe weather, clear road marking signs)
Background
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Department of Electrical Engineering
Proposed Project Overview
On-Board Unit
GPS Receiver
GPS Antenna
Warning Signal
Features:• Cost Effective (not uses video, differential GPS or high resolution maps)• Performance (weather proof, will not rely on road markings)• Easily Implementable (as a smartphone app or as a feature in navigational devices)
Direction Reference
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Goal 1: Lane Departure Warning
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Lane departure detection and warning algorithm
Department of Electrical Engineering
Goal 2: Advance Curve Speed Warning
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Start of the curve
Distance from the
start of the curve
Advance curve speed warning algorithm
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Implementation Plan
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On-Board Unit
GPS Receiver
GPS Antenna
Warning Signal
Updates position periodically
• Receives position information from GPS Receiver• Accesses road curvature information from a mapping database• Detect lane departure and issue warning signal
Generates audible warning
Direction Reference
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Path Average Heading
Shape Point
Spurious Shape Point
Path Average Heading
Reference Angle From Mapping Database
Valid Shape Point
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-60
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Ref
he
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g (d
eg)
Distance (m)
h1
hn
h1
hn
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An Example of Reference Angle
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A Freeway Example
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PnPn-1
Pn-3n
1n2n
Pn-2
ref
Constant Yaw and Steering Angle
)( nnSinD
Accumulative
Lateral Distance
Dn Lateral Distance =
Pn
Pn-1
Pn-3 n1n
2n
Pn-2
refn headingveh _
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Distance
Acc
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tive
Lat
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Dis
tance
Threshold
Threshold
Lane Departure Detection Algorithm
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Lane Width=3.6m
CW=1.6m
1 m
1 m
Max Deviation = 1 m (Normal Driving)
Lateral Distance Threshold
-1.5
-1
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Late
ral D
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nce
(m
)
Distance (m)
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Safe Distance
Starting point of
curve
L
HE
AD
ING
DISTANCE
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Advanced Curve Detection Algorithm
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Field Tests
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Field Tests on Rice Lake Rd.
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Field Tests on I-35
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V2V Communication
First time traveling vehicle on this road
Frequently traveling vehicle on this road
Next Steps: Reference Angle via Past Trajectory and/or V2V Communication
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Summary
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On-Board Unit
GPS Receiver
GPS Antenna
Warning Signal
OR
Proof of Concept Demo
Concept
Product Development
• Algorithm design• Software development
• Patent/licensing• App development
Department of Electrical Engineering
-3.5
-2.5
-1.5
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Acc
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tive
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ista
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(m
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Distance (m)
A Sample Result: Rice Lake Rd
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-3.5
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Acc
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ista
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(m
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Distance (m)
False Alarm
A Sample Result: I-35 Interstate
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