Removing Roadblocks to Intelligent Vehicles & Driverless Cars
HAVEit Highly Automated Vehicles for Intelligent Transport · 2011-07-31 · Highly Automated...
Transcript of HAVEit Highly Automated Vehicles for Intelligent Transport · 2011-07-31 · Highly Automated...
HAVEit
Highly Automated Vehicles
for Intelligent Transport
Holger ZengProject Manager
CONTINENTAL AUTOMOTIVE
2Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – General Information
Project full title: Highly Automated Vehicles for Intelligent Transport
Project coordinator: Dr. Reiner Hoeger, Continental Automotive GmbH
Integrated project: ICT 2007.6.1, project no. 212154
Start: 01 February 2008
End: 31 July 2011
Budget / funding: 28 M€ / 17 M€
Consortium
18 Partners plus
5 Third Parties:
3Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Motivation and Background
Motivation: Improvement of safety and environmental friendliness
Approach
highly automated vehicle applications supporting the driver in
overload and underload situations
Background
Driver strengths: take responsibility, draw conclusions,
monitor systems
Driver weakness: tendency to get distracted and inattentive in
long-lasting monotonous driving situations
Automation strength: attentiveness independent of trip duration
4Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Proposed Solution
Less accidents
Less traffic jams by steady flow, no disturbance injection
Improved energy efficiency
Automation and cooperative technologies go hand in hand
Automation spectrum
Automated Driving is a „multiple use“ technology
5Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Technical Objectives
Technical objectives – Research Needs
Provide technologies for situation awareness
(driving scene, vehicle state, driver state)
Develop effective and efficient algorithms to define maneuvers and trajectories
Decide on the optimum automation level (task repartition driver – automation)
Develop suitable HMI concept
Elaborate safe vehicle architecture
Show new capabilities and functions in seven
demonstrator vehicles
(passenger cars, trucks and bus)
Integration and opti-
misation progressing
according to plan.
6Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Common HAVEit Architecture
Driver
monitoring
Driver
interface
components
Command layer
Execution layer
DriverEnvironment sensors Vehicle sensors
Sensor data fusion
Driver state
assessment
HMI
Mode selection unit
Co-Pilot
Drivetrain control
Steering Brakes Gearbox
motion control vector
Command generation and validation
join
t sys
tem
Engine
Perception layer
automation level
maneuver
trajectory
for real-time scene
recognition
to define maneu-
ver, trajectory and
automation level
and to generate
the safe motion
control vector
to perform the
safe motion
control vector
to assess the
driver state and
to integrate the
driver in the auto-
mation loop
7Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Joint System: Driver – Co-System
Co-pilot
º Performs motion planning
accounting a current situation
º Generates optimal trajectories
that fit with the objectives:
- Collision free trajectories
- Lane departure supervision
º Optimal trajectories in terms of
e.g. trajectory lengths, fuel
consumption, safety margins
º Two level computation
- Strategy level for maneuvers
selection (coarse level)
- Planning level: trajectory
planning and risk assess-
ment (fine level)
Maneuver grid
8Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Joint System: Driver – Co-System
Mode Selection and Arbitration
Unit (MSU)
º Situation dependent selection of
the automation level
Driver State Assessment (DSA)
º Driver’s activity and driving perfor-
mance correlate with increasing
drowsiness level and distraction
º Fusion of direct (camera based)
and indirect (driver activity based)
attentiveness and drowsiness
information (fusion is based on
state and confidence parameters)
º Verification via simulator studies
Information → Warning → Take over request
9Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Highly automated vehicle applications
Safety and functional architecture applications
Joint system Brake-by-wire Architecture migration
demonstrator truck demonstrator
10Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Highly automated functions for use on public roads
Automated assistance in
roadworks and congestion
Temporary auto-pilot
Automated queue
assistance
Active green driving
11Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Automated assistance in roadworks
and congestion
º Inquiry of the German expert organization
DEKRA among 1700 drivers about roadworks
46% feel here frequently uncertain
one out of six drivers (17%) feels sometimes „real fear“
usually 42% even avoid the left lane
º Challenging environment
multiple/missing lane marks
other vehicles
construction barriers
narrow space
Driver needs assistance but today's
assistance systems can’t provide
sufficient confidence to support him
12Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Automated assistance
in roadworks and congestion
º Sensor system to
observe environment
13Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Main Outcomes
Automated assistance in roadworks and congestion (ARC)
Example scenario: 1st system functionality
14Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Milestones
Feb 2008 Jan 2009 Apr 2009 Jan 2010 Oct 2010 Jul 2011
Kick-off
meeting
M1
Requirement
and specification
phase completed
M2
Concept
phase
completed
M3
Generic
development
completed
M4
Vehicle integration
completed, first
system operation
M5
Optimised
demonstration
vehicles
Milestone status in progress
according
to plan
Milestones plan
15Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Next steps
Remaining technical challenges for all HAVEit applications
º Implement further use cases and scenarios
º System optimisation
Perception layer: Sensors and data fusion
Command layer: Joint system driver – co-system including
mode selection and transitions
Execution layer: Control of vehicle actuators
HMI: Further harmonisation of HAVEit HMI
º Push (pre-)homologation activities
Pre-homologation of brake-by-wire system (e.g. for trucks)
Preparation of dissemination measures, in particular Final Event
16Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
HAVEit – Final Event
Don’t miss our final event
and save the date
Date: 21.6. and 22.6.2011 at
First Grand Hotel, Borås and
Volvo Proving Ground, Hällered,
Sweden
Interested to attend the event and
“feel” highly automated driving?
Please send an email with your
contact details to:
We are looking forward to
welcoming you to our final
event!
17Vejforum 2010, 09 December 2010, Nyborg, Denmark – HAVEit
Vejforum 2010, 09 December 2010
Nyborg, Denmark
Thank you for your attention
More information:
http://www.HAVEit-eu.org