DAS(Driver Assistant System) ASV(Active Safety Vehicle) 1
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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
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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.
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 Cruise control mounted on a speed without resistance from the system. 2000 Jeep Grand Cherokee Steering Wheel
http://en.wikipedia.org/wiki/Cruise_control
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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.
Schematic of Intelligent Cruise Control. The red car automatically follows the blue car.
http://en.wikipedia.org/wiki/Autonomous_cruise_control_system
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CACC: Cooperative Adaptive Cruise Control
• 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.
Fanping Bu, Ching-Yao Chan, “9. Adaptive and Cooperative Cruise Control,” Handbook of Intelligent Vehicles, Springer- verlag London Ltd. 2012.
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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.
Fanping Bu, Ching-Yao Chan, “9. Adaptive and Cooperative Cruise Control,” Handbook of Intelligent Vehicles, Springer- verlag London Ltd. 2012.
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ACC 시스템 구성
Fanping Bu, Ching-Yao Chan, “9. Adaptive and Cooperative Cruise Control,” Handbook of Intelligent Vehicles, Springer- verlag London Ltd. 2012.
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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. Fanping Bu, Ching-Yao Chan, “9. Adaptive and Cooperative Cruise Control,” Handbook of Intelligent Vehicles, Springer- verlag London Ltd. 2012.
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Vehicles supporting adaptive cruise control
http://en.wikipedia.org/wiki/Adaptive_cruise_control
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Speed selection
밀리파 레이더 나 레이저 레이더 Distance selection
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Stop & Go Collision Warning <30km/h Adaptive Cruise Control ACC http://youtu.be/alS6EqpqT0E
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Stop & Go 제한 이유
• 교차로에서 앞차 우회전 하는 상황 • 저속 대응 시 차륜속 센서 사양 변화
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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
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Precrash systems are currently available on the following vehicles:
Acura RL, Acura MDX, Acura ZDX ("Collision Mitigation Braking System") Audi A8, A7 Pre-Sense BMW (Newer Models) Ford Taurus ("Collision Warning with Brake Support") Honda FCX Clarity, Legend ("Collision Mitigation Braking System") Infiniti QX56, M, G Lexus LS, IS, ES, GS, RX, LX Lincoln MKT, MKS ("Collision Warning with Brake Support") Mercedes-Benz S-Class and E-class ('Pre-Safe with Brake Support') Toyota Harrier, Toyota Prius, Toyota Avensis Volkswagen Touareg Front Assist Volvo S80, XC70, S60 and XC60 ("Collision Warning with Brake Assist")
http://en.wikipedia.org/wiki/Precrash_system
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• Radar • Audible warning + BAS(Brake Assist System) + Seat belt tensioner
2010 Land Cruiser LC150 - PreCrash Safety system http://www.youtube.com/watch?v=tjYAng48o2s
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• Radar
• Vehicle Motion Sensors
ABS BAS ESP
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ESP
Mercedes-Benz PRE-SAFE® Brake http://www.youtube.com/watch?v=6nNf1ceiJZc
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Mercedes Benz Pre-Safe, S-Class. http://www.youtube.com/watch?v=fMqEf4NwsKg
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• Audible and visible warning • Full automatic braking • BSD + Collision Warning + Collision Avoidance
Volvo Collision Avoidance http://www.youtube.com/watch?v=SQh5Fp2wJyE
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InfraRed laser sensor
Volvo XC60: City Safety Demonstration http://youtu.be/8DBf8GBVmME
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• Mercedes-Benz, Distronic Plus • Precrash warning + Full-range ACC
Maximum braking in emergency
Distronic Plus - 2010 Mercedes-Benz E-Class Safety Features http://www.youtube.com/watch?v=T8NyctsNuIU
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• 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).
http://www.euroncap.com/rewards/technologies/brake.aspx
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http://www.euroncap.com/results/aeb.aspx
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• 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.
http://www.euroncap.com/results/aeb.aspx
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• 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.
http://www.euroncap.com/results/aeb.aspx
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• 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.
http://www.euroncap.com/results/aeb.aspx
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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
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Camera-based lane detection Audible warning
Volvo - Lane Departure Warning http://youtu.be/zGBvv1wmOkM
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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
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4가지 구성요소 일반적으로 ACC가 ON될때만LKA 작동
2010 Prius Lane Keep Assist http://youtu.be/1bqnojpUDIg
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Honda Accord with LKAS / ACC / CMBS - Explanation of Systems http://youtu.be/Mde5U2RqfD8
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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
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Audible, visible warning
Radar-based sensing Valeo - Blind Spot Detection http://youtu.be/DtmyjAN7KAY
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Camera-based sensing Warning light
Volvo's Blind Spot Information System http://youtu.be/mpkRHnaJ1aY
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