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Final Report: Objective Test Procedures for Road Departure Crash Warning Systems This Publication Is Distributed by the U.S DOT HS 810 829 August 2007 Final Report: Objective Test Procedures for Road Departure Crash Warning Systems This publication is distributed by the U.S. Department of Transportation, National Highway Traffic Safety Administration, in the interest of information exchange. The opinions, findings and conclusions expressed in this publication are those of the author(s) and not necessarily those of the Department of Transportation or the National Highway Traffic Safety Administration. The United States Government assumes no liability for its content or use thereof. If trade or manufacturer’s names or products are mentioned, it is because they are considered essential to the object of the publication and should not be construed as an endorsement. The United States Government does not endorse products or manufacturers. Form Approved REPORT DOCUMENTATION PAGE OMB No. 0704-0188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), Washington, DC 20503. 1. AGENCY USE ONLY (Leave blank) 2. REPORT DATE 3. REPORT TYPE AND July 2007 DATES COVERED Final Report, 2003-2006 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Final Report: Objective Test Procedures for Road Departure Crash Warning Systems (RDCWS) DTFH61-00-Y-30132 6. AUTHOR(S) Sandor Szabo and Richard Norcross . 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING ORGANIZATION U.S. Department of Commerce REPORT NUMBER National Institute of Standards and Technology 100 Bureau Drive, Mail Stop 8230 Gaithersburg, MD 20899-8230 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSORING/MONITORING U.S. Department of Transportation AGENCY REPORT NUMBER National Highway Traffic Safety Administration 1200 New Jersey Avenue SE. DOT HS 810 829 Washington, DC 20590 11. SUPPLEMENTARY NOTES 12a. DISTRIBUTION/AVAILABILITY STATEMENT 12b. DISTRIBUTION CODE This document is available to the public through the National Technical Information Service, Springfield, Virginia 22161. 13. ABSTRACT (Maximum 200 words) This is the final report describing work performed by the National Institute of Standards and Technology (NIST) to develop the objective test procedures and the supporting measurement methodologies for evaluating Objective Test Procedures for Road Departure Crash Warning Systems (RDCWS). Included with the final report are three separate documents. The first document, titled “Final Report: Objective Test Procedures for Road Departure Crash Warning Systems (RDCWS)” is an overview of the project and results. The second report, “Recommendations for Objective Test Procedures for Road Depar- ture Crash Warning Systems,” contains test procedures recommended for a warning system that meets the requirements of the RDCWS FOT. The third document, entitled “An Independent Measurement System for Performance Evaluation of Road Departure Crash Warning Systems,” provides a detailed description of a measurement system developed by NIST for use in evaluating the performance of the FOT RDCWS during track-based and on-road tests. 14. SUBJECT TERMS 15. NUMBER OF PAGES 212 16. PRICE CODE 17. SECURITY CLASSIFICATION 18. SECURITY CLASSIFICATION 19. SECURITY CLASSIFICATION 20. LIMITATION OF OF REPORT OF THIS PAGE OF ABSTRACT ABSTRACT Unclassified Unclassified Unclassified ii Table of Contents PART I: Final Report: Objective Test Procedures for Road Departure Crash Warning Systems Section Title Page Executive Summary.............................................................................................2 I-1 Introduction..........................................................................................................3 I-2 NIST/USDOT RDCWS Testbed .........................................................................6 I-3 RDCWS Objective Test Procedures ..................................................................10 I-4 Independent Measurement System ....................................................................13 I-5 Validation of Field Operational Test RDCWS ..................................................20 I-6 RDCWS On-Road Objective Test Procedures ..................................................27 I-7 RDCWS On-Road Tests ....................................................................................30 I-8 Conclusions........................................................................................................34 PART II: Recommendations for Objective Test Procedures for Road Departure Crash Warning Systems Section Title Page History................................................................................................................36 II-1 Introduction........................................................................................................37 II-2 Definitions..........................................................................................................40 II-3 Basic Test Organization.....................................................................................54 II-4 Independent Measurement System ....................................................................56 II-5 Warning System Evaluations.............................................................................59 II-6 Tests for Departures on Roads With Default Minimum AMR..........................66 II-7 Tests for Departures on Roads With Default Maximum AMR .........................84 II-8 Tests for Departures Toward an Obstacle..........................................................97 II-9 Tests for Departures at Excessive Speed .........................................................121 Appendix II-A Methods for Determining Road Dimensions and Geometry...............131 Appendix II-B Methods for determining Lane Marker Characteristics.......................132 iii PART III: An Independent Measurement System for Performance Evaluation of Road Departure Crash Warning Systems Section Title Page III-1 Introduction......................................................................................................138 III-2 Data Collection System ...................................................................................140 III-3 Camera Calibration Setup................................................................................142 III-4 Camera Calibration .........................................................................................145 III-5 Data Processing ...............................................................................................156 III-6 Analyze Data Main Control Panel ..................................................................165 III-7 Locating Video Based on GPS Time...............................................................169 III-8 Lateral Drift Analysis ......................................................................................171 III-9 Lane Marker Contrast .....................................................................................183 III-10 Map Point Map Display...................................................................................185 Appendix III-A Adobe Premier Notes.........................................................................188 Appendix III-B Creating a DVD Using DVDit!..........................................................189 Appendix III-C Extracting GPS Data From Video Using VMS and Media Mapper .................................................................................................193 Appendix III-D Non-Linear Camera Calibration .......................................................199 Appendix III-E UTM Conversions ..............................................................................201 iv Part I: Final Report: Objective Test Procedures for Road Departure Crash Warning Systems Prepared by Sandor Szabo and Richard Norcross National Institute of Standards and Technology 100 Bureau Drive, Mail Stop 8230 Gaithersburg, MD 20899-8230 This document was prepared for the U.S. Department of Transportation under interagency agree- ment DTFH61-00-Y-30132. Send comments and/or questions to [email protected]. Certain commercial entities, equipment, or materials may be identified in this document in order to describe an experimental procedure or concept adequately. Such identification is not intended to imply recommendation or endorsement by the National Institute of Standards and Technology, nor is it intended to imply that the entities, materials, or equipment are necessarily the best avail- able for the purpose. 21 Executive Summary An analysis of the 1998 Fatality Analysis Reporting System (FARS) crash database esti- mated that 992,000 crashes involved vehicles leaving the roadway [1]. In response to the large number of crashes and the public’s interest in safer automobiles, the automotive in- dustry is developing advanced Road-Departure Crash Warning Systems (RDCWS) to ad- dress this type of crash (as well as others, such as rear-end and lane-change collisions). The National Highway Traffic Safety Administration
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