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Automotive Collision Avoidance System Field Operational Test Final Program Report DOT HS 809 886 May 2005 Automotive Collision Avoidance System Field Operational Test Final Program Report This document is available to the public from the National Technical Information Service, Springfield, Virginia 22161 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. Technical Report Documentation Page 1. Report No. 2. Government Accession No. 3. Recipient’s Catalog No. DOT HS 809 886 4. Title and Subtitle 5. Report Date Automotive Collision Avoidance System Field Operational Test (ACAS FOT) March 2005 Final Program Report 6. Performing Organizational Code General Motors Corporation 8. Performing Organization Report No. 7. Author(s) 9. Performing Organization Name and Address 10. Work Unit No. (TRAIS) General Motors Corporation Research and Development Center 11. Contract or Grant No. 30500 Mound Road Warren, MI 48090 DTNH22-99-H-07019 13. Type of Report and Period Covered 12. Sponsoring Agency Name and Address Final Program Report National Highway Traffic Safety Administration Office of Impaired Driving and Occupant Protection 400 Seventh Street, S.W. Washington, DC 20590 14. Sponsoring Agency Code 15. Supplementary Notes See also the following report: Automotive Collision Avoidance System Field Operational Test Methodology and Results 16. Abstract The Automotive Collision Avoidance System field operational test (or ACAS FOT) program was led by General Motors (GM) under a cooperative agreement with the U.S. Department of Transportation. This report summarizes the activities of the entire program, with an emphasis on efforts that occurred after the last program Annual Report. The ACAS system con- sisted of Adaptive Cruise Control (ACC) and Forward Collision Warning (FCW) systems that were developed and integrated by GM and Delphi Corporation in preparation for the FOT conducted by the University of Michigan Transportation Research Institute. The FOT involved exposing a fleet of 11 ACAS-equipped Buick LeSabre cars to 12 months of naturalistic driv- ing (137,000 miles of driving were accumulated). The 96 test participants were lay drivers from southeastern Michigan who drove these cars as their personal vehicles for several weeks. Data gathered included over 300 data signals, including video samples of the forward driving scene and driver’s face. ACC was found to be benign from a traffic safety perspective. Both ACC and FCW reduced the occurrence of short (e.g., <1 sec) headways, with the ACC reductions being substantially more marked and robust across driving conditions. While incidents were found during manual driving in which the FCW may have contributed to a timely driver response to an emerging rear-end crash conflict, the frequency or magnitude of such conflicts were unaffected by FCW presence. Questionnaire, interview, and focus group data indicated that ACC was widely accept- ed, whereas FCW acceptance was mixed. These data have suggested numerous methods for reducing the occurrence of FCW false alarms that should lead to broader FCW customer acceptability. 17. Key Words 18. Distribution Statement Forward crash warning, adaptive cruise control, crash Unrestricted avoidance, crash warning, FCW, ACC, ACAS, longitudinal control, rear-end crash, driver assistance systems 19. Security Classif. (of this report) 20. Security Classif. (of this page) 21. No. of Pages 22. Price None None 107 Form DOT F 1700.7 (8-72) Per FORM PRO/Delrina 04/04/94 Reproduction of completed page authorized Automotive Collision Avoidance System Field Operational Test Program Table of Contents Table of Contents...................................................................................................................................i List of Figures ......................................................................................................................................iii List of Tables.........................................................................................................................................v Acronyms .............................................................................................................................................vi 1.0. Executive Summary ................................................................................................................1 2.0. Introduction .............................................................................................................................5 2.1. Final Report Purpose.............................................................................................................5 2.2. Purpose of ACAS FOT .........................................................................................................5 2.3. Partners .................................................................................................................................5 2.4. Project Organization and Responsibilities ............................................................................6 2.5. Schedule................................................................................................................................6 2.6. Technical Approach and Field Operational Test Design ......................................................7 2.6.1. Technical Approach .....................................................................................................7 2.6.2. Field Operational Test Design......................................................................................9 2.7. Funding and Cost Sharing...................................................................................................10 3.0. Detailed Description of All Activities and Tasks Since Last Annual Report ...................11 3.1. GM Activities and Tasks (January – November 2004).......................................................11 3.1.1. Extension of the Field Operational Test.....................................................................11 3.1.2. Data Analysis by GM.................................................................................................11 3.2. Delco Activities and Tasks (January – November 2004)....................................................12 3.3. University of Michigan Transportation Research Institute (January – November 2004) ...12 3.4. The Volpe Center (January – November 2004) ..................................................................12 4.0. Analysis and Discussion of All Noteworthy Activities, Results and Events .....................13 4.1. Systems Integration (Task A) .............................................................................................13 4.1.1. Functional Description (Task A1)..............................................................................13 4.1.2. System Architecture/Mechanization (Task A2) .........................................................18 4.1.3. Interface Management (Task A3)...............................................................................20 4.1.4. System Verification (Task A4)...................................................................................21 4.1.5. Risk Management Plan (Task A5) .............................................................................23 4.2. Subsystem Development - Hardware (Task B)...................................................................24 4.2.1. Forward Radar (Task B1)...........................................................................................24 4.2.2. Forward Vision Sensor (Task B2)..............................................................................26 4.2.3. Brake Control System (Task B3) ...............................................................................31 4.2.4. Throttle Control System (Task B4) ............................................................................33 4.2.5. Driver Vehicle Interface (Task B5)............................................................................34 4.3. Subsystem Processing Development - Software (Task C)..................................................38 4.3.1. Data Fusion (Task C1) ...............................................................................................38 4.3.2. Tracking and Identification (Task C2) .......................................................................45 4.3.3. Threat Assessment Algorithm Development (Task C3) ............................................55 i Automotive Collision Avoidance System Field Operational Test Program 4.4. Fleet Vehicle Build (Task D) ..............................................................................................63 4.4.1. Purpose.......................................................................................................................63 4.4.2. Approach ....................................................................................................................63 4.4.3. Summary of Accomplishments Prior to January 2002...............................................69
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