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Run-Off-Road Collision Avoidance Using IVHS Countermeasures

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Run-Off-Road Collision Avoidance Using IVHS Countermeasures U.S. Department of Transportation National Highway Traffic Safety Administration ______________________________________________________________________________ DOT HS 809 170 December 1999 Run-Off-Road Collision Avoidance Using IVHS Countermeasures Final Report ABSTRACT This document presents performance guidelines for the design and development of road departure warning systems to improve vehicle safety by eliminating or mitigating road departure crashes through driver notification or warning. Performance guidelines are presented for two classes of road departure warning systems, Lane Drift Warning Systems (LDWS) and Curve Speed Warning Systems (CSWS). A LDWS is designed to warn in the event of an unintentional drift out of the travel lane, typically due to driver drowsiness, distraction or inattention. A CSWS is designed to warn if the vehicle is approaching a curve too fast for the current conditions. All aspects of system performance are addressed, including sensing requirements, warning algorithm requirements, driver interface requirements, test procedures, and estimation of associated benefits. These guidelines are intended to be used by manufacturers and developers of road departure warning systems as a tool to: 1. Standardize system requirements 2. Standardize driver interface and control across systems developed by different manufacturers 3. Standardize test procedures to verify proper system operation. AUTHORS Dean Pomerleau and Todd Jochem of AssistWare Technology Inc., Charles Thorpe and Parag Batavia of Carnegie Mellon University, Doug Pape, Jeff Hadden Nancy McMillan and Nathan Brown of Battelle Memorial Institute and Jeff Everson of Foster Miller, Inc. ACKNOWLEDGEMENTS This research was sponsored by the National Highway Traffic Safety Administration (NHTSA), U.S. Department of Transportation under contract no. DTNH22-93-C-07023. The opinions, findings and recommendations contained herein are those of the authors and do not necessarily represent those of NHTSA. The prime contractor is Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213. Technical expertise provided by and performance guideline development performed under subcontract by AssistWare Technology, 12300 Perry Highway, Wexford PA 15090. Mathematical modeling and computer simulations provided under subcontract by Battelle Memorial Institute, 505 King Avenue, Columbus, OH 43201. Human factors tests performed under subcontract by the University of Iowa on the Iowa Driving Simulator. Contributors include Joe Kanianthra, August Burgett, Lloyd Emery, Louis Tijerina and Frank Barrickman of NHTSA; Don Hendricks and John Pierowicz of Calspan Corporation. 1 KEY WORDS Intelligent Vehicle Highway Systems (IVHS), Intelligent Transportation Systems (ITS), lane departure warning system, road departure warning system, lane drift warning system, curve speed warning systems, collision warning system, collision avoidance system. 2 PREFACE This document presents performance guidelines for the design and development of road departure warning systems to improve vehicle safety by eliminating or mitigating road departure crashes through driver notification or warning. Performance guidelines are presented for two classes of road departure warning systems, Lane Drift Warning Systems (LDWS) and Curve Speed Warning Systems (CSWS). A LDWS is designed to warn in the event of an unintentional drift out of the travel lane, typically due to driver drowsiness, distraction or inattention. A CSWS is designed to warn if the vehicle is approaching a curve too fast for the current conditions. All aspects of system performance are addressed, including sensing requirements, warning algorithm requirements, driver interface requirements, test procedures, and estimation of associated benefits. These guidelines are intended for use by manufacturers and developers of road departure warning systems as a tool to: 1. Standardize system requirements 2. Standardize driver interface and control across systems developed by different manufacturers 3. Standardize test procedures to verify proper system operation. The guidelines specified within this document should be considered recommendations for achieving acceptable performance in a road departure warning system. These guidelines are the culmination of nearly 6 years of NHTSA sponsored investigation. These guidelines are intended to be as technology-independent as possible and allow for the development of systems that are solely vehicle-based, as well as systems that require some form of cooperative infrastructure. This research was supported by the National Highway Traffic Safety Administration (NHTSA), US Department of Transportation under contract no. DTNH22-93-C-07023. This opinions, findings and recommendations contained herein are those of the authors and do not necessarily represent those of NHTSA. 3 TABLE OF CONTENTS INTRODUCTION ______________________________________________________ 7 1.1 SCOPE _________________________________________________________ 7 1.2 OBJECTIVE _____________________________________________________ 7 1.3 BACKGROUND __________________________________________________ 7 1.4 APPROACH _____________________________________________________ 8 2 DEFINITIONS ___________________________________________________ 10 2.1 SYSTEM DEFINITIONS __________________________________________ 10 2.2 DRIVER DEFINITIONS___________________________________________ 12 2.3 APPLICABLE DOCUMENTS ______________________________________ 13 3 LDWS PERFORMANCE GUIDELINES ______________________________ 17 3.1 SENSING FUNCTIONS AND GUIDELINES___________________________ 17 3.1.1 DETERMINE VEHICLE POSITION AND ORIENTATION______________________18 3.1.2 DETERMINE GEOMETRY OF ROAD AHEAD ______________________________21 3.1.3 DETERMINE VEHICLE DYNAMIC STATE_________________________________24 3.1.4 DETERMINE DRIVER INTENTION _______________________________________24 3.2 WARNING ALGORITHM GUIDELINES _____________________________ 25 3.2.1 ALGORITHM 0: 0th ORDER, OR "ELECTRONIC RUMBLE STRIPS" _____________26 3.2.2 ALGORITHM 1: 1st ORDER TIME-TO-LINE-CROSSING_______________________27 3.2.3 ALGORITHM 2: 2nd ORDER TIME-TO-LINE-CROSSING ______________________28 3.2.4 ALGORITHM 3: KINEMATIC TIM E-TO-LINE-CROSSING_____________________30 3.2.5 PERFORMANCE COMPARISON _________________________________________32 3.2.6 SENSITIVITY ANALYSIS _______________________________________________34 3.2.7 LDWS WARNING ALGORITHM RECOMMENDATIONS______________________38 3.3 DRIVER INTERFACE GUIDELINES ________________________________ 42 4 LDWS BENEFITS ESTIMATES_____________________________________ 48 4.1 RUN-OFF-ROAD CRASH CIRCUMSTANCES_________________________ 48 4.2 MODELING APPROACH _________________________________________ 50 4.2.1 DESCRIPTION OF RORSIM _____________________________________________51 4.2.2 VEHICLE MODEL _____________________________________________________51 4.2.3 DRIVER MODEL ______________________________________________________52 4.2.4 WARNING ALGORITHM _______________________________________________53 4.2.5 DRIVER LANE KEEPING MODEL ________________________________________54 4.3 SIMULATION STUDIES __________________________________________ 68 4.3.1 PERFORMANCE MEASURES ____________________________________________68 4.3.2 PARAMETER SELECTION ______________________________________________69 4.3.3 SIMULATION RESULTS ________________________________________________71 4.3.4 SUMMARY OF SIMULATION RESULTS___________________________________77 4.3.5 BENEFITS PROJECTIONS_______________________________________________78 5 LDWS TEST PROCEDURES________________________________________ 84 5.1 ENVIRONMENTAL CONDITIONS__________________________________ 84 5.2 ROADWAY CHARACTERISTICS __________________________________ 85 4 5.3 TEST VEHICLE _________________________________________________ 85 5.4 TEST VEHICLE LOADING________________________________________ 85 5.5 LDWS CONFIGURATION_________________________________________ 86 5.6 TEST PROCEDURE______________________________________________ 86 5.7 EVALUATION __________________________________________________ 86 6 CSWS PERFORMANCE GUIDELINES_______________________________ 87 6.1 SENSING FUNCTIONS AND GUIDELINES___________________________ 87 6.1.1 DETERMINE VEHICLE POSITION AND ORIENTATION______________________87 6.1.2 DETERMINE VEHICLE STABILITY CHARACTERISTICS_____________________89 6.1.3 DERTERMINE VEHICLE DYNAMIC STATE RELATIVE TO THE ROAD_________89 6.1.4 DETERMINE GEOMETRY OF UPCOMING ROAD SEGMENT _________________89 6.1.5 DETERMINE PAVEMENT CONDITIONS OF UPCOMING ROAD SEGMENT______91 6.1.6 DETERMINE DRIVER INTENTION _______________________________________91 6.2 WARNING ALGORITHM GUIDELINES _____________________________ 92 6.2.1 DETERMINE SAFE SPEED FOR APPROACHING CURVE _____________________92 6.2.2 DETECT POTENTIAL FOR ROADWAY DEPARTURE ________________________94 6.3 DRIVER INTERFACE ____________________________________________ 97 7 CSWS PERFORMANCE ANALYSIS ________________________________ 102 7.1 WARNING DISTANCE AND TIME REQUIREMENTS __________________102 7.2 CURRENT PRACTICE FOR SAFETY IN CURVES _____________________104 7.3 MEASUREMENT SENSITIVITY ANALYSIS__________________________105 7.3.1 RADIUS OF CURVATURE ERROR ______________________________________106 7.3.2 ERROR IN SUPERELEVATION _________________________________________109 7.3.3 ERROR IN SIDE FRICTION FACTOR_____________________________________111 7.3.4 ERROR IN DISTANCE_________________________________________________114 7.3.5 ERROR IN VEHICLE SPEED
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