Intelligent Vehicle Technology And Trends Episode 1 Part 1 potx

Intelligent Vehicle Highway Systems.. —Artech House intelligent transportation systems library 1.. References 156CHAPTER 8 Integrated Lateral and Longitudinal Control and Sensing Systems

Intelligent Vehicle Technology

and Trends

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turn to the back of this book

Intelligent Vehicle Technology

and Trends

Richard Bishop

Library of Congress Cataloging-in-Publication Data

Bishop, Richard

Intelligent vehicle technology and trends/Richard Bishop

p cm —(Artech House ITS library)

Includes bibliographical references and index

ISBN 1-58053-911-4 (alk paper)

1 Intelligent Vehicle Highway Systems I Title II Series

TE228.3.B57 2005 2005041095

388.3′12—dc22

British Library Cataloguing in Publication Data

Bishop, Richard

Intelligent vehicle technology and trends —(Artech House intelligent transportation systems library)

1 Intelligent Vehicle Highway Systems 2 Automotive computers 3 Motor vehicles— Automatic location systems

I Title

629.2’7

ISBN 1-58053-911-4

Cover design by Yekaterina Ratner

© 2005 ARTECH HOUSE, INC.

685 Canton Street

Norwood, MA 02062

All rights reserved Printed and bound in the United States of America No part of this book may be reproduced or utilized in any form or by any means, electronic or mechanical, includ-ing photocopyinclud-ing, recordinclud-ing, or by any information storage and retrieval system, without permission in writing from the publisher

All terms mentioned in this book that are known to be trademarks or service marks have been appropriately capitalized Artech House cannot attest to the accuracy of this informa-tion Use of a term in this book should not be regarded as affecting the validity of any trade-mark or service trade-mark

International Standard Book Number: 1-58053-911-4

10 9 8 7 6 5 4 3 2 1

Dedicated to James R Bishop, Sr.

Who cultivated within me an active and inquiring mind.

CHAPTER 1

CHAPTER 2

2.2.5 The Netherlands Organization for Scientific Research (TNO) 15

CHAPTER 3

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3.2 Safety Systems 28

CHAPTER 4

4.2.1 Pan-European Activities Conducted Through the EC 45

4.3.3 IV R&D Under Way by the U.S Department of Defense 65

CHAPTER 5

5.1.50 General Motors 74

CHAPTER 6

6.2.2 U.S DOT Road Departure Warning Field Operational

6.5 Side Sensing: Blind Spot Monitoring and Lane Change

6.5.3 Ultrasonic-Based Side Object Sensing For Transit Buses 115

6.6.2 PReVENT 116 6.7 Rollover Collision Avoidance (RCA) for Heavy Trucks 116

CHAPTER 7

7.6.3 Evaluation of FCW: The ACAS Field Operational Test 137

7.9 Forward Crash Mitigation (FCM) and Avoidance—Active Braking 141

References 156

CHAPTER 8

Integrated Lateral and Longitudinal Control and Sensing Systems 159

8.2.1 Autonomous Intersection Collision Avoidance (ICA) 168 8.2.2 Bus Transit Integrated Collision Warning System 169 8.2.3 Integrated Vehicle-Based Safety System (IVBSS) Program 170

8.3 User and Societal Assessments of Integrated Systems 173

CHAPTER 9

9.1 Wireless Communications as a Foundation for Cooperative Systems 178

9.1.2 Transceiver Development for North American DSRC 185 9.1.3 Wireless Access Vehicular Environment (WAVE) 186 9.1.4 Continuous Air-Interface for Long and Medium (CALM)

9.1.5 Intervehicle Communications Using Ad Hoc Network

9.1.7 Millimeter-Wave (MMW)–Based Intervehicle Communications 190 9.2 Digital Maps and Satellite Positioning in Support of CVHS 191

9.4.2 LAVIA: The French Project of Adaptive Speed Limiter 196

9.5 Cooperative Intersection Collision Avoidance (ICA) 199

9.7.1 Traffic Assistance Strategies for Improving Stable Flow 205 9.7.2 Traffic Assistance Strategies To Prevent Flow Breakdown 208 9.7.3 Traffic Assistance Strategies Within Congestion 209

9.8.1 Automotive Deployment for Cooperative Systems 212

CHAPTER 10

10.1.3 Ongoing Work in Vehicle-Highway Automation 231 10.1.4 User Attitudes Toward Automated Vehicle Operations 232

10.2.1 Electronic Tow-Bar Operations and Driver Assistance 233 10.2.2 Truck Automation for Long-Haul Application:

10.2.3 Automation in Short-Haul Drayage Operations 238 10.2.4 Insertion of Automated Truck Lanes in Urban Areas 239

10.3.2 Intelligent Multimode Transit System (IMTS) 241

CHAPTER 11

Extending the Information Horizon Through Floating Car Data Systems 253

11.4.3 Traffic Condition Detection Using Efficient Data Reporting

11.5.2 Research and Development Toward Next Generation

11.6.4 Indiana Real-Time Transportation Infrastructure Information

CHAPTER 12

12.1.1 Perceived Positives and Negatives of ADAS Systems 273

12.4.3 Driver Vigilance with Advanced Assistance Systems 281

12.5.1 Drowsy Driver Detection and Countermeasures 284

CHAPTER 13

13.2.2 Market Introduction Factors 296

13.6 Code of Practice (COP) for ADAS Design and Testing 309

CHAPTER 14

Looking Forward: Enabling Technologies and Future Trends 315

CHAPTER 15

Preface and Acknowledgments

In 2003, I was asked by Dr Ümit Özgüner, Ohio State University professor and then chairman of the IEEE Intelligent Transportation Systems Council, to present a tutorial on intelligent vehicle systems as part of that year’s IEEE Intelligent Vehicles Conference As one who makes a point of staying abreast of goings-on in the IV industry, I was happy to accept

A few months later I received a call from Mark Walsh, Acquisitions Editor at Artech House Publishers He suggested that this material could be converted into book form Blissfully unaware of the amount of work this would entail, I accepted

In fact, I plunged into this project because I have long felt that the tantalizing field of intelligent vehicles is known only to a relatively small band of engineers, sci-entists, and government policy makers IV systems are not well known in the broader engineering realm and for that matter are only beginning to get attention within the larger automotive industry

And yet, these systems draw together one of the most interdisciplinary mixes of experts to tackle some very challenging technical tasks So, with this book, it is my hope to introduce a broader swath of the technical community to this field and also provide a doorway for new contributors to enter it Furthermore, I hope to intro-duce a wider range of government policy makers to the significant societal benefits offered by intelligent vehicle systems

Information is everywhere A recent Google search on “intelligent vehicles” produced over two million hits Some of the information that is on the web will be more up to date than this book shortly after it is published So, why a book? Every industry can benefit from a horizontal cut across its myriad technical and business activity The role I seek to fulfill in the IV world is focused in this way A senior technology manager once observed that three ingredients are needed for the kind of innovation that keeps an industry (or a technology company) vibrant The first two are obvious—there must be domain knowledge and expertise The third and last ingredient is key: for innovation to occur, there must also be perspective For the most part, I do not design or build the systems you will read about in this book Instead, from keeping an eye on the key activities worldwide, I can offer breadth and hopefully some useful insight, leading to perspective

Further, many readers familiar with specific IV systems will doubtless read some things they already know in this book Hopefully, new knowledge from other sectors of the industry will prove to be valuable

In bringing this material together, I paused more than once in complete awe and respect at the amazing functional capabilities brought forth by the designers of these intelligent vehicle systems, as well as those who somehow manage to bring them to

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market as affordable and user-friendly products My hat is off to the genius and cre-ativity of these scientists, engineers, software developers, and business managers, whom I am also glad to count as my colleagues and friends

In particular, I am very appreciative of the generosity of the organizations and individuals who so willingly shared of graphics and photos, as well as back-ground information, to enhance this book Thanks to Walter Hagleitner of ADAS Management Consulting; Jos Jansen of Advanced Public Transport Systems bv; Phil Kithil of Advanced Safety Concepts; Martin Lowson and Richard Teychenné of Advanced Transport Systems; Teruo Yamauchi of AHSRA; Dean Pomerleau of AssistWare Technology; Kevin Romanchok of Bendix Commercial Vehicle Systems LLC; Susanne Breitenberger of BMW AG; Dietrich Manstetten of Bosch; Jim Misener, Steve Shladover, Bill Stone, and Wei-Bin Zhang of California PATH; Li Bin, Chinese National Center of ITS Engineering and Technology; Dave Duggins, Jay Gowdy, and Aaron Steinfeld of CMU; Hanne Umlauf of Continental Teves AG & Co.; Kim Fowler

of Coolstream Consulting; Christophe Bonnet, Uwe Franke, Dariu Gavrila, Frank Linder, Hubert Rehborn, Gerhard Rollman, Matthias Schulze, and Berthold Ulmer of DaimlerChrysler AG; Milton Beach of Delphi; Miyoko Honma of Denso; Tom Mattox of Eaton VORAD Technologies; General Motors Corporation; Ralf-Peter Schafer, Institute of Transport Research, German Aerospace Center; Peter Hendrickx

of Groeneveld Transport Efficiency, B.V.; Bernd Lichte of Hella KG Hueck and Co.; Jim Keller of Honda R&D Americas; Ulrich Lages of IBEO Automobile Sensor GmbH; Michel Parent of INRIA; Walter Scholl and the partners of the INVENT program; Jean Marc Boucheret of Irisbus; Chris van dan Elzen of Iteris, Inc.; Edwin Bastiaensen of LINC Innovations bvba; Jean-Marc Blosseville of LIVIC; Sadayuki Tsugawa of Meijo University; Michael Lambie of Meritor-WABCO; Hiroshi Makino and Takashi Nishio of MLIT in Japan; Meny Benady of Mobileye; the National Highway Traffic Safety Administration; Kenichi Egawa, Hiroshi Kawazoe, and Hiroshi Tsuda of Nissan Technical Center North America; Claudio Hartzstein of RoadEye;Tom Schaffnit of Schaffnit Consulting; Martin Hummel and Alfred Hoess of Siemens VDO Automotive AG; Bart van Arem and Marjolein Baart of TNO; Etsuo Hashino, Kevin Webber and Mike Wolterman of Toyota Motor Corporation; Alastair Buchanan of TRW; Bob Sweet of UMTRI; Brian Cronin and Ray Resendes of USDOT; Scott Pyles of Valeo-Raytheon; Tom Dingus and Vicki Neale of the Virginia Tech Transportation Institute; Tim Tiernan of Visteon; Tim Meisner of Yamaha Motor Europe n.v.; and Rick Weiland, now of Ygomi LLC

A hearty thanks also to my comrades at the Classic Cup Café, whose soft chairs and stirring latte’s kept me going through many a long morning As well, I’m deeply grateful to my fellow students and teachers at the TAI-SOPHIA Institute for cheer-ing me on You provided the “infrastructure” upon which this vehicle traveled! Lastly, my most heartfelt appreciation to my wife Harriet and son Jimmy for their support and patience in this endeavor, which has been invaluable You guys are awesome!

Richard Bishop Granite, Maryland, USA February 14, 2005

My view of modern day Intelligent Vehicles began with ERGS (Electronic Route Guidance System), which was studied by the US DOT (United States Department of Transportation) and their partners in the late 1960’s to early 1970’s I see its signifi-cance to this new book in the close cooperation of intelligent vehicles with the infra-structure to sense traffic patterns, compose strategies, and provide route guidance information via communication This would allow the driver to have more security

in driving Maybe being too advanced for its time, activities started to wane, but in the 1980’s a group of visionaries called “Mobility 2000” proposed a National Ini-tiative and set the stage for what was then named IVHS (Intelligent Vehicle High-way Systems)

One of the early goals of IVHS was to show the world that it was in fact possible

to greatly enhance safety and efficiency of land transportation using advanced tech-nology A large-scale demonstration of this technology was presented to experts and the public in 1997 along the I-15 corridor in San Diego.The systems presented were collectively called AHS (Automated Highway Systems), and included concepts from partial to fully automated intelligent vehicles Even though it rained during the opening ceremony (highly unusual in San Diego in summer) I was one of the many fortunate people that were pleasantly surprised at the security felt in being in an

“automated” vehicle I wondered whether we would in the future ask friends,

“What’s the best car you’ve never driven?”

Again, I should mention that AHS was not only about total automation, but to show the feasibility of a suite of technologies that may collectively lead to total automation Elements of the this program continue to have significant meaning just

as sending a man to the moon and back in the 1960’s had meaning in stimulating technological development in following decades The AHS program was conducted

by the National AHS Consortium and managed by the U.S Federal Highway Administration, with the author being the Program Manager This suite of technol-ogies needed for realizing Intelligent Vehicles are addressed in this book

Even as close as a decade ago, many such systems had been talked about as “sci-ence fiction”, but it is telling to look at what is available today As is covered exten-sively in this book, there are cars that keep a constant time gap to the car in front, cars with night vision, systems that help you to keep from drifting off the road, etc

In recent years, the interest has been increasing at greater speed than ever before, and the U.S Department of Transportation has identified accident prevention using such technologies as one of the major keys to enhancing future safety Their very active program is complemented by similar R&D activities in Europe and Asia

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I first met the author at the National Academy of Science in Washington, D.C in

1996, and since then have recognized him as one of the most well known people in the field of intelligent vehicles, not only in the US, but also in Asia and Europe.Stim-ulating new ideas in an open, creative environment is crucial in the early stages of innovation, as new ideas seldom stem from a critical environment Also, I believe that a continuing interaction between experts is very important in highly interdisci-plinary worlds such as the Intelligent Vehicles arena Mr Bishop is quite active both

in stimulating ideas and in providing such interactive environments As a key exam-ple, he established and still chairs the ITFVHA (International Task Force on Vehicle Highway Automation), which began in 1997 and meets annually At ITFVHA, you will see attendance of a who’s who in the world of intelligent vehicles.Furthermore, his involvement extends beyond his base in the U.S – he is depended upon in Asia and Europe to promote intelligent vehicles This also provides him an excellent viewpoint from which to write such a comprehensive overview of intelligent vehicle activities

Intelligent Vehicle Technology and Trends covers the topic from various angles Starting with major goals and visions, the book gives a perspective as to how Intelli-gent Vehicles fit into the picture.This is followed by a categorical explanation of var-ious systems Since Intelligent Vehicles in many cases require involvement with the Government, many new initiatives are first conducted as a Government-Industry partnership Therefore, two chapters are devoted to understanding priorities that this cooperation had focused upon, for both government and industry.After describ-ing technical and human factor aspects of various functions, Mr Bishop again returns to the theme of public-private partnership by addressing the heart of IVHS,

or Cooperative (meaning cooperation with Infrastructure) Systems and leads on to what a decade ago seemed impossible to imagine for many, and that is automated vehicles The book concludes with chapters addressing what is needed other than technology itself to make Intelligent Vehicles a reality

Knowing the past and present will provide a better understanding of the “trajec-tory” of events into the future.This book presents this trajectory from Richard Bishop’s long and continuing experience and active involvement in this very impor-tant arena: Intelligent Vehicles

Hiroshi Tsuda Director, Intelligent Transportation Systems Research

Nissan Technical Center North America, Inc.