Road departure crash warning system field operational test: methodology and results. Volume 1: technical report

This report summarizes results from the Intelligent Vehicle Initiative (IVI) Road Departure Crash Warning System Field Operational Test (RDCW FOT) project. This project was conducted under a cooperative agreement between the U.S. Dept. of Transportation and the University of Michigan Transportation Research Institute, along with its partners, Visteon Corporation and AssistWare Technologies. Road departure crashes account for 15,000 fatalities annually in the U.S. This project developed, validated, and field-tested a set of technologies intended to warn drivers in real time when the driver was drifting from their lane, and a curve-speed warning system designed to provide alerts to help driver slow down when approaching a curve too fast to safely negotiate the curve This report describes the field operational test of the system and subsequent analysis of the data to address the suitability of similar systems for widespread deployment within the U.S. passenger-vehicle fleet. Two areas were addressed: safety-related changes in driver performance including behavior that may be attributed to the system, and levels of driver acceptance in key areas. Testing used 11 passenger sedans equipped with RDCW and a data acquisition system that compiled a massive set of numerical, video, and audio data. Seventy-eight drivers each drove a test vehicle, unsupervised, for four weeks. The resulting data set captured 83,000 miles of driving, with over 400 signals captured at 10 Hz or faster. Analysis of the data shows that with the RDCW system active, relative to the baseline condition, drivers improved lanekeeping by remaining closer to the lane center and reducing the number of excursions near or beyond the lane edges. In addition, turn signal use increased dramatically. The data, however, were unable to confirm a change in driver’s curvetaking behaviors that could have been attributed to the curve speed warning system. Driver acceptance was generally positive in relation to the lateral drift component of the system, with reactions to the curve speed warning system being rather mixed. Many additional results and insights are documented in the report.National Highway Traffic Safety Administrationhttp://deepblue.lib.umich.edu/bitstream/2027.42/49242/1/99788.pd

Functional requirements for integrated vehicle based safety system (IVBSS) – heavy truck platform

Period covered: November 2005 to March 2008The purpose of the Integrated Vehicle-Based Safety System (IVBSS) project is to evaluate the potential safety benefits and driver acceptance of an integrated set of crash-warning technologies installed on both heavy truck and light vehicle platforms. IVBSS is an integrated set of technologies that is intended to help the driver avoid road-departure, rear-end, and lane-change crashes by providing occasional crash alerts and advisories to enhance the driver’s awareness of the driving situation. This document proposes functional requirements for the system to be developed and field-tested on the heavy truck platform. These requirements are generated solely for the system created within this project, and are not intended to be prescriptive for integrated crash systems developed outside the project. The heavy truck platform encompasses class 8 trucks operating with one trailer or without a trailer. The IVBSS on the heavy truck platform addresses the following crash types: · Road departures due to unintended lateral drift, · Rear-end crashes, and · Lane-change and merge crashes due to unsafe lane movements by the heavy truck.National Highway Traffic Safety Administrationhttp://deepblue.lib.umich.edu/bitstream/2027.42/58192/1/100877.pd

System performance guidelines for a prototype integrated vehicle based safety system (IVBSS) – light vehicle platform

Period covered: November 2005 to March 2008The purpose of the Integrated Vehicle-Based Safety System (IVBSS) project is to evaluate the potential safety benefits and driver acceptance of an integrated set of crash-warning technologies installed on both light-vehicle and heavy-truck platforms. The IVBSS is an integrated set of technologies that is intended to help the driver avoid crashes by providing crash alerts in potential crash-imminent situations and advisories to enhance the driver’s awareness of the driving situation. This report proposes quantitative and measurable performance metrics that are considered achievable and appropriate for the IVBSS system on a light vehicle platform. The guidelines build upon previous project reports that present functional requirements. This effort also borrows from previous specification efforts for stand-alone crash warning systems – especially prior U.S. DOT projects and ISO standards efforts. However the focus is on the integration of these functions. In some performance areas, integration allows improvements in potential safety benefits through enhanced system awareness. In other areas, integration presents a challenge, especially in ensuring driver acceptance because the broad scope of IVBSS means more potential sources of false or nuisance alerts.National Highway Traffic Safety Administrationhttp://deepblue.lib.umich.edu/bitstream/2027.42/58195/1/100880.pd

Functional requirements for integrated vehicle-based safety system (IVBSS) – light vehicle platform

Period covered: November 2005 to March 2008The purpose of the Integrated Vehicle-Based Safety System (IVBSS) project is to evaluate the potential safety benefits and driver acceptance of an integrated set of crash-warning technologies installed on both heavy truck and light vehicle platforms. IVBSS is an integrated set of technologies that is intended to help the driver avoid road-departure, rear-end, and lane-change crashes by providing occasional crash alerts and advisories to enhance the driver’s awareness of the driving situation. This document proposes functional requirements for the system to be developed and field-tested on the light vehicle platform. These requirements are generated solely for the system created within this project, and are not intended to be prescriptive for integrated crash systems developed outside the project. The light vehicle platform encompasses passenger vehicles including sedans, sport-utility vehicles, light trucks, minivans, and vans. The IVBSS on the light vehicle platform addresses the following crash types: • Road departures due to unintended lateral drift, • Road departures due to travel through curves at excessive speeds, • Rear-end crashes, and • Lane-change and merge crashes due to unsafe lane movements.National Highway Traffic Safety Administrationhttp://deepblue.lib.umich.edu/bitstream/2027.42/58193/1/100878.pd

Road departure crash warning system field operational test: methodology and results. Volume 2: appendices

This report summarizes results from the Intelligent Vehicle Initiative (IVI) Road Departure Crash Warning System Field Operational Test (RDCW FOT) project. This project was conducted under a cooperative agreement between the U.S. Dept. of Transportation and the University of Michigan Transportation Research Institute, along with its partners, Visteon Corporation and AssistWare Technologies. Road departure crashes account for 15,000 fatalities annually in the U.S. This project developed, validated, and field-tested a set of technologies intended to warn drivers in real time when the driver was drifting from their lane, and a curve-speed warning system designed to provide alerts to help driver slow down when approaching a curve too fast to safely negotiate the curve This report describes the field operational test of the system and subsequent analysis of the data to address the suitability of similar systems for widespread deployment within the U.S. passenger-vehicle fleet. Two areas were addressed: safety-related changes in driver performance including behavior that may be attributed to the system, and levels of driver acceptance in key areas. Testing used 11 passenger sedans equipped with RDCW and a data acquisition system that compiled a massive set of numerical, video, and audio data. Seventy-eight drivers each drove a test vehicle, unsupervised, for four weeks. The resulting data set captured 83,000 miles of driving, with over 400 signals captured at 10 Hz or faster. Analysis of the data shows that with the RDCW system active, relative to the baseline condition, drivers improved lanekeeping by remaining closer to the lane center and reducing the number of excursions near or beyond the lane edges. In addition, turn signal use increased dramatically. The data, however, were unable to confirm a change in driver’s curvetaking behaviors that could have been attributed to the curve speed warning system. Driver acceptance was generally positive in relation to the lateral drift component of the system, with reactions to the curve speed warning system being rather mixed. Many additional results and insights are documented in the report.National Highway Traffic Safety Administrationhttp://deepblue.lib.umich.edu/bitstream/2027.42/49244/1/99789.pd

System performance guidelines for a prototype integrated vehicle-based safety system (IVBSS) – heavy truck platform

Period covered: November 2005 to March 2008The purpose of the Integrated Vehicle-Based Safety System (IVBSS) project is to evaluate the potential safety benefits and driver acceptance of an integrated set of crash-warning technologies installed on both light-vehicle and heavy-truck platforms. The IVBSS is an integrated set of technologies that is intended to help the driver avoid crashes by providing crash alerts in potential crash-imminent situations and advisories to enhance the driver’s awareness of the driving situation. This report proposes quantitative and measurable performance metrics that are considered achievable and appropriate for the IVBSS system on a heavy truck (Class 8). The guidelines build upon previous project reports that present functional requirements. This effort also borrows from previous specification efforts for stand-alone crash warning systems – especially prior U.S. DOT projects and ISO standards efforts. However the focus is on the integration of these functions. In some performance areas, integration allows improvements in potential safety benefits through enhanced system awareness. In other areas, integration presents a challenge, especially in ensuring driver acceptance because the broad scope of IVBSS means more potential sources of false or nuisance alerts.National Highway Traffic Safety Administrationhttp://deepblue.lib.umich.edu/bitstream/2027.42/58194/1/100879.pd

Object level footprint uncertainty quantification in infrastructure based sensing

We examine the problem of estimating footprint uncertainty of objects imaged using the infrastructure based camera sensing. A closed form relationship is established between the ground coordinates and the sources of the camera errors. Using the error propagation equation, the covariance of a given ground coordinate can be measured as a function of the camera errors. The uncertainty of the footprint of the bounding box can then be given as the function of all the extreme points of the object footprint. In order to calculate the uncertainty of a ground point, the typical error sizes of the error sources are required. We present a method of estimating the typical error sizes from an experiment using a static, high-precision LiDAR as the ground truth. Finally, we present a simulated case study of uncertainty quantification from infrastructure based camera in CARLA to provide a sense of how the uncertainty changes across a left turn maneuver.Comment: Submitted to IEEE Sensors journa