Inter-Vehicle Safety by Transponder Based Localization

Transcription

1 Inter-Vehicle Safety by Transponder Based Localization Fahrzeug-Fahrzeug-Sicherheit durch transponderbasierte Ortung Erich Lankes Daimler AG

2 Phases of Sensorrevolution Ko-TAG Phase I Monitoring of vehicle and driver behaviour for risk assessment Phase II Monitoring of the vehicles adjacencies to detect imminent dangers Phase III Gathering of detailed information of the spacious environment to enhance the drivers awareness of imminent dangers feel see communicate Inter-Vehicle Safety by Transponder Based Localization 2

3 All-Around Safety (AAS) Rundumsicherheit (RUS) Localization and tracking of visible and occluded objects Calculation of possible path of collision Driver information and driver warning Intervention into vehicle dynamics (partially/full autonomous braking) Driver assistance and collision avoidance in crossing traffic situations Inter-Vehicle Safety by Transponder Based Localization 3

4 360 -Detectability (passive localization) Vehicle is detectable all-around Active localization only in forward direction Main intersection (accident-) scenarios addressable Basic system setup (localization unit, antenna, tags) same as VRU-Setup Vehicle integration effort identical to VRU system Inter-Vehicle Safety by Transponder Based Localization 4

5 Safety Measures Driver warning, intervening systems Situational action plan required Reliable collision detection required Humans (often) reacts different to machines ( sometimes it is better to speed up than to brake ) Wrong reaction could lead to disaster prewarning time at intervisibility only ~ 1s Inter-Vehicle Safety by Transponder Based Localization 5

6 [Source: youtube.com] Uncoordinated Actions Inter-Vehicle Safety by Transponder Based Localization 6

7 Collision Detection Calculations Closed approach Collision detection Speed variations ( 3 m/s ) Auslösemechanismen Error long. across Position Δx Δy Velocity Δv Acceleration Δa 2 /2 Direction Δh v norm. steering angle Δy ( v) 2 /2 Differentiation between closed approach and imminent collision requires reliable calculation of errors TTC calculations (Time-To-Collision) Inter-Vehicle Safety by Transponder Based Localization 7

8 Trigger Algorithms Crossroads scenarios Circular driving Contrive Preselection of endangered objects (TTC, closed approach) Tracking of critical vehicles Consideration of errors (positioning, motion) (if so with default values) If risk of collision (ROC) is stable triggering the action concept / warning strategy Inter-Vehicle Safety by Transponder Based Localization 8

9 Action Concept and Warning Strategy Action Plan: detect inform warn alert intervention Scenario: The system detects an potential risk of collision (ROC) with an estimated time-to-collision (t ttc ) of <=5 sec which is increasing and valid until (t 0 2). cyclic localization (~20ms) (detection, tracking, prediction, collision risk calculation) visual information on existing ROC audio-visual warning audio-visual alert, seat-belt tensioner, autonomous braking Step/ Phase v v v v time to collision v=0 t 0 5 t 0 4 t 0 3 t 0 2 t Inter-Vehicle Safety by Transponder Based Localization 9

10 Real-Life Scenario [Source: youtube.com] Inter-Vehicle Safety by Transponder Based Localization 10

11 Vehicle Integration Test vehicles : S-Class (W221), smart (MC451) Hardware and software architecture development Identification of necessary interfaces Realization Inter-Vehicle Safety by Transponder Based Localization 11

12 Guard System for All-around Safety OBU SAFETAG SAFETAG System Vehicle- Tag Aktorik Inter-Vehicle Safety by Transponder Based Localization 12

13 Vehicle Integration Localization Unit (OBU) On-Board Unit (OBU) (localization unit) antennaarray Localization Unit antenna array air pipe Bumper cooling fins cross member connectors OBU Inter-Vehicle Safety by Transponder Based Localization 13

14 Vehicle Integration Vehicle Control Components emergency switching off logic Fusion Unit fusion unit vehicle interfaces( CAN-Gateways( Inter-Vehicle Safety by Transponder Based Localization 14

15 Vehicle Integration Human Machine Interface (HMI) collision warning Kollisionswarnleuchte/ Headunit-Display Buzzer (Visualization) permanent light flashlight buzzer Trackball Keyboard Additional (Debug-) Display Inter-Vehicle Safety by Transponder Based Localization 15

16 System Vehicle Integration SW-Architecture I1 M1 M1.1 M1.2 TCP/IP Sockets LocON I2 I7 A1 VT Anwendung Mx Ix (weitestgehend) implementiert in Entwicklung offen Modul Nr. x Interface Nr. x M2 M4 HU Display/ GUI I4 M2.1 M2.2 M2.3 TAG Management Gefahren Management Tracking/Plausibilisierung I3 M3 Auslösealgorithmen TAG-Management Risk management Trigger algorithms M5 I5 Tracking Fahrzeugsteuerung/Informationen Vehicle control (CAN) I6 HMI A2 A2.1 A2.2 A2.3 Kombi-Instrument/ Fahrzeugsteuerung MIDDLEWARE Fahrzeug Informationen (CAN/CAM) Inter-Vehicle Safety by Transponder Based Localization 16

17 System Vehicle Integration User Interface vehicle display (HMI) probe vehicle B within detection zone predicted path detected probe-vehicle A with potential collision risk Tagdata Type: Smart vrel: 35 km/h size: 2,8x1,8m ttc: >5s movement tube of ego-vehicle danger zone system active detection zone ego-vehicle risk of collision Menu Inter-Vehicle Safety by Transponder Based Localization 17

18 Conclusion System for All-Around Safety realized in S-class test vehicle Join our demo tomorrow Inter-Vehicle Safety by Transponder Based Localization 18

19 Thank you for your attention!