Contract no.: MOre Safety for All by Radar Interference Mitigation. D3.1 Use cases description list for simulation scenarios.

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1 Contract no.: 4831 MOre Safety for All by Interference Mitigation Report type D3.1 Use cases description list for simulation scenarios Deliverable Work Group WP3 Dissemination level Public Version number Version 1. Date 8/0/011 Lead Partner Daimler Project Coordinator Dr. Martin Kunert Robert Bosch GmbH Daimler Strasse Leonberg Phone +49 (0) martin.kunert@de.bosch.com copyright 010 the MOSARIM Consortium File: D3.1_v1..doc 1/56

2 Authors Name Christoph Fischer Malte Ahrholdt Alicja Ossowska Martin Kunert Andreas John Robert Pietsch Frantz Bodereau Jürgen Hildebrandt Hans-Ludwig Blöcher Holger Meinel Company Daimler Volvo Technology Valeo Bosch Hella Continental Autocruise Bosch Daimler Daimler Revision chart and history log Version Date Reason Initial version Added TX Antenna descriptions Antenna descriptions for W-Band Reworked chapter 4, Introduction, Conclusion Removed the definitions chapter Updated antenna chapter, new ordering Applications descriptions Additions from Telcon Last updates for peer review Minor updates and corrections Deliverable for peer review Finalized Conclusion Reviewed and corrected Deliverable File: D3.1_v1..doc /56

3 Table of Contents Authors... Revision chart and history log... Table of Contents Introduction... 4 Detailed Description of Applications Adaptive Cruise Control Collision Warning System Collision Mitigation System Vulnerable Road User Detection Blind Spot Detection Lane Change Assist Rear Cross Traffic Alert Back-Up Parking Assist Detailed Description of Scenarios Victim and interferer passing each other [Db] Standstill at intersection, target ahead [T1a] Victim approaches target at intersection [T1b] Following a car, oncoming interferer [Ta] Oncoming interferer with motorcycle target [Tc] Oncoming interferer with pedestrian as target [Td] Victim and interferer drive in parallel, target ahead, lane change [T3b] Interference from crossing traffic [X1] High density of interferers [X] Direct interference, traffic in the same direction with similar velocities, rear sensor [R1a] Interference with multiple backwards looking sensors [R] Direct interference, traffic in the same direction with similar velocities, side sensor [RDa] Overtaking [RDb] Being Overtaken [RDc] Forward looking sensor on following [RDf] Victim and interferer driving in parallel, target following [RT1] Blind spot detection with multiple interferers [RT] Interference with forward looking radar [RT3] Parking slot, interfering sensor looking forward [RP1a] Congested Motorway [H1a] Congested Motorway in a Tunnel [H1b] Dense Urban Traffic [H] Summary of selected Scenarios and appropriate Ranking Conclusions Bibliography Appendix: Important Parameters of Sensor Antennas Appendix: List of Abbreviations File: D3.1_v1..doc 3/56

4 1 Introduction This deliverable describes applications and traffic scenarios, being important for the upcoming simulation purposes, to be worked on in throughout work package 3. Appropriate determination of relevant use cases as well as suitable scenario ratings will be derived here. Chapter gives the detailed description of all relevant applications in form of tables, including the varied scenario parameters based on the different sensors to be taken and tested in the future, together with a short description of possible consequences due to system failures. Based on the specification of relevant scenarios, applications and traffic conditions, as already carried out, prioritized and finalized in Task 1., as well as the grouping criteria being defined already in Task 4.3 [MT4.3], nine different scenario groups were chosen accordingly. They are generally described in Chapter 3. In Chapter 4 these selected scenarios are summarized and rated in their relevance appropriately. A general description of the TX antennas being employed for the different applications, as described in Chapter, is provided in appendix 7. File: D3.1_v1..doc 4/56

5 Detailed Description of Applications The following chapter gives reasonable ranges for specific parameters to be defined for a given application. These derived ranges are supposed to give some guidance and may lead to alternative scenarios to be considered. Also an estimation of the consequences and the severity of failures of a sensor are given briefly to simplify ranking. Some definitions of the below described applications have been taken from the E- Value project [E-Value]..1 Adaptive Cruise Control Functional specifications of ACC Main use-cases Major technology and function Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule In free traffic on the motorway (ACC). In Stop&Go situations on the motorway (ACC S&G). detection: Current solutions are using information obtained long and/or short range radar or lidar sensors possible in combination with a video camera. On detection level the function identifies target s in the s driving lane. The system reduces the subject velocity by braking in case that a in front drives at lower speed and accelerates the in order to keep desired velocity. The driver is warned in case the necessary deceleration cannot be performed by the system. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational To support drivers on monotonous tasks of guidance at a constant velocity. adaptation and following a target in safe distance. Driver controls the system and reacts to warnings and take over longitudinal control in critical situations The time gap (following distance depending on velocity) can be adjusted by the driver. Parameter Values Parameter Value (min / typ / max) Number of s 1 / / 5 Relative speed (victim to interferer) -100 / 100 / 00 km/h Distances (victim to interferer) 10 / 100 / 00 m Expected main direction of interference Driving Direction Sensor type to be considered FMR, Medium and Long Range Frequency of occurrence (Events per hour) 0 / 100 / 3600 Typical Scenario Db, T1a, T1b, Ta, Tc, Td, T3b Consequences and Severity of Failures Consequences Severity Failures may impair the main function. low File: D3.1_v1..doc 5/56

6 . Collision Warning System Functional specifications of CWS Main use-cases Major technology and function Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule The subject approaches another from behind with a speed and distance to which the risk of a rear-end collision of the other is high. A preventive action; braking or steering manoeuvre is required to avoid the collision. Perception: Current solutions are using information obtained long and/or short range radar sensors or lidar sensors possible in combination with a video camera. On detection level the function identifies potential collision targets in the s field of view. If a collision is imminent the action from the function is to warn the driver by issuing an auditory and/or visual warning. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational To support drivers in situations where a rear-end collision/ forward collision is imminent. The intended benefit of the function is to avoid or mitigate frontal/rear-end collisions by issuing a warning with aim to focus the driver s attention to the critical situation and take an action. Drivers react to the issued warning and respond by braking and/or steering away. The system acts within a few seconds before an actual incident. Parameter Values Parameter Value (min / typ / max) Number of s 0 / / 5 Relative speed (victim to interferer) 0 / 50 / 100 km/h Distances (victim to interferer) 0 / 50 / 00 m Expected main direction of interference Driving Direction Sensor type to be considered FMR, Mid and Long Range Frequency of occurrence (Events per hour) 0 / 10 / 100 Typical Scenario Ta, T3b Consequences Severity Consequences and Severity of Failures Expected effects may impair the main function of this system. medium File: D3.1_v1..doc 6/56

7 .3 Collision Mitigation System Functional specifications of CMS Main use-cases Major technology and function Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule The driver and his/hers approaches another from behind with a speed and distance to which the risk of a rear-end collision of the other is high. A preventive action; braking or steering manoeuvre is required to avoid the collision. Perception: Current solutions are using information obtained long and/or short range radar or lidar sensors possible in combination with a video camera. On detection level the function identifies potential collision targets in the s field of view. If a collision is imminent the action from the function is to reduce the threshold for the brake assist system or/and to increase braking force if the driver does not bake sufficiently and/or to perform autonomous braking. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational Reduced collision speed and energy. No intended driver reaction. In case of driver initated braking the driver is expected to maintain the pedal pressure. Autonomous braking occurs less than one second before imminent collision. Activation of enhanced brake assist functionality occurs less than seconds before imminent collision. Parameter Values Parameter Value (min / typ / max) Number of s 0 / / 5 Relative speed (victim to interferer) 0 / 50 / 100 km/h Distances (victim to interferer) 0 / 50 / 00 m Expected main direction of interference Driving Direction Sensor type to be considered Frequency of occurrence (Events per hour) 0 / 1 / 10 Typical Scenario Ta, T3b FMR, Mid and Long Range, FMR and Pulsed, UWB Short Range Consequences Severity Consequences and Severity of Failures Failures may impair the main function. high File: D3.1_v1..doc 7/56

8 .4 Vulnerable Road User Detection Functional specifications of Vulnerable Road User Detection Main use-cases Major technology and function Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule This function allows to protect vulnerable road user such as pedestrian, or bicycle riders. A preventive action, braking or steering manoeuvre is required to avoid the collision and/or actuation of bumper protection to reduce the injuries gravity of the vulnerable road user. An actively moved hood increases distance between hood and hard engine to further reduce the injuries gravity. Perception: It is based on fusion between radar technology and camera to well classify the detected target. technology ensures the robustness of the detection and the distance accuracy estimation, while camera classifies the object. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational This function is intended to protect vulnerable road users by activating braking and steering or pedestrian bumper protection and active hood system. No intended driver reaction. In case of driver initiated braking the driver is expected to maintain the pedal pressure. Autonomous braking occurs less than one second before time to collision. Activation of enhanced brake assist functionality and /or bumper protection and/or active hood occurs less than seconds before time to collision. Parameter Values Parameter Value (min / typ / max) Number of s 0 / 10 / 50 Relative speed (victim to interferer) 10 / 40 / 50 km/h Distances (victim to interferer) 0 / 0 / 40 m Expected main direction of interference Driving Direction Sensor type to be considered FMR, Short and Mid Range Frequency of occurrence (Events per day) 5 / 0 / 100 Typical Scenario Tc, Td, X1, X Consequences Severity Consequences and Severity of Failures Both missed detection and ghost targets will impair the effectiveness. high File: D3.1_v1..doc 8/56

9 .5 Blind Spot Detection Functional specifications of BSD Main use-cases Major technology and function Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule The driver receives a visual and/or acoustical warning when an object is in the subject s blind spot. Active BSM corrects the path of driving by using brakes (ADAC Yellow Angel 011). Perception: Current solutions are using 4 GHz short range radars or vision sensors to detect objects in the blind spot zone. Prototype systems which monitor s that are rapidly approaching in the adjacent lanes have been built up using radar sensors. BSM warns the diver. Advanced systems use brakes for steering to prevent a collision. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational Avoid sideswipe collisions during lane change manoeuvres Upon receiving the warning the driver is assumed to avoid lane changes that may lead to a collision. The warning should be issued as soon as another is in the defined blind spot zone. Active BSM reacts in critical situations. Parameter Values Parameter Value (min / typ / max) Number of s 1 / / 10 Relative speed (victim to interferer) 1 / 0 / 50 km/h Distances (victim to interferer) 1 / 5 / 0 m Expected main direction of interference Backwards direction Sensor type to be considered SMR, Short Range (narrow band or UWB) Frequency of occurrence (Events per hour) 10 / 60 / 180 Typical Scenario RDb, RDc Consequences Severity Consequences and Severity of Failures Most probably missed detections; False detections and wrong distances are also possible. high File: D3.1_v1..doc 9/56

10 .6 Lane Change Assist Functional specifications of LCA Main use-cases Major technology and function Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule When the subject wants to change road lane, it receives a warning signal if a approaches from behind with a risk of collision Perception: Current solutions are using 4 GHz NB. UWB SRR or Long Range (76 GHz) solutions will be proposed with the capability of accurate target direction of arrival estimation. LCA warns the driver. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational This function is intended to reduce crashes or incidents resulting from lane change manoeuvres. It detects s far away from the subject and estimates the level of risk for the lane change. It can be coupled with BSD system in order to avoid sideswipe collisions during lane change manoeuvres. Drivers react to the issued warning and decide not to change a lane. The warning should be issued as soon as another is in the defined lane change zone in the rear area of the subject. Parameter Values Parameter Value (min / typ / max) Number of s 1 / 5 / 30 Relative speed (victim to interferer) -100 / 0 / 100 km/h Distances (victim to interferer) 3 / 30 / 70 m Expected main direction of interference Backwards direction Sensor type to be considered RMR, mid range. long range Frequency of occurrence (Events per hour) 0 / 10 / 100 Typical Scenario RT3 Consequences and Severity of Failures Consequences Severity Most probably missed detections; False detections and wrong distances are also possible. medium File: D3.1_v1..doc 10/56

11 .7 Rear Cross Traffic Alert Functional specifications of Rear Cross Traffic Alert Main use-cases Major technology and function Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule This function allows preventing the subject from targets located at crossing roads. The traffic situations can be backingup into passing traffic or intersection with a lack of visibility, etc. Perception: It is based on radar technology to ensure robust and accurate detection. A warning is sent to the driver in case of a detected risk situation. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational This function is intended to reduce crashes or incidents resulting from crossing, intersection situations where visibility is reduced.. Upon receiving the warning the driver is assumed to stop the. The warning should be issued as soon as a is estimated as dangerous regarding the TTC. Parameter Values Parameter Value (min / typ / max) Number of s 1 / / 10 Relative speed (victim to interferer) 0 / 10 / 50km/h Distances (victim to interferer) 0 / 10 / 30 m Expected main direction of interference Any Sensor type to be considered SMR, short range Frequency of occurrence (Events per hour) 0 / 4 / 10 Typical Scenario RP1a Consequences Severity Consequences and Severity of Failures Missed detections and incorrect information on distance or velocity of crossing objects. medium File: D3.1_v1..doc 11/56

12 .8 Back-Up Parking Assist Functional specifications of Parking Assist Main use-cases Major technology Function output Level of driver support Intended benefits with function Intended driver behaviour Time schedule This function is mainly used to alert a back-up with side detection. The subject moves back into a parking lot and the driver is informed if there is a risk. Perception: It is based on radar technology. Informative/Advisory/Warning Support Autonomous intervention Strategical Tactical Operational This function is intended to reduce crashes or incidents resulting in parking situations, i.e. backing into a parking lot.. Drivers react to the issued warning and respond by stopping the. The warning should be issued as soon as an object is in the defined detection zone. Parameter Values Parameter Value (min / typ / max) Number of s / 3 / 10 Relative speed (victim to interferer) 1 / 5 / 15 km/h Distances (victim to interferer) 0 / 5 / 0 Expected main direction of interference Side Sensor type to be considered RMR, short range Frequency of occurrence (Events per hour) 0 / / 10 Typical Scenario RP1a Consequences Severity Consequences and Severity of Failures Most probably missed detections; False detections and wrong distances are also possible. medium File: D3.1_v1..doc 1/56

13 3 Detailed Description of Scenarios The following sections define the different scenarios to be simulated. The details of the used coordinate systems and other details of the description language can be found in the document for general definitions used throughout the MOSARIM project [General]. The individual sections are structured as follows: A figure from [D1.] gives an overview of the scenario and the used objects. The objects are numbered and referred to in a table defining the basic values and the used variables. The values of these variables are given in the table that describes the scenario variations. In general the time to be simulated is 8 s if nothing else is stated. 3.1 Victim and interferer passing each other [Db] 1 Figure 1 Scenario [Db] illustration Number Parameters Description 1 Host Interfering x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table vy 1 : 0 m/s FMR; see parameter variations, Table x : see parameter variations, Table y : 4 m vx : see parameter variations, Table vy : 0 m/s FMR; see parameter variations, Table Table 1: Detailed scenario description [Db] File: D3.1_v1..doc 13/56

14 Scenario Variables variation 1 x vx 1 vx FMR x vx 1 vx FMR 3 x vx 1 vx FMR 4 x vx 1 vx Values 100 m 30 m/s 30 m/s 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 30 m 10 m/s 10 m/s 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 60 m 30 m/s 30 m/s 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) 30 m 10 m/s 10 m/s FMR 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) Table : Variation of scenario parameters [Db] File: D3.1_v1..doc 14/56

15 3. Standstill at intersection, target ahead [T1a] 1 3 Figure Scenario [T1a] illustration Number Parameters Description 1 Host Interfering 3 Target x 1 : 0 m y 1 : 0 m vx 1 : 0 m/s vy 1 : 0 m/s FMR; see parameter variations, Table 4 x : 30 m y : 4 m vx : 0 m/s vy : 0 m/s FMR; see parameter variations, Table 4 x 3 : see parameter variations, Table 4 y 3 : 0 m vx 3 : 0 m/s vy 3 : 0 m/s Table 3: Detailed scenario description [T1a] File: D3.1_v1..doc 15/56

16 Scenario Variables variation 1 x 3 FMR x 3 FMR 3 x 3 FMR 4 x 3 Values m 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 5 m 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) m 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) 5 m FMR 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) Table 4: Variation of scenario parameters [T1a] File: D3.1_v1..doc 16/56

17 3.3 Victim approaches target at intersection [T1b] 1 3 Figure 3 - Scenario [T1b] illustration Number Parameters Description 1 Host Interfering 3 Target x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table 6 vy 1 : 0 m/s FMR; see parameter variations, Table 6 x : 15m + x 3 y : 5m vx : 0 m/s vy : 0 m/s FMR; see parameter variations, Table 6 x 3 : see parameter variations, Table 6 y 3 : 0 m vx 3 : 0 m/s vy 3 : 0 m/s Table 5: Detailed scenario description [T1b] File: D3.1_v1..doc 17/56

18 Scenario Variables variation 1 x 3 vx 1 FMR x 3 vx 1 FMR 3 x 3 vx 1 FMR 4 x 3 vx 1 Values 15 m 5 m/s 77GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 30 m 10 m/s 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 15 m 5 m/s 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) 30 m 10 m/s FMR 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) Table 6: Variation of scenario parameters [T1b] File: D3.1_v1..doc 18/56

19 3.4 Following a car, oncoming interferer [Ta] Figure 4 Scenario [Ta] illustration Number Parameters Description 1 Host Interfering 3 Target x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table 8 vy 1 : 0 m/s FMR; see parameter variations, Table 8 x : 00 m y : 5 m vx : see parameter variations, Table 8 vy : 0 m/s FMR; see parameter variations, Table 8 x 3 : see parameter variations, Table 8 y 3 : 0 m vx 3 : see parameter variations, Table 8 vy 3 : 0 m/s Table 7: Detailed scenario description [Ta] File: D3.1_v1..doc 19/56

20 Scenario Variables variation 1 x 3 vx 1 vx vx 3 FMR x 3 vx 1 vx vx 3 FMR 3 x 3 vx 1 vx vx 3 FMR 4 x 3 vx 1 vx vx 3 Values 60 m 0 m/s 0 m/s 0 m/s 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 40 m 10 m/s 10 m/s 10 m/s 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 60 m 0 m/s 0 m/s 0 m/s 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) 40 m 10 m/s 10 m/s 10 m/s FMR 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) Table 8: Variation of scenario parameters [Ta] File: D3.1_v1..doc 0/56

21 3.5 Oncoming interferer with motorcycle target [Tc] Figure 5 Scenario [Tc] illustration Number Parameters Description 1 Truck Host Interfering 3 Target x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table 10 vy 1 : 0 m/s FMR; see parameter variations, Table 10 x : 100 m y : 5 m vx : see parameter variations, Table 10 vy : 0 m/s FMR; see parameter variations, Table 10 Motorcycle x 3 : see parameter variations, Table 10 y 3 : 0 m vx 3 : see parameter variations, Table 10 vy 3 : 0 m/s Table 9: Detailed scenario description [Tc] File: D3.1_v1..doc 1/56

22 Scenario Variables variation 1 x 3 vx 1 vx vx 3 FMR x 3 vx 1 vx vx 3 FMR 3 x 3 vx 1 vx vx 3 FMR 4 x 3 vx 1 vx vx 3 Values 60 m 0 m/s 0 m/s 0 m/s 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 40 m 10 m/s 10 m/s 10 m/s 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) 60 m 0 m/s 0 m/s 0 m/s 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) 40 m 10 m/s 10 m/s 10 m/s FMR 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) Table 10: Variation of scenario parameters [Tc] File: D3.1_v1..doc /56

23 3.6 Oncoming interferer with pedestrian as target [Td] Figure 6 Scenario [Td] illustration Number Parameters Description 1 Truck Host Interfering 3 Target x 1 : 0 m y 1 : 0 m vx 1 : 10 m/s vy 1 : 0 m/s FMR; see parameter variations, Table 1 x : 130 m y : 4 m vx : 10 m/s vy : 0 m/s FMR; see parameter variations, Table 1 Pedestrian x 3 : 80 m y 3 : -7 m vx 3 : 0 m/s vy 3 : 1,5 m/s Table 11: Detailed scenario description [Td] Scenario Variables Values variation 1 FMR 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) FMR 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) Table 1: Variation of scenario parameters [Td] File: D3.1_v1..doc 3/56

24 3.7 Victim and interferer drive in parallel, target ahead, lane change [T3b] Y Figure 7 Scenario [T3b] illustration X Number Parameters Description 1 Truck Host Interfering 3 Target 4 Target x 1 : 0 m y 1 : 0 m vx 1 : 5 m/s vy 1 : 0 m/s FMR; see parameter variations, Table 14 Truck x : 0 m y : 4 m vx : 5 m/s vy : 0 m/s FMR; see parameter variations, Table 14 x 3 : 80 m; see parameter variations, Table 14 y 3 : 0 m vx 3 : 8 m/s vy 3 : 1,5 m/s x 4 : 100 m; see parameter variations, Table 14 y 4 : 4 m vx 4 : 8 m/s vy 4 : 0 m/s File: D3.1_v1..doc 4/56

25 5 Target x 5 : 100 m; see parameter variations, Table 14 y 5 : 0 m vx 5 : 5 m/s vy 5 : 0 m/s Table 13: Detailed scenario description [T3b] Scenario Variables Values variation 1 FMR 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) FMR 4 GHz ISM, MRR or LRR, Application ACC (Parameter values see Appendix) 3 vy 3 1 m/s 4 x 3 x 4 x m m m Table 14: Variation of scenario parameters [T3b] File: D3.1_v1..doc 5/56

26 3.8 Interference from crossing traffic [X1] The duration of the scenario to be simulated is 5 s. Y 3 Ref. point of 3 1 X Figure 8 Scenario [X1] illustration Number Parameters Description 1 Host Target 3 Interfering x 1 : 0 m y 1 : 0 m vx 1 : 10 m/s vy 1 : 0 m/s FMR; see parameter variations, Table 16 Vulnerable road user (VRU) x : 50 m y : -3.8 m vx : 0 m/s vy : 1 m/s x 3 : 51.8 m y 3 : 5.4 m vx 3 : 0 m/s vy 3 : 0 m/s FMR; see parameter variations, Table 16 Table 15: Detailed scenario description [X1] File: D3.1_v1..doc 6/56

27 Scenario Variables Values variation 1 FMR 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) FMR 4 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) Table 16: Variation of scenario parameters [X1] File: D3.1_v1..doc 7/56

28 3.9 High density of interferers [X] The duration of the scenario to be simulated is 10 s. Figure 9 Scenario [X] illustration Number Parameters Description 1 Host Target x 1 : 0 m y 1 : 0 m vx 1 : 0 m/s vy 1 : 0 m/s FMR; see parameter variations, Table 18 Vulnerable road user (VRU) x : 4 m y : -4 m vx : 0 m/s vy : 3 m/s File: D3.1_v1..doc 8/56

29 Number Parameters Description 3 Target 4 Interfering 5 Interfering 6 Interfering 7 Interfering 8 Interfering x 3 : 18 m y 3 : 0 m vx 3 : 10 m/s vy 3 : 0 m/s x 4 : 14 m y 4 : -4 m vx 4 : 0 m/s vy 4 : 0 m/s FMR; see parameter variations, Table 18 x 5 : 18 m y 5 : -4 m vx 5 : 0 m/s vy 5 : 0 m/s FMR; see parameter variations, Table 18 x 6 : 6 m y 6 : 10 m vx 6 : 0 m/s vy 6 : 0 m/s FMR; see parameter variations, Table 18 x 7 : 10 m y 7 : 10 m vx 7 : 0 m/s vy 7 : 0 m/s FMR; see parameter variations, Table 18 x 8 : m y 8 : 8 m vx 8 : 0 m/s vy 8 : 0 m/s; see parameter variations, Table 18 FMR; see parameter variations, Table 18 File: D3.1_v1..doc 9/56

30 Number Parameters Description 9 Interfering x 9 : m y 9 : 4 m vx 9 : 0 m/s vy 9 : 0 m/s; see parameter variations, Table 18 FMR; see parameter variations, Table 18 Table 17: Detailed scenario description [X] Scenario Variables Values variation 1 FMR 77 GHz, MRR or LRR, Application ACC (Parameter values see Appendix) FMR 79 GHz, MRR, Application ACC (Parameter values see Appendix) 3 FMR 79 GHz, MRR with DAA (detect and avoid), Application ACC (Parameter values see Appendix) 4 vy 8 vy 9 - m/s - m/s Table 18: Variation of scenario parameters [X] File: D3.1_v1..doc 30/56

31 3.10 Direct interference, traffic in the same direction with similar velocities, rear sensor [R1a] Y 1 X Figure 10 Scenario [R1a] illustration Number Parameters Description 1 Host Interfering x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table 0 vy 1 : 0 m/s FMR (4 GHz ISM); see parameter variations, Table 0 x : 30 m y : 0 m vx : 0 m/s vy : 0 m/s RMR (4 GHz ISM); see parameter variations, Table 0 Table 19: Detailed scenario description [R1a] Remark: In this scenario 76 GHz LRR at rear end against 76 GHz LRR in front of a car might be a critical case (e.g. Toyota 76 GHz rear end radar), especially at low distances (traffic jam) see also 3.15 Scenario Variables Values variation 1 vx 1 0 m/s vx 1 5 m/s 3 FMR MRR or LRR, Application ACC (Parameter values see Appendix) 4 RMR SRR or MRR, Application LCA (Parameter values see Appendix) Table 0: Variation of scenario parameters [R1a] File: D3.1_v1..doc 31/56

32 3.11 Interference with multiple backwards looking sensors [R] Y X Figure 11 Scenario [R] illustration Number Parameters Description 1 Host Interfering 3 Interfering x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations in table below vy 1 : 0 m/s FMR (4 GHz ISM); see parameter variations, Table x : 4 m y : 4 m vx : vx 1 vy : 0 m/s SMR (4 GHz ISM); see parameter variations, Table x 3 : 4 m y 3 : -4 m vx 3 : vx 1 vy 3 : 0 m/s SMR (4 GHz ISM); see parameter variations, Table File: D3.1_v1..doc 3/56

33 4 Target x 4 : see parameter variations, Table y 4 : 0 m vx 4 : vx 1 vy 4 : 0 m/s Table 1: Detailed scenario description [R1a] Scenario Variables variation 1 x 4 vx 1 x 4 Values 0 m 0 m/s 50 m vx 1 5 m/s 3 FMR MRR or LRR, Application ACC (Parameter values see Appendix) 4 SMR SRR, Application LCA (Parameter values see Appendix) Table : Variation of scenario parameters [R1a] File: D3.1_v1..doc 33/56

34 3.1 Direct interference, traffic in the same direction with similar velocities, side sensor [RDa] Y X Figure 1 Scenario [RDa] illustration Number Parameters Description 1 Host Interfering 3 Target 4 Target x 1 : 0 m y 1 : 0 m vx 1 : 5 m/s vy 1 : 0 m/s SMR, Application BSD (4 GHz ISM, Parameter values see Appendix) x : 0 m y : -4 m vx : 5 m/s vy : see parameter variations, Table 4 SMR, Application BSD (4 GHz ISM, Parameter values see Appendix) x 3 : 0 m y 3 : 0 m vx 3 : 5 m/s vy 3 : 0 m/s x 4 : 1 m y 4 : -4 m vx 4 : 5 m/s vy 4 : 0 m/s File: D3.1_v1..doc 34/56

35 5 Target 6 Target 7 Target x 5 : -18 m y 5 : -4 m vx 5 : 5 m/s vy 5 : 0 m/s x 6 : 0 m y 6 : -0 m vx 6 : 5 m/s vy 6 : 0 m/s x 7 : -4 m y 7 : -5 m vx 7 : 5 m/s vy 7 : 0 m/s Table 3: Detailed scenario description [RDa] Scenario Variables Values variation 1 vy 0 m/s vy 0.5 m/s Table 4: Variation of scenario parameters [RDa] File: D3.1_v1..doc 35/56

36 3.13 Overtaking [RDb] 1 Figure 13 Scenario [RDb] illustration Number Parameters Description 1 Host Interfering x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table 6 vy 1 : 0 m/s SMR, Application BSD (4 GHz ISM, Parameter values see Appendix) x : 30 m y : -4 m vx : 8 m/s vy : 0 m/s SMR, Application BSD (4 GHz ISM, Parameter values see Appendix) Table 5: Detailed scenario description [RDb] Scenario Variables Values variation 1 vx 1 30 m/s vx 1 45 m/s Table 6: Variation of scenario parameters [RDb] File: D3.1_v1..doc 36/56

37 3.14 Being Overtaken [RDc] Figure 14 Scenario [RDc] illustration 1 Number Parameters Description 1 Host Interfering x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table 8 vy 1 : 0 m/s SMR, Application BSD (4 GHz ISM, Parameter values see Appendix) x : -5 m y : 4 m vx : 36 m/s vy : 0 m/s SMR, Application BSD (4 GHz ISM, Parameter values see Appendix) Table 7: Detailed scenario description [RDc] Scenario Variables Values variation 1 vx 1 30 m/s vx 1 35 m/s Table 8: Variation of scenario parameters [RDc] File: D3.1_v1..doc 37/56

38 3.15 Forward looking sensor on following [RDf] The duration of the scenario to be simulated is 5 s. Y Ref. point of 1 X 1 Figure 15 Scenario [RDf] illustration Number Parameters Description 1 Host Interfering x 1 : 0 m y 1 : 0 m vx 1 : m/s; see parameter variations, Table 30 vy 1 : 0 m/s RMR; see parameter variations, Table 30 x : -50 m y : 0 m vx : vx 1 ; see parameter variations, Table 30 vy : 0 m/s FMR; see parameter variations, Table 30 Table 9: Detailed scenario description [RDf] Scenario Variables Values variation 1 FMR 77 GHz, LRR or MRR (Parameter values see Appendix) FMR 4 GHz ISM, LRR or MRR (Parameter values see Appendix) 4 RMR SRR or MRR (Parameter values see Appendix) 3 vx 1 Always static and static to moving 4 vx 1 vx 36 m/s and 30 km/h 36 m/s Table 30: Variation of scenario parameters [RDf] File: D3.1_v1..doc 38/56

39 3.16 Victim and interferer driving in parallel, target following [RT1] Y 3 1 X Figure 16 Scenario [RT1] illustration Number Parameters Description 1 Host Interfering 3 Target x 1 : 0 m y 1 : 0 m vx 1 : see parameter variations, Table 3 vy 1 : 0 m/s SMR, SRR, Application BSD (4 GHz, Parameter values see Appendix) x : 0 m y : 4 m vx : 5 m/s vy : 0 m/s SMR, SRR, Application BSD (4 GHz, Parameter values see Appendix) x 3 : -50 m y 3 : 0 m vx 3 : 5 m/s vy 3 : 0 m/s Table 31: Detailed scenario description [RT1] Scenario Variables Values variation 1 vx 1 0 m/s vx 1 5 m/s Table 3: Variation of scenario parameters [RT1] File: D3.1_v1..doc 39/56

40 3.17 Blind spot detection with multiple interferers [RT] Y Figure 17 Scenario [RT] illustration X Number Parameters Description 1 Host Interfering 3 Interfering x 1 : see parameter variations, Table 34 y 1 : 0 m vx 1 : 14 m/s vy 1 : 0 m/s SMR x : 0 m y : 4 m vx : 14 m/s vy : 0 m/s SMR x 3 : 0 m y 3 : -4 m vx 3 : 14 m/s vy 3 : 0 m/s SMR File: D3.1_v1..doc 40/56

41 4 Target x 4 : -5 m y 4 : 0 m vx 4 : 14 m/s vy 4 : 0 m/s SMR Table 33: Detailed scenario description [RT] Scenario Variables Values variation 1 SMR SRR, Application BSD (4 GHz UWB / ISM, Parameter values see Appendix) x m Table 34: Variation of scenario parameters [RT] File: D3.1_v1..doc 41/56

42 3.18 Interference with forward looking radar [RT3] Y X Figure 18 Scenario [RT3] illustration Number Parameters Description 1 Host Interfering 3 Target 4 Target x 1 : 0 m y 1 : 0 m vx 1 : 5 m/s vy 1 : 0 m/s SMR, SRR, Application BSD (4 GHz) x : -0 m y : 0 m vx : see parameter variations, Table 36 vy : 0 m/s FMR, LRR or MRR, Application ACC (4 GHz) Truck x 3 : 0 m y 3 : 0 m vx 3 : 5 m/s vy 3 : 0 m/s x 4 : -5 m y 4 : 4 m vx 4 : 30 m/s vy 4 : 0 m/s Table 35: Detailed scenario description [RT3] File: D3.1_v1..doc 4/56

43 Scenario Variables Values variation 1 vx 5 m/s vx 30 m/s Table 36: Variation of scenario parameters [RT3] File: D3.1_v1..doc 43/56

44 3.19 Parking slot, interfering sensor looking forward [RP1a] Y X Figure 19 Scenario [RP1a] illustration Number Parameters Description 1 Host Interfering 3 Target 4 Target x 1 : 0 m y 1 : 0 m vx 1 : 0 m/s vy 1 : -1 m/s SMR, SRR, Application CTA (4 GHz) x : 5 m y : -3 m vx : see parameter variations, Table 38 vy : 0 m/s FMR (4 GHz) x 3 : 3 m y 3 : 0 m vx 3 : 0 m/s vy 3 : 0 m/s x 4 : -3 m y 4 : 0 m vx 4 : 0 m/s vy 4 : 0 m/s Table 37: Detailed scenario description [RP1a] File: D3.1_v1..doc 44/56

45 Scenario Variables Values variation 1 vx -5 m/s vx -15 m/s Table 38: Variation of scenario parameters [RP1a] File: D3.1_v1..doc 45/56

46 3.0 Congested Motorway [H1a] This scenario will be considered when first experiences with the simulation environment have been made. File: D3.1_v1..doc 46/56

47 3.1 Congested Motorway in a Tunnel [H1b] This scenario will be considered when first experiences with the simulation environment have been made. File: D3.1_v1..doc 47/56

48 3. Dense Urban Traffic [H] This scenario will be considered when first experiences with the simulation environment have been made. File: D3.1_v1..doc 48/56

49 4 Summary of selected Scenarios and appropriate Ranking In Table 39 the different scenarios described in the previous chapter are grouped according to their individual relevance, ranging from high over medium to low, using the same scheme as in [MT4.3]. The specific relevance was jointly evaluated within the project. The special scenario of the absorbing chamber employed in Task 4.1 [D4.1], being represented in Group 0, was included for completeness. Group Short Number Description 0 Reference Chamber and Free Space Scenarios in Group Example Scenario Relevance Mandatory 1 Oncoming Traffic (with Target) Db, T1a, T1b,Ta, Tc, Td High Oncoming Traffic This group is only relevant for real world measurements. In simulations it is joined with Group 1 (see above). 3 Cross Traffic X1, X Medium 4 Parallel Traffic, SLR Interference 5 Victim Following Interferer 6 Interferer Following Victim RDa, RT1 R1a, R RT3 High Medium High File: D3.1_v1..doc 49/56

50 7 Parking Slot RP1a Medium 8 Congested Highway H1a, H1b, H See 1 9 Parallel Traffic, FLR Interference This Group is only part of the simulations but not of the scenarios selected for measurements. T3b Table 39: Grouping of the different scenarios and their relevance. Low 1 Group 8 is in general considered to be of high relevance, but is very complex from a simulation point of view. Therefore it will only be implemented later on in the project, when experiences with simpler scenarios have already been gathered. File: D3.1_v1..doc 50/56

51 5 Conclusions Eight different groups of relevant applications and scenarios with high interference risk have been jointly derived, evaluated and prioritized: Oncoming Traffic with/ without Target Cross Traffic Parallel Traffic, SLR Interference Victim Following Interferer Interferer Following Victim Parking Slot Congested Motorway Parallel Traffic, FLR Interference Three of them, oncoming traffic with target, parallel traffic, interferer following victim, have been prioritized (jointly within the project) as high and thus will be investigated first. However, the here described relevant applications and scenarios must not be the last and final solution. Ongoing investigations within the scope of the project might ask for an enlargement, such not yet known applications and scenarios can be covered later, if necessary. All eight scenario groups shall be the basis for the upcoming simulation process in WP 3 in order to investigate and to determine the interference risk probability in such relevant use cases. Appropriate mitigation techniques shall be derived and simulated accordingly. File: D3.1_v1..doc 51/56

52 6 Bibliography [D1.] [D1.7] [D4.1] [E-Value] [General] [MT4.3] [HFAS] Deliverable to MOSARIM Task 1. Study report on relevant scenarios and applications and requirements specification, 010. Deliverable to MOSARIM Task 1.7 Estimation of interference risk from incumbent frequency users and services, 010. Deliverable to MOSARIM Task 4.1 Report from ground truth interference between existing sensors, 010. The E-value Project, Deliverable D1.1, State of the Art and evalue scope : final.pdf (visited 10//011). Document containing general definitions used throughout the MOSARIM Project, 010. Milestone document to MOSARIM Task 4.3 Implementation of countermeasures, selection and preparation of real world test cases to assess countermeasures effectiveness, 011. Winner, H.; Hakuli, S.; Wolf, G., Handbuch Fahrerassistenzsysteme,Vieweg+Teubner, 009. File: D3.1_v1..doc 5/56

53 7 Appendix: Important Parameters of Sensor Antennas The following chapter describes basic antenna parameters to be used in future simulations. Some parameters were already compiled in the deliverable of Task 1.7 [D1.7]. Some values refer to the coordinate system of Fig. 0. y azimuth: ϕ x elevation: θ = 90 assumed in all cases Fig. 0: Coordinate system used for some antenna parameters. Basic data for 4GHz ISM / UWB sensors: Sensor Type Parameter FMR, short range FMR, mid range SMR, short range File: D3.1_v1..doc TX antenna(s) min / typ / max RX antenna(s) min / typ / max Beam symmetry direction ϕ=0 ϕ=0 3dB beam width (az.) 90 / 10 / / 10 / 150 3dB beam width (el.) Amplitude of first side lobe -0dBc -0dBc Number of beams 1 Time for one complete scan n.a. n.a. Total field of view 90 / 10 / 150 Beam symmetry direction ϕ=0 ϕ=0 3dB beam width (az.) dB beam width (el.) Amplitude of first side lobe -0dBc -0dBc Number of beams 1 Time for one complete scan n.a. n.a. Total field of view 40 Beam symmetry direction ϕ=+/-(40 / 90 / 140 ) 53/56 ϕ=+/-(40 / 90 / 140 ) 3dB beam width (az.) 150 3dB beam width (el.) Amplitude of first side lobe -0dBc -0dBc Number of beams 1 7 Time for one complete scan n.a. n.a. Total field of view 150

54 RMR, short range RMR, mid range Beam symmetry direction ϕ=180 ϕ=180 3dB beam width (az.) 90 / 10 / / 10 / 150 3dB beam width (el.) Amplitude of first side lobe -0dBc -0dBc Number of beams 1 Time for one complete scan n.a. n.a. Total field of view 90 / 10 / 150 Beam symmetry direction ϕ=180 ϕ=180 3dB beam width (az.) dB beam width (el.) 0 0 Amplitude of first side lobe -0dBc -0dBc Number of beams 1 Time for one complete scan n.a. n.a. Total field of view 90 Basic data for 77 / 79GHz sensors: Sensor Type Parameter FMR, short range FMR, mid range FMR, long range SMR, short range TX antenna(s) min / typ / max RX antenna(s) min / typ / max Beam symmetry direction ϕ=180 ϕ=180 3dB beam width (az.) 50 / 70 / / 70 / 90 3dB beam width (el.) 10 / 15 / 0 10 / 15 / 0 Amplitude of first side lobe -0dBc -0dBc Number of beams 1 / / 5 1 / / 5 Time for one complete scan 10ms / 5ms / 50ms 10ms / 5ms / 50ms Total field of view 40 / 90 / 10 Beam symmetry direction ϕ=0 ϕ=0 3dB beam width (az.) 5 / 1 / 0 5 / 1 / 0 3dB beam width (el.) 8 / 1 / 14 8 / 1 / 14 Amplitude of first side lobe -0dBc -0dBc Number of beams / 5 / 10 / 5 / 10 Time for one complete scan 10ms / 5ms / 50ms 10ms / 5ms / 50ms Total field of view 0 / 40 / 60 Beam symmetry direction ϕ=0 ϕ=0 3dB beam width (az.) 3 / 4 / 5 3 / 4 / 5 3dB beam width (el.) 4 4 Amplitude of first side lobe -0dBc -0dBc Number of beams 4 (LRR3), 4 (LRR3), 17 (ARS300) 17 (ARS300) Time for one complete scan 0 ms / 5ms / 40 ms 0 ms / 5ms / 40 ms Total field of view 17 / 0 / 5 Beam symmetry direction ϕ=+/-(40 / 90 / ϕ=+/-(40 / 90 / 140 ) 140 ) 3dB beam width (az.) 30 / 60 / / 60 / 90 3dB beam width (el.) 10 / 0 / / 0 / 30 Amplitude of first side lobe -0dBc -0dBc Number of beams 1 / / 4 1 / / 4 Time for one complete scan 5ms / 10ms / 50ms 5ms / 10ms / 50ms Total field of view 0 / 40 / 60 File: D3.1_v1..doc 54/56

55 RMR, short range Beam symmetry direction ϕ=180 ϕ=180 3dB beam width (az.) 50 / 70 / / 70 / 90 3dB beam width (el.) 10 / 15 / 0 10 / 15 / 0 Amplitude of first side lobe -0dBc -0dBc Number of beams 1 / / 4 1 / / 4 Time for one complete scan 10ms / 0ms / 50ms 10ms / 0ms / 50ms Total field of view 50 / 70 / 100 File: D3.1_v1..doc 55/56

56 8 Appendix: List of Abbreviations ACC BSD CMS CTA CWS DAA FLR FMR ISM LCA LRR MLD MRR NB RCTA RMR SLR SMR SRR S&G TTC UWB VRUD Active/Adaptive Cruise Control Blind Spot Detection Collision Mitigation System Cross Traffic Assist Collision Warning System Detect and Avoid Forward Looking Front Mounted Industrial, Scientific, Medical Lane Change Assist Long Range Main Lobe Direction Medium Range Narrow Band Rear Cross Traffic Alert Rear Mounted Side Looking Side Mounted Short Range Stop&Go Time to Collision Ultra-Wideband Vulnerable Road User Detection File: D3.1_v1..doc 56/56