Contract no.: 248231 MOSARIM D12.1 – Study report on ......Revision chart and history log Version Date Reason ... File: MOSARIM_Deliverable_D12.1_V1.1.doc 3/63 Table of contents

Contract no.: 248231

MOSARIM

D12.1 – Study report on relevant scenarios and applications and requirements specification

Report type Deliverable

Work Group WP1

Dissemination level Public

Version number Version 1.1

Date 2010-08-06

Lead Partner Volvo Technology AB

Project Coordinator Dr. Martin Kunert

Robert Bosch GmbH Daimler Strasse 6

71229 Leonberg Phone +49 (0)711 811 37468

[email protected]

copyright 2010

the MOSARIM Consortium

MOSARIM No.248231 30.08.2010

File: MOSARIM_Deliverable_D12.1_V1.1.doc 2/63

Authors

Name Company

Malte Ahrholdt Volvo Technology

Frantz Bodereau Autocruise

Christoph Fischer Daimler

Markus Goppelt Daimler

Robert Pietsch Continental

Andreas John Hella

Alicja Ossowska Valeo

Martin Kunert Bosch

Revision chart and history log

Version Date Reason

0.1 2010-02-18 Initial version

0.2 2010-03-23 Integrated partner contributions

0.3 2010-04-12 Integrated update from some partners

0.4 2010-04-29 revision

0.5 2010-05-19 Selection of relevant scenarios, based on partner input, minor other updates

0.6 2010-06-21 Executive summary and requirement specification

0.7 2010-06-30 Revision before peer review process

1.0 2010-07-14 Finalization before review

1.1 2010-08-06 Added more high-density scenarios after review

MOSARIM No.248231 30.08.2010


Table of contents Authors ................................................................................................................................2

Revision chart and history log........................................................................................2

Table of contents ....................................................................................................................2

Table of contents ....................................................................................................................3

1. Executive Summary........................................................................................................5

2. Relevant Vehicle Applications ........................................................................................6

2.1. Forward Sensing .....................................................................................................6

2.1.1. Adaptive Cruise Control ..................................................................................6

2.1.2. Collision Warning System...............................................................................6

2.1.3. Collision Mitigation System ............................................................................7

2.1.4. Vulnerable Road User Detection .....................................................................7

2.2. Side and rear sensing...............................................................................................8

2.2.1. Blind Spot Monitoring.....................................................................................8

2.2.2. Lane Change Assistance ..................................................................................8

2.2.3. Rear Cross Traffic Alert / Rear Cross Path Systems.........................................9

3. Scenario overview ........................................................................................................10

3.1. Forward Looking Sensor .......................................................................................10

3.2. Rear and Side Sensor ............................................................................................13

4. Relevant Scenarios in Detail: Forward Looking Sensor.................................................17

4.1. Direct interference without further target objects...................................................17

4.1.1. [D1 a/b] Standstill, short and long distance....................................................17

4.1.2. [D2a] Victim approaches interferer................................................................18

4.1.3. [D2b] Victim and interferer passing each other..............................................19

4.2. Direct interference with presence of further target objects .....................................20

4.2.1. [T1a] Standstill at intersection, target ahead ..................................................20

4.2.2. [T1b] Victim approaches target at intersection...............................................21

4.2.3. [T2a] Following a car, oncoming interferer....................................................22

4.2.4. [T2b] Oncoming interferer in road curve .......................................................23

4.2.5. [T2c] Oncoming interferer with motorcycle target .........................................24

4.2.6. [T2d] Oncoming interferer with pedestrian as target ......................................25

4.2.7. [T3a] Victim and interferer drive in parallel, target ahead..............................26

4.2.8. [T3b] Victim and interferer drive in parallel, target ahead, lane change .........27

4.2.9. [X1] Interference from crossing traffic ..........................................................28

4.2.10. [X2] High density of interferers at intersection ..............................................29

4.2.11. [X3] Roundabout...........................................................................................30

4.3. Interference with rear- or sideward-looking sensors...............................................31

4.3.1. [R1a-c] Interference with rear- / sideward-looking sensor..............................31

4.3.2. [R2] Interference with multiple rear-looking sensors .....................................33

4.4. Indirect interference scenarios...............................................................................34

4.4.1. [I1] Indirect interference with rear-looking sensor (truck)..............................34

4.4.2. [I2a/b] Indirect interference with rear-looking sensor ....................................35

4.4.3. [I3a/b] Indirect interference with multiple rear-looking sensors .....................36

[I4] Indirect interference with disturbing vehicle and presence of a guard rail ...............37

4.5. Environmental conditions......................................................................................38

4.5.1. [E1] Wet road surface....................................................................................38

4.5.2. [E2] Wet road surface....................................................................................39

5. Relevant Scenarios in Detail: Rear and Side Sensor ......................................................40

5.1. Direct interference.................................................................................................40

5.1.1. [RD1a/b]Direct interference, oncoming traffic...............................................40

[RD2a-g] Direct interference, traffic in same direction with similar velocities...............41

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5.1.2. [RD2f] Forward looking sensor on following vehicle ....................................44

5.1.3. [RD3] Road approaches with various angles other than 90deg.......................45

5.2. Direct interference with the presence of further target objects ...............................47

5.2.1. [RT1] Victim and interferer driving in parallel, target following....................47

5.2.2. [RT2] Blind spot detection with multiple interferers ......................................48

5.2.3. [RT3] Interference with forward looking radar ..............................................49

5.3. Indirect interference ..............................................................................................50

5.3.1. [RI1] Guard Rail ...........................................................................................50

5.3.2. [RX1a-f] Intersection.....................................................................................51

5.3.3. [RP] Parking lot.............................................................................................57

6. Requirement Specification ............................................................................................58

6.1. Forward looking sensor.........................................................................................60

6.2. Rear and side sensor..............................................................................................61

7. Annex...........................................................................................................................62

7.1. Legend of Scenario Sketches.................................................................................62

7.2. Legend of Scenario Relevance ..............................................................................62

7.3. Acronyms .............................................................................................................63

MOSARIM No.248231 30.08.2010


1. Executive Summary

In order to investigate radar interference in the MOSARIM project, two types of information

have to be taken into account:

� What different traffic safety applications use automotive radar, and what consequences

does potential radar interference cause?

� In which traffic scenarios interference of radar sensors can occur?

In order to answer these crucial questions, this document first gives a list of the relevant

traffic applications in Chapter 2. Here, also the consequence of a false or missed radar

detection are explained on application level.

Then a set of relevant interference scenarios is listed in an overview in Chapter 3, and

elaborated in more details in Chapter 4 and 5. The analysis is grouped first for forward-

looking radar systems, then for rear- and/or sideward looking radar systems.

Scenarios have been selected, that are particularly relevant to be taken into account for

analysis in simulation and practical measurements, based on the partners’ experience. In

Chapter 0, standard parameters are specified for these main scenarios, which can be used for

simulation and practical testing.

The scenario selection takes into account a number of different factors, apart from the obvious

direct interference from one radar sensor to another:

– Indirect interference by radar reflection on other objects

– Potentially high density of interference sources

– Diversity of the interferences (modulations, antenna polarization, …)

– Emission power level of the interferences

– Geometry: facing one another, parallel, …

– Environment (meteorological), e.g. wet road

– Environment (static objects), e.g. guard rails or tunnels

– Targets: Different levels of target RCS

Note that in this investigation, the scenarios listed are for further investigation whether or not

interference effects occur. Also, the expected distance range relevant for interference may

vary, also depending on parameters such as antenna characteristic and the share of sensor

power relevant for interference effects.

In the selection of scenarios, only automotive radar has been taken into account. There is also

the question whether other – mainly stationary – radiation sources can act as an interferer.

This will be addressed in the projects work task 1.7 “Estimation of interference risk from

incumbent frequency users and services”.

MOSARIM No.248231 30.08.2010


2. Relevant Vehicle Applications This chapter gives an overview of functions in which radar sensing typically is used in order

to detect surrounding vehicles or objects.

2.1. Forward Sensing

Figure 1 – Forward long range sensors for car / truck

Figure 2 – Forward short range sensors for car / truck

2.1.1. Adaptive Cruise Control

Operating principle:

– Acceleration/deceleration to keep a constant distance to the vehicle in front

– ACC Stop & Go: Stops behind a stopping/stopped vehicle, follows the vehicle

when it drives on (requires driver input)

False positives:

– Erroneous acceleration/deceleration depending on distance/rel. speed of the

“false” ghost target

– E.g.: Stationary ghost target

False negatives:

– No acceleration/deceleration

– E.g.: No deceleration approaching a traffic jam

Controllability by the driver:

– Controllable, since only limited acceleration/deceleration by the function

2.1.2. Collision Warning System


– Acoustical and/or optical warning

– Preparation of the braking system by building up pressure

False positives:

– Erroneous warnings


False negatives:

– No warning/no building up of pressure

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– E.g.: Approaching a traffic jam


– Controllable, since no autonomous braking is performed by the function

2.1.3. Collision Mitigation System


– Optical and acoustical warning

– Preparation of the braking system by building up pressure

– Partial braking as haptic warning

– Activation of Passive Safety Measures (Pre-Crash)

– Increases the braking force if the driver doesn‘t generate the necessary

deceleration to avoid the collision

– Autonomous braking if the driver doesn‘t generate the necessary deceleration

to avoid the collision

False positives:


– Erroneous autonomous limited braking

– Erroneous autonomous full braking

– Erroneus autonomous Pre-Crash measures


False negatives:

– No warning / no building up of pressure /no autonomous braking/ no Pre-Crash

measures

– E.g.: Approaching a traffic jam


– Limited deceleration: Controllable

– Full deceleration: Less controllable, especially reduced capability for lane

change to avoid a crash

2.1.4. Vulnerable Road User Detection

Detection of vulnerable road users (cyclists or pedestrians) in front (potentially also on the

side of the host vehicle) in order to enable warning or assist braking functions.


– Pedestrian Warning

– Autonomous braking (in cooperation with other sensors)

False positives:


False negatives:

– No warning

– E.g.: Pedestrian not detected due to dazzling from oncoming traffic radar

sensor


– Depends on implementation

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2.2. Side and rear sensing

2.2.1. Blind Spot Monitoring

Radar sensor observing adjacent lane in the area next to the host vehicle, in order to avoid

lane change collisions with traffic at approximately the same velocity.


– Optical warning in / close to the respective side rear-view mirror and optional

acoustical warning

False positives:


False negatives:

– No warning

– E.g.: Vehicle entering the blind spot from behind


– Controllable, since no autonomous control is performed by the function

Figure 3 – Blind spot sensors for car / truck

2.2.2. Lane Change Assistance

Radar sensor observing the adjacent lane in the area behind the host vehicle, in order to avoid

lane change collisions with traffic approaching with a higher velocity from the rear.

This function is today normally used in cars only (as rear sensing is difficult for changing

truck-trailer combinations).


– Optical warning in / close to the respective side rear-view mirror and optional

acoustical warning / Steering support

False positives:


False negatives:

– No warning

– E.g.: Vehicle entering the blind spot from behind


– Controllable

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Figure 4 – Lane change sensors for car (not a truck use case)

2.2.3. Rear Cross Traffic Alert / Rear Cross Path Systems

Radar sensor observing the area behind the host vehicle, in order to avoid collisions with

crossing traffic when reversing, e.g. on a parking lot.

This function is normally not used in trucks (but in cars, SUVs, Space Waggons, light trucks).


– Driver warning (optical and/or acoustical)

False positives:


False negatives:

– No warning


– Controllable, since no autonomous control is performed by the function

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3. Scenario overview

This chapter presents a list of the scenarios described in detail in the chapter 4 and 5,

respectively. [In the online document, Scenarios can be navigated by [CTRL] + mouse click.]

Short legend:

Host vehicle: / Interferer vehicle:

Scenarios considered most relevant by more than one partner are marked ████,

Scenarios considered most relevant by only one partner are marked ████.

Scenarios considered as not so relevant are not marked (i.e. blank).

3.1. Forward Looking Sensor

Scenario Sketch

Direct interference without further target

objects

[D1 a/b] Standstill, short and long distance

[D2a] Victim approaches interferer

[D2b] Victim and interferer passing each

other Direct interference with presence of

further target objects

[T1a] Standstill at intersection, target ahead

[T1b] Victim approaches target at

intersection

[T2a] Following a car, oncoming interferer

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Scenario Sketch

[T2b] Oncoming interferer in road curve

[T2c] Oncoming interferer with motorcycle

target

[T2d] Oncoming interferer with pedestrian as

target

[T3a] Victim and interferer drive in parallel,

target ahead

[T3b] Victim and interferer drive in parallel,

target ahead, lane change

[X1] Interference from crossing traffic

[X2] High density of interferers

[X3] Roundabout

Interference with rear- or sideward-

looking sensors

[R1a-c] Interference with rear- / sideward-

looking sensor

[R1a] Direct interference, traffic in same

direction with similar velocities, rear sensor

[R1b] Overtaking, forward sensing

[R1c] Overtaking, forward sensing

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Scenario Sketch

[R2] Interference with multiple rear-looking

sensors

Indirect interference scenarios

[I1] Indirect interference with rear-looking

sensor (truck)

[I2a/b] Indirect interference with rear-

looking sensor

[I3a/b] Indirect interference with multiple

rear-looking sensors

[I4] Indirect interference with disturbing

vehicle and presence of a guard rail

Environmental conditions

[E1] Wet road surface

[E2] Wet road surface

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3.2. Rear and Side Sensor

Scenario Sketch

Direct interference

[RD1a/b]Direct interference, oncoming

traffic

[RD1a] oncoming traffic, both sensors facing

rear

[RD1b] oncoming traffic, sensors looking to

the side

[RD2a-g] Direct interference, traffic in same

direction with similar velocities

[RD2a] Direct interference, traffic in same

direction with similar velocities, side sensor

[RD2b] Overtaking

[RD2c] Being overtaken

[RD2d] Overtaking, rear sensing

[RD2e] Being overtaken, side sensing

[RD2f] Forward looking sensor on following

vehicle

[RD3] Road approaches with various angles

other than 90deg

[RD3a]

Road approaches with various angles other

than 90deg

[RD3b]

Road approaches with various angles other

than 90deg

Direct interference with the presence of

further target objects

Kommentar [A1]: added

MOSARIM No.248231 30.08.2010


Scenario Sketch

[RT1] Victim and interferer driving in

parallel, target following

[RT2] Blind spot detection with multiple

interferers

[RT3] Interference with forward looking

radar

Indirect interference

[RI1] Guard Rail

Intersection Scenarios

[RX1a-f] Intersection

[RX1a] Intersection, sensors facing rear

[RX1b] Intersection, victim looking to the

side, interferer sensor facing rear

[RX1c] Intersection, interferer looking to the

side, victim sensor facing rear

[RX1d] Intersection, interfering vehicle

turning, interferer sensor looking to the side,

victim sensor facing rear

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Scenario Sketch

[RX1e] Intersection, victim vehicle turning,

victim sensor looking to the side, interferer

sensor facing rear

[RX1f] Intersection, interference with

sideward looking radar

Parking lot scenarios

[RP] Parking lot

[RP1a] Parking slot, interferer sensor looking

forward

[RP1b] Parking slot, interference with

sideward-looking sensor

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3.3. High-Densitiy of Interferer Scenarios Involving both Forward and Rear/Side Sensors

Scenario Sketch

[H1a] Congested Motorway

[H1b] Congested Motorway in tunnel

[H2] Dense urban traffic

MOSARIM No.248231 30.08.2010


4. Relevant Scenarios in Detail: Forward Looking Sensor

Legend for sketches:

4.1. Direct interference without further target objects

4.1.1. [D1 a/b] Standstill, short and long distance

Short name D1 a/b

Scenario name Standstill, short and long distance

Sketch

Duration of

occurrence [s]

Up to 180s

Frequency of

occurrence [1/h]

Up to 1800 per hour

Potential

interference effect

Occurrence of ghost targets

Main scenario

factor

Stationary host vehicle and interferer in direct field of view

Main performance

impact

SNR, increase of noise floor, CFAR

Particular

relevance

Low

MOSARIM No.248231 30.08.2010


4.1.2. [D2a] Victim approaches interferer

Short name D2a

Scenario name Victim approaches interferer

Sketch

Duration of

occurrence [s]

Up to 20s

Frequency of

occurrence [1/h]

Up to 1800 per hour

Potential

interference effect

Occurrence of ghost targets / observe S/N ratio while approaching

Main scenario

factor

Interferer approaching stationary interferer, direct field of view

Main performance

impact


Particular

relevance

Low

MOSARIM No.248231 30.08.2010


4.1.3. [D2b] Victim and interferer passing each other

Short name D2b

Scenario name Victim and interferer passing each other

Sketch

Duration of

occurrence [s]

Up to 10s

Frequency of

occurrence [1/h]

Up to 3600 per hour

Potential

interference effect

Occurrence of ghost target

Main scenario

factor

Interfering radar sensor within host vehicle’s radar main-lobe

Main performance

impact


Particular

relevance

High

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4.2. Direct interference with presence of further target objects

4.2.1. [T1a] Standstill at intersection, target ahead

Short name T1a

Scenario name Standstill at intersection, target ahead

Sketch

Duration of

occurrence [s]

Up to 180s

Frequency of

occurrence [1/h]

Up to 1800 per hour

Potential

interference effect

Loss of target (neutral vehicle)

Main scenario

factor

Stationary host vehicle and interferer, with presence of neutral vehicle

Main performance

impact


Particular

relevance

Medium

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4.2.2. [T1b] Victim approaches target at intersection

Short name T1b

Scenario name Victim approaches target at intersection

Sketch

Duration of

occurrence [s]

Up to 20s

Frequency of

occurrence [1/h]

1800 per hour

Potential

interference effect


Main scenario

factor

Interferer approaching stationary interferer, with presence of neutral

vehicle

Main performance

impact


Particular

relevance

Medium

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4.2.3. [T2a] Following a car, oncoming interferer

Short name T2a

Scenario name Following a car, oncoming interferer

Sketch

Duration of

occurrence [s]

Up to 10s

Frequency of

occurrence [1/h]

Up to 3600 per hour

Potential

interference effect

Loss of target (neutral vehicle),

Degradation of target parameter estimation

Main scenario

Factor

Interfering vehicle is approaching and facing host vehicle

Main performance

impact

Tracking parameter accuracy, tracking

Particular

relevance

Medium

Variation: motorway traffic, with guard rail separating traffic flow directions

MOSARIM No.248231 30.08.2010


4.2.4. [T2b] Oncoming interferer in road curve

Short name T2b

Scenario name Oncoming interferer in road curve

Sketch

Duration of

occurrence [s]

Up to 10 s

Frequency of

occurrence [1/h]

Up to 100 per hour

Potential

interference effect

Host vehicle realizes false tracking because of interfering vehicle is

approaching

=> Degradation of the target parameter estimation

Main scenario

factor

Road curve

Main performance

impact

Angular accuracy, tracking

Particular

relevance

Low

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4.2.5. [T2c] Oncoming interferer with motorcycle target

Short name T2c

Scenario name Oncoming interferer with motorcycle target

Sketch

Duration of

occurrence [s]

Up to 10 s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect

Tracking and/or detection of motorbike disturbed by vehicle driving in

opposite direction

=> Degradation of SNR leading to no detection of motorcycle

Main scenario

factor

Weak target: Motorbike in long range

Main performance

impacted

SNR: increasing of noise floor

Particular

relevance

High

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4.2.6. [T2d] Oncoming interferer with pedestrian as target

Short name T2d

Scenario name Oncoming interferer with pedestrian as target

Sketch

Duration of

occurrence [s]

Up to 10 s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect

Host vehicle radar disturbed by another one approaching. Host vehicle

radar detects interferer, but does not detect pedestrian

=> Degradation of SNR leading to no detection

Main scenario

factor

Weak target: pedestrian in close range

Main performance

impact

SNR: increasing of noise floor

Particular

relevance

High

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4.2.7. [T3a] Victim and interferer drive in parallel, target ahead

Short name T3a

Scenario name Victim and interferer drive in parallel, target ahead

Sketch

Duration of

occurrence [s]

Up to 20s

Frequency of

occurrence [1/h]

Up to 720 per hour

Potential

interference effect



Main scenario

factor

Interferer is driving in same direction as host vehicle

Main performance

impact

Target parameter accuracy, tracking

Particular

relevance

Low

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4.2.8. [T3b] Victim and interferer drive in parallel, target ahead, lane change

Short name T3b

Scenario name Victim and interferer drive in parallel, target ahead, lane change

Sketch

Duration of

occurrence [s]

Up to 20 s

Frequency of

occurrence [1/h]

10 per hour

Potential

interference effect


Main scenario

factor

Target vehicle lane change

Main performance

impact

Reactivity, target re-allocation

Particular

relevance

Medium

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4.2.9. [X1] Interference from crossing traffic

Short name X1

Scenario name Interference from crossing traffic

Sketch

Duration of

occurrence [s]

Up to 10 s

Frequency of

occurrence [1/h]

Up to 1000 per hour

Potential

interference effect

Degradation of SNR leading to no detection

Main scenario

factor

Weak target: pedestrian in close range

Main performance

impact

SNR: increase the noise floor

Particular

relevance

Medium

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4.2.10. [X2] High density of interferers at intersection

Short name X2

Scenario name High density of interferers at intersection

Sketch

Duration of

occurrence [s]

Up to 300 s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect

Host vehicle is static and disturbed by many interfering radars. It

cannot detect the car or weak target (pedestrian) crossing the road

=> No detection, Blind in some areas, Sustained false target

Main scenario

factor

High density of interferers

Main performance

impact

SNR, CFAR

Particular

relevance

High

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4.2.11. [X3] Roundabout

Short name X3

Scenario name Roundabout

Sketch

Duration of

occurrence [s]

Depends on the speed of the host vehicle

E.g.: 50 km/h, interference on a distance of 100 m � 7.2 s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect

E.g. false negatives � track might be lost � no collision warning

Main scenario

factor

Indirect interference since the sensors are not facing each other

directly

Main performance

impact


Particular

relevance

Medium

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4.3. Interference with rear- or sideward-looking sensors

4.3.1. [R1a-c] Interference with rear- / sideward-looking sensor

Short name R1a

Scenario name Direct interference, traffic in same direction with similar

velocities, rear sensor

Sketch

Duration of

occurrence [s]

very long duration

Frequency of

occurrence [1/h]

Up to 30 per hour

Potential

interference effect

interference increased noise may make interfering vehicle invisible

Main scenario

factor

the victim driving on the same lane behind the interfering vehicle,

compare scenario [RD2f] with exchanged roles

Main performance

impact


Particular

relevance

High

Similar effect on a bend

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Short name R1b

Scenario name Overtaking, forward sensing

Sketch

Duration of

occurrence [s]

1s-10s

Frequency of

occurrence [1/h]

up to 500 per hour

Potential

interference effect

Detection disturbed by interfering radar

Main scenario

factor

the victim vehicle is overtaking the interfering vehicle, victim sensor

looking forward, interfering sensor looking to the side

Main performance

impact


Particular

relevance

Low

Short name R1c

Scenario name Overtaking, forward sensing

Sketch

Duration of

occurrence [s]

1s-30s

Frequency of

occurrence [1/h]

up to 500 per hour

Potential

interference effect


Main scenario

factor


looking forward, interfering sensor facing rear

Main performance

impact


Particular

relevance

Low

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4.3.2. [R2] Interference with multiple rear-looking sensors

Short name R2

Scenario name Interference with multiple rear-looking sensors

Sketch

Duration of

occurrence [s]

1s – 30 s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect


Main scenario

factor

Multiple interferers

Main performance

impact


Particular

relevance

Medium

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4.4. Indirect interference scenarios

4.4.1. [I1] Indirect interference with rear-looking sensor (truck)

Short name I1

Scenario name Indirect interference with rear-looking sensor (truck)

Sketch

Duration of

occurrence [s]

1s – 30 s

Frequency of

occurrence [1/h]

Up to 200 per hour

Potential

interference effect


Main scenario

factor

Interferer and truck as neutral vehicle

Main performance

impact


Particular

relevance

Low

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4.4.2. [I2a/b] Indirect interference with rear-looking sensor

Short name I2a/b

Scenario name Indirect interference with rear-looking sensor (guard rail)

Sketch

Duration of

occurrence [s]

1 – 30 s

Frequency of

occurrence [1/h]

Up to 1000 per hour

Potential

interference effect


Main scenario

factor

Guard rail / tunnel

Main performance

impact


Particular

relevance

Low

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4.4.3. [I3a/b] Indirect interference with multiple rear-looking sensors

Short name I3a/b

Scenario name Indirect interference with multiple rear-looking sensors

Sketch

Duration of

occurrence [s]

1 – 30 s

Frequency of

occurrence [1/h]

Up to 1000 per hour

Potential

interference effect


Main scenario

factor

Guard rail / tunnel and multiple interference sources

Main performance

impact


Particular

relevance

Low

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[I4] Indirect interference with disturbing vehicle and presence of a guard rail

Short name I4

Scenario name Indirect interference with disturbing vehicle and presence of guard rail

Sketch

Duration of

occurrence [s]

Up to 20 s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect

Non-sustained false target, detection degradation

Main scenario

factor

Guard rail

Main performance

impact

CFAR

Particular

relevance

Low

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4.5. Environmental conditions

4.5.1. [E1] Wet road surface

Short name E1

Scenario name Wet road surface

Sketch

Duration of

occurrence [s]

Up to 5 s

Frequency of

occurrence [1/h]

Up to 3600 per hour

Potential

interference effect

Road is wet and causes mirror effects. The host vehicle radar is

disturbed by a radar facing in the opposite direction. Tracking and

detection are degraded

=> Detection degradation, sustained false target

Main scenario

factor

Wet road

Main performance

impact

SNR, accuracy of target parameters

Particular

relevance

Low

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4.5.2. [E2] Wet road surface

Short name E2

Scenario name Wet road surface

Sketch

Duration of

occurrence [s]

Up to 20 s

Frequency of

occurrence [1/h]

10 per hour

Potential

interference effect

Road is wet and causes mirror effects. The host vehicle radar is

disturbed by a radar facing in the same direction. Tracking and

detection are degraded

=> Detection degradation, sustained false target

Main scenario

factor

Wet road

Main performance

impact

SNR, accuracy of target parameters

Particular

relevance

Low

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5. Relevant Scenarios in Detail: Rear and Side Sensor

5.1. Direct interference

5.1.1. [RD1a/b]Direct interference, oncoming traffic

Short name RD1a

Scenario name oncoming traffic, both sensors facing rear

Sketch

Duration of

occurrence [s]

1s-7s

Frequency of

occurrence [1/h]

up to 3600 per hour ,often for single lane traffic

Potential

interference effect

Reduced detection performance

Main scenario

factor

high density of sensors, direct dazzling , potentially guard rail or

tunnel

Main performance

impact

SNR, increasing of noise floor, CFAR

Particular

relevance

Low


Short name RD1b

Scenario name oncoming traffic, sensors looking to the side

Sketch

Duration of

occurrence [s]

1s-3s

Frequency of

occurrence [1/h]

up to 3600 per hour ,often for single lane traffic

Potential

interference effect


Main scenario

factor

high density of sensors, direct dazzling

Main performance

impact

SNR, CFAR

Particular

relevance

Low


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[RD2a-g] Direct interference, traffic in same direction with similar velocities

Short name RD2a

Scenario name Direct interference, traffic in same direction with similar

velocities, side sensor

Sketch

Duration of

occurrence [s]

10s-60s, in some cases very long duration

Frequency of

occurrence [1/h]

Up to 20 per hour

on multiple lane roads, depending on traffic

Potential

interference effect

interference increased noise may hinder detection of vehicle

Main scenario

factor

interferer on next lane with similar velocity to the victim, sensors

looking to the side

Main performance

impact


Particular

relevance

High


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Short name RD2b

Scenario name Overtaking

Sketch

Duration of

occurrence [s]

1-10s

Frequency of

occurrence [1/h]

up to 500 per hour

Potential

interference effect


Main scenario

factor

the interfering vehicle overtaking the victim vehicle, sensors looking

to the side

Main performance

impact

SNR, CFAR

Particular

relevance

Medium

Short name RD2c

Scenario name Being overtaken

Sketch

Duration of

occurrence [s]

1-10s

Frequency of

occurrence [1/h]

up to 500 per hour

Potential

interference effect


Main scenario

factor

the interfering vehicle overtaken by the victim vehicle, sensor looking

to the side

Main performance

impact

SNR, CFAR

Particular

relevance

Medium

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Short name RD2d

Scenario name Overtaking, rear sensing

Sketch

Duration of

occurrence [s]

1s-10s

Frequency of

occurrence [1/h]

up to 500 per hour

Potential

interference effect


Main scenario

factor


facing rear, interfering sensor looking to the side

Main performance

impact

SNR, CFAR

Particular

relevance

Low

Short name RD2e

Scenario name Being overtaken, side sensing

Sketch

Duration of

occurrence [s]

1s-10s

Frequency of

occurrence [1/h]

up to 500 per hour

Potential

interference effect


Main scenario

factor

the interfering vehicle is overtaking the victim vehicle, interferer

sensor facing rear, victim sensor looking to the side

Main performance

impact

SNR, CFAR, …

Particular

relevance

Low

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5.1.2. [RD2f] Forward looking sensor on following vehicle

Short name RD2f

Scenario name Forward looking sensor on following vehicle

Sketch

Duration of

occurrence [s]

very long duration

Frequency of

occurrence [1/h]

Up to 30 per hour

Potential

interference effect

interference increased noise may make interfering vehicle invisible

Main scenario

factor

the interferer driving on the same lane behind the victim vehicle

compare scenario [R1a] with exchanged roles

Main performance

impact


Particular

relevance

Medium


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5.1.3. [RD3] Road approaches with various angles other than 90deg

Short name RD3a

Scenario name Road approaches with various angles other than 90deg

Sketch

Duration of

occurrence [s]

5s

Frequency of

occurrence [1/h]

up to 10 per hour

Potential

interference effect


Main scenario

factor

two roads approaches with various angles, sensors looking to the side

Main performance

impact


Particular

relevance

Low

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Short name RD3b

Scenario name Road approaches with various angles other than 90deg

Sketch

Duration of

occurrence [s]

5s

Frequency of

occurrence [1/h]

10 per hour

Potential

interference effect


Main scenario

factor

two roads approaches with various angles, victim sensor looking to

the side, interferer looking forward

Main performance

impact

SNR, increasing noise floor, CFAR, …

Particular

relevance

Low

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5.2. Direct interference with the presence of further target objects

5.2.1. [RT1] Victim and interferer driving in parallel, target following

Short name RT1

Scenario name Victim and interferer driving in parallel, target following Sketch

Duration of

occurrence [s]

20 - 40s

Frequency of

occurrence [1/h]

720 per hour

Potential

interference effect

LCA: late detection of neutral vehicle, for example detection at a

distance of 50m instead of 80m

Main scenario

factor

Target approaches victim, victim is disturbed by interferer

Main performance

impact

SNR

Particular

relevance

Medium

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5.2.2. [RT2] Blind spot detection with multiple interferers

Short name RT2

Scenario name Blind spot detection with multiple interferers Sketch

Duration of

occurrence [s]

1-10s

Frequency of

occurrence [1/h]

Up to 1800 per hour

Potential

interference effect

BSD: Loss of neutral vehicle

Main scenario

factor

Multiple interference sources

Main performance

impact


Particular

relevance

High

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5.2.3. [RT3] Interference with forward looking radar

Short name RT3a

Scenario name Interference with forward looking radar

Sketch

Duration of

occurrence [s]

Very long duration

Frequency of

occurrence [1/h]

Up to 30 per hour

Potential

interference effect

the interferer driving on the same lane behind the victim vehicle,

possible loss of target

Main scenario

factor

high density of sensors

Main performance

impact

SNR, increasing noise floor, CFAR

Particular

relevance

High

Short name RT3b

Scenario name Being overtaken, side sensing

Sketch

Duration of

occurrence [s]

1 - 40s

Frequency of

occurrence [1/h]

up to 720 per hour

Potential

interference effect

LCA: late detection of interferer, for example detection at a distance of

50m instead of 80m

Main scenario

factor

the interfering vehicle is overtaking the victim vehicle, interferer sensor

looking forward, victim sensor looking to the side

Main performance

impact

SNR, CFAR

Particular

relevance

High

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5.3. Indirect interference

5.3.1. [RI1] Guard Rail

Short name RI1

Scenario name Guard Rail

Sketch

Duration of

occurrence [s]

1s-30s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect

the radar signal is reflected by the guard rail

Main scenario

factor

victim and interferer driving along guard rail

Main performance

impact

SNR, increasing noise level, ghost targets detection

Particular

relevance

Low

guard

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5.3.2. [RX1a-f] Intersection

Short name RX1a

Scenario name Intersection, sensors facing rear

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

10 per hour

Potential

interference effect


Main scenario

factor

Intersection, sensors facing rear

Main performance

impacted

SNR, CFAR

Particular

relevance

Low

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Short name RX1b

Scenario name intersection, victim looking to the side, interferer sensor facing

rear

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect


Main scenario

factor

intersection, victim looking to the side, interferer sensor facing rear

Main performance

impact

SNR, CFAR

Particular

relevance

Low

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Short name RX1c

Scenario name intersection, interferer looking to the side, victim sensor facing

rear

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect


Main scenario

factor

intersection, interferer looking to the side, victim sensor facing rear

Main performance

impacted

SNR, CFAR

Particular

relevance

Low

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Short name RX1d

Scenario name intersection, interfering vehicle turning, interferer sensors looking

to the side, victim sensor facing rear

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect


Main scenario

factor

intersection, interfering vehicle turning, interferer sensors looking to

the side, victim sensor facing rear

Main performance

impact

SNR, CFAR

Particular

relevance

Low

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Short name RX1e

Scenario name intersection, victim vehicle is turning, victim sensor looking to the

side, interferer sensor facing rear

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

Up to 10 per hour

Potential

interference effect


Main scenario

factor

intersection, victim vehicle turning, victim sensor looking to the side,

interferer sensor facing rear

Main performance

impact

SNR, CFAR

Particular

relevance

Low

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Short name RX1f

Scenario name Intersection, interference with sideward looking radar

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

Up to 5 per hour

Potential

interference effect


Main scenario

factor

high density of sensors

Main performance

impact

SNR, CFAR

Particular

relevance

Low

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5.3.3. [RP] Parking lot

Short name RP1a

Scenario name parking slot, interferer sensor looking forward

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

Up to 5 per hour

Potential

interference effect

interference increased noise may hinder detection of interferer

Main scenario

factor

high density of sensors, direct dazzling

Main performance

impacted

SNR, increase of noise floor, CFAR,

Particular

relevance

High

Short name RP1b

Scenario name Parking slot, interference with sideward-looking sensor

Sketch

Duration of

occurrence [s]

1s-5s

Frequency of

occurrence [1/h]

Up to 5 per hour

Potential

interference effect

interference increased noise may hinder detection of interferer

Main scenario

factor

parking slot, interferer sensor looking to the side

Main performance

impact


Particular

relevance

Low

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6. Relevant Scenarios in Detail: High-Density of Interferer Scenarios Involving both Forward and Rear/Side Sensors

6.1.1. [H1a] Congested Motorway

Short name H1a

Scenario name Congested Motorway

Sketch

Duration of

occurrence [s]

Long term

Frequency of

occurrence [1/h]

Up to 5 per hour

Potential

interference effect

Host vehicle is disturbed by many interfering radars.

Target detection disturbed, risk for false object detection.

Main scenario

factor

high density of interferers

Main performance

impacted


Particular

relevance

High


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6.1.2. [H1b] Congested Motorway in tunnel

Short name H1b

Scenario name Congested Motorway in tunnel

Sketch

Duration of

occurrence [s]

Long term

Frequency of

occurrence [1/h]

Up to 5 per hour

Potential

interference effect



Main scenario

factor

high density of interferers

Main performance

impacted


Particular

relevance

High

6.1.3. [H2] Dense urban traffic

Short name H2

Scenario name Dense urban traffic

Sketch

Duration of

occurrence [s]

Long term

Frequency of

occurrence [1/h]

Up to 5 per hour

Potential

interference effect



Main scenario

factor

high density of interferers, different sizes of objects, including

motorcycles and VRU

Main performance

impacted


Particular

relevance

High



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7. Requirement Specification This section summarises the main scenarios identified in the work package, as shown in the

table of chapter 3, and gives a set of standard parameters that can be used in simulation and/or

testing scenarios.

7.1. Forward looking sensor

Scenario Sketch

[D2b] Victim and interferer passing each

other

Scenario main parameters:

Relative velocity: -20, -40, -100, -200 km/h

[T2c] Oncoming interferer with motorcycle

target


Relative velocity: -20, -40, -100, -200 km/h

Target distance: 40 m

[T2d] Oncoming interferer with pedestrian as

target


Host velocity: 20 km/h, 50 km/h

Relative velocity: -20, -40, -100 km/h

Distance to pedestrian when starting to cross

road: 20 m, 50 m

High densitiy of interferers

[X2] High density of interferers

[H1a] Congested Motorway

[H1b] Congested Motorway in tunnel

[H2] Dense urban


Numbers, distance and direction of

interfering vehicles (depends on availability,

t.b.d.)

[R1a] Direct interference, traffic in same

direction with similar velocities, rear sensor


Host velocity: 50 km/h

Relative velocity: 0 km/h

Distance: 15 m

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7.2. Rear and side sensor

Scenario Sketch

[RD2a] Direct interference, traffic in same

direction with similar velocities, side sensor


Relative velocity : 0 km/h

[RT2] Blind spot detection with multiple

interferers


Relative velocity : 0 km/h

[RT3] Interference with forward looking

radar


Host velocity: 50 km/h

Relative velocity: 0 km/h

Distance: 15 m

[RP1a] parking slot, interferer sensor looking

forward


Host velocity: <5 km/h

Interferer velocity: 20 km/h

MOSARIM No.248231 30.08.2010


8. Annex

8.1. Legend of Scenario Sketches

8.2. Legend of Scenario Relevance None of the partners considers this disturbance scenario to be among the most relevant for

interference evaluation:

Particular

relevance

Low

One partner considers this disturbance scenario to be among the most relevant for interference

evaluation:

Particular

relevance

Medium

More than one partner considers this disturbance scenario to be among the most relevant for

interference evaluation:

Particular

relevance

High

MOSARIM No.248231 30.08.2010


8.3. Acronyms

BSD Blind Spot Detection

CFAR Constant False Alarm Rate,

radar detection threshold algorithm

LCA Lane Change Assist

RCS Radar Cross Section

SNR Signal-to-Noise Ratio

Documents

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