DAS(Driver Assistant System) ASV(Active Safety Vehicle) 2web.yonsei.ac.kr/hgjung/Lectures/DME427/7 DAS, ASV 2.pdf · 2014. 12. 29. · E-mail: [email protected] DAS(Driver Assistant

E-mail: [email protected]://web.yonsei.ac.kr/hgjung

DAS(Driver Assistant System)ASV(Active Safety Vehicle) 2


Table of Contents

• IPAS (Intelligent Parking Assist System)

• APPS (Active Pedestrian Protection System)

• Side Impact Solutions


IPAS: Intelligent Parking Assist System

후방 장애물 거리 경보

http://www.youtube.com/watch?v=xlA9hmKRLSAhttp://www.youtube.com/watch?v=EqAXUks1iOo

- 차량 후미에 장착된 초음파 센서를 이용하여 장애물 감지

- Visual, audio warning 제공

Parkmatic Parking Sensor Parking Dynamics PD1



주변 장애물 거리/방향 표시

http://www.youtube.com/watch?v=1_Y3GyCvDoUhttp://www.youtube.com/watch?v=LGjB17udP64

- 차량 둘레에 장착된 초음파 센서를 이용하여 장애물 감지

- 화면에 장애물 방향과 거리 표시, 음향 경보 병행

Audi Q7 Parking System BMW PDC (Parking Distance Control)



Rear View Camera (단순 후방 카메라)

Rear View Camera - 2010 Mercedes-Benz Austin E-Class E350 E550 E63 AMG Sedan - Austin, TX Dealerhttp://www.youtube.com/watch?v=EcH6dwxl81M

후진 기어를 넣으면, 후방 카메라 영상을 HMI로 보여줌.



후방 카메라 + 예상 경로 표시

Audi Q7 Advanced Parking Systemhttp://www.youtube.com/watch?v=otmL8H_zrxU

- 후방 카메라로 주차 상황 제공

- 조향각에 따른 예상 경로 표시



Around View Monitor

2008 Infiniti EX35, Around View Monitorhttp://www.youtube.com/watch?v=h-TdWyk57CI

- 전후좌우에 장착된 4개의 어안렌즈 카메라 사용

- 어안렌즈 왜곡 보상 후 모자이크 조감도 제공

2008 Infiniti EX35



Honda Multi-View Camera Systemhttp://www.youtube.com/watch?v=dVzfTc5drqg

- 골목길에서 나올 때, 좌우 교통상황 파악

- 좁은 골목길 통과 시, 좌우 측 관찰

Around View Monitor의 주행 중 활용



Self Parking (후진만)

2010 Toyota Prius: Intelligent Parking Assisthttp://www.youtube.com/watch?v=2eng94_flJw

- 초음파 기반 측면 빈 주차공간 인식

- GUI 기반 주차위치 설정

- 조향 조작 자동화, 브레이크 페달로 조절



BMW 5 Series (F10) - Park Assisthttp://www.youtube.com/watch?v=_a1HNpsFfvU

BMW F10 5-Series - Parking Assisthttp://www.youtube.com/watch?v=9Q8zLofJnf0

- 초음파 기반 측면 빈 주차공간 인식

- 장애물까지 거리 가시화, 차량 주변 조감도 제공

- 조향 조작 자동화

Self Parking (후진만)



Self Parking (전진+후진)

ハンドルが自動でくるくる！ホンダ新ライフのパーキングアシスト

http://www.youtube.com/watch?v=Ai7rC9rbqIQスーパーで使ってみた！新ライフパーキングアシスト(Honda Park Assist)

http://www.youtube.com/watch?v=ZlRXMMOJFoY

- 초기위치에서 후진에 최적인 위치로 전진 후 후진

- 조향 조작 자동화


IPAS: Intelligent Parking Assist SystemRemote Parking Assist

BMW Technology of the Remote Park Assisthttp://www.youtube.com/watch?v=hIL_pl7jxGQ

- 개인 차고에 주차하는 상황

- 내려서 리모콘으로 진행 조정

- 정면 벽면에 특수 반사판 설치하여 거리/각도 측정



VW Passat CC Park Assist Visionhttp://www.youtube.com/watch?v=6QrpbzK9sf0

Remote Parking Assist

- 측후방 초음파 센서로 빈 공간 및 후방 장애물 인식



2010 Ford Taurus Cross Traffic Alerthttp://www.youtube.com/watch?v=QAcovRcgC_0

접근 차량 경보 (주차위치에서 출발할 때)

- BSD용 radar 센서 활용


Pedestrian Protection Systems

• 인프라스트럭쳐 개선

• 수동적 안전시스템

• 능동적 안전시스템

차량 탑재 시스템

충돌사고 이후 작동

충돌사고 이전 작동

Passive and Active Approaches



• 보행자 보호 방법들 중 가장 전통적인 접근법

• 속도제한, 차량-보행자 분리, 보행자에 대한 가시성(visibility)과 시인성

(conspicuity) 개선 등의 수단 동원

• 보행자 사고를 예방할 수 있는 주행 및 보행 환경 구축

Traffic calming: 도로(혹은 가로)의 구조에 변화를 주어 자동차의 속도 및 통과

교통을 감소시켜, 보행 및 주거에 안전한 교통환경을 구축하자는 개념 및 운동

• 교통량 통제

• 차량속도 통제

Infrastructure를 이용한 보행자 보호 방법들



• 교통량 통제 수단 (Volume Control Measures): 보행지역을 관통하는 교통을 막

고 사고를 용이하게 예방할 수 있는 길로 우회하도록 도로를 개선

Median Barriers

Traffic Calming



Traffic Calming

• 차량속도 통제 수단 (Speed Control Measures): 과속을 방지하기 위하여 도로

의 수직, 수평 굴곡을 삽입하거나 도로 폭을 줄임.

수직굴곡: 과속방지턱, speed table, 융기 횡단보도, 융기 교차로, textured pavement

수평굴곡: traffic circle, roundabout, chicane, 비틀어진 교차로

도로 폭 축소: neckdown, center island narrowing, chocker



Traffic Calming

• 차량속도 통제 수단 – 수직굴곡(Vertical Deflection)



Traffic Calming

• 차량속도 통제 수단 – 수직굴곡(Vertical Deflection)



Traffic Calming

Realigned intersection

• 차량속도 통제 수단 – 수평굴곡(Horizontal Deflection)



Traffic Calming

• 차량속도 통제 수단 – 도로 폭 축소(Horizontal Narrowing)

Neckdown

Center Island Narrowing



Passive Pedestrian Protection Systems

차량과 보행자가 직접 충돌한 사고의 대부분은 차량 전면에 충돌

- 보행자 부상 사고의 71.1%

- 보행자 사망 사고의 80%

정면만 대응 가능한 보호 수단으로도 상당한 피해감소 기대

보행자 머리가 부상에 가장 많이 노출됐고, 그 결과도 가장 치명적임

- 사망자의 62%

보행자 상해의 가장 큰 원인은 A-pillar를 포함한 windshield

- 머리 부상의 44.3%

- 심각한 부상의 82%

Windshield에 머리가 부딪히는 것을 방지 또는 완화해야 함







Such a design usually has weak points and stiff points. For pedestrian protection, it is preferable to design the hood inner panel with a more uniform stiffness distribution. This could be achieved with:- Increased number of ribs- Alternative hood inner




Since there are no ribs and no cutouts, the local stiffness does not vary as much

as for a traditional hood inner design. The main advantage of such a continuous

stiffness distribution is that it is easier to tune the hood to be stiffer or weaker

overall.



Passive Pedestrian Protection Systems: Active Bonnet

Jaguar Active Bonnethttp://www.youtube.com/watch?v=h8as10paBy0



Passive Pedestrian Protection Systems: Active Bonnet

active-bonnet-system.flvhttp://www.youtube.com/watch?v=aKD-D8qEbiM

Collision sensor

ECU

Actuator

Acceleration sensor



Passive Pedestrian Protection Systems: Pedestrian Protection Airbag

IVSS http://www.ivss.se/

The overall task is to develop a pedestrian protection airbag that primary lifts the bonnet and secondary inflates over the lower part of windscreen and the A-pillar structure.



Passive Pedestrian Protection Systems: Pedestrian Protection Airbag

The hinge is designed with an extra linkage that can be released to manage a lifting of the bonnet in rear end.



APPS(Active Pedestrian Protection System)

Sensor fusion-based pedestrian detection

Object detection and classification

Audible and visible warning

Automatic brakingVolvo S60 - Pedestrian Detection

http://youtu.be/I4EY9_mOvO8




Bosch Stereo Vision-Based Pedestrian Protection

EN Bosch Pedestrian protection - MPK 2013

http://youtu.be/FSS0YRxBwVo




2014 Benz S-class에 적용된 스테레오 비전 기반 안전 및 편의 기능


Side Impact Solutions


Seriousness of Side Impact [1]

• Small survival space• Few energy-absorbing structures• Little time and space to ensure the maximum functionality of restraint systems

According to the Insurance Institute for Highway Safety (IIHS) statistics, in the U.S., each year more than 9000 passenger vehicle occupants die as a result of side impacts.


Seriousness of Side Impact [1]

• Head injuries are the leading cause.• The increasing number of high-riding vehicles on the road these days

increases this risk, making it more likely that the front end of a striking vehicle in a side impact will make contact with the heads of occupants in the vehicle that is struck.

Fifth Gear - When an SUV rams a smaller carhttp://www.youtube.com/watch?v=JXeKSDpFjlg


Countermeasures for Side Impact [1]

• Reinforcement of side structure

• Restraint system

• Vehicle height adjustment


Reinforcement of Side Structure [2]

• Reinforcement by adopting new material: SPCC 60TRIP



• Reinforcement by modifying the side structure



• Reinforcement by actuator• It was assumed that the sensor would deliver a trigger signal at least

100ms before the actual impact will happen.



In blue the reference model (no actuator) is shown, the model with the pre-crash system implemented is shown in red.

The key idea of the intrusion reduction is that the car gives a stiffer response to the impact, therefore more energy is transferred to the barrier, it deforms more, especially in its stiff lower region, the barrier’s bumper.


Restraint Systems: Side Airbag

Without side airbag

With side airbag

Side Airbag Effectivenesshttp://www.youtube.com/watch?v=6zlcEYCQBJY


Restraint Systems: Side Airbag [4]

IIHS researchers concluded that side airbags protecting the torso reduced deaths by 26%, and side airbags protecting the head reduced deaths by 37%.


Height Adjustment: Pre-Crash Dipping Nose (PCDN) [5]

• Vehicle height adjustment prevents the struck vehicle from being impacted at its weakest side structure, i.e., the door.

• By using radar and controlling the suspension systems of high-profile vehicles, the front end of SUV's can be lowered to the level of a passenger car in the event of a crash, giving the occupants in the passenger car a four-times better chance of surviving. The SUV then automatically resumes its original height in less than 20 seconds.


Height Adjustment: 피해차 보호 수단 [6]

Volkswagen and Daimler Chrysler have developed and installed systems on the struck vehicle using an air spring with a high pressure tank or hydraulic actuator of active body control (ABC), respectively.


Height Adjustment: 피해차 보호 수단 [6]

• This lift up mechanism shifts the collision point of the SUV bumper from Phaetons door down to the sill board (stiff part below the door).

• From a mechanical point of view the lift up is very challenging. Due to the strong requirements extreme short action time (of approximately 300 ms), the high mass of the Phaeton body (of around 2,000 kg) and high lifting up distance of 100 mm.


References

1. Ho Gi Jung, Byung Moon Kwak, Jeong Soo Shim, Pal Joo Yoon, and Jaihie Kim, “Precrash Dipping Nose (PCDN) Needs Pedestrian Recognition),” IEEE Trans. ITS, Vol. 9, No. 4, Dec. 2008, pp. 678-687.

2. H. Huh, J. H. Lim, J. H. Song, K.-S. Lee, Y.-W. Lee, and S. S. Han, “Crashworthiness assessment of side impact of an auto-body with 60TRIP steel for side members,” Int. J. Automot. Technol., vol. 4, no. 3, pp. 149–156, 2003.

3. F. Zeidler, “The passive safety of passenger cars—Status 2007,” in Proc. 11th Eur. Automotive Congr., May 30–Jun. 1, 2007. [CD-ROM].

4. E. Zimmerman, “Pre-crash actuator to improve car structural performance in side impact,” in Proc. 11th Eur. Automotive Congr., May 30–Jun. 1, 2007. [CD-ROM].

5. Autoliv, “ANNUAL REPORT 2003-R&D Projects: PRE-CRASH DIPPING NOSE,” available at http://autoliv.hhit.com/annualreport2003/about/, accessed on 28 Apr. 2010.

6. M.-M. Meinecke, R. Holze, M. Gonter, T. Wohllebe, R. Mende, and R. Petelka, “Side-pre-crash sending system for automatic vehicle height level adaptation,” in Proc. 3rd Int. Workshop Intell. Transp., Hamburg, Germany, Mar. 14–15, 2006.

Documents

DAS(Driver Assistant System) ASV(Active Safety Vehicle) 2web.yonsei.ac.kr/hgjung/Lectures/DME427/7 DAS, ASV 2.pdf · 2014. 12. 29. · E-mail: [email protected] DAS(Driver Assistant