testing and validation of prepre-crash sensing-crash sensing · 2008. 7. 23. · title: microsoft...
TRANSCRIPT
-
Copyright MIRA 2008
Testing and Validation ofPre-Crash Sensing
Testing and Validation ofTesting and Validation ofPrePre--Crash SensingCrash Sensing
Jonathan Moore and Tim EdwardsMIRA Ltd, UK
Pre-Crash-Sensorik im Automobil22 April, 2008. Munich
-
Copyright MIRA 2008
IntroductionIntroductionIntroduction
An overview of test and validation approaches for pre-crash systemsThe sensor technologies and example test cases will largely be focused on systems to detect and respond to vulnerable road users (VRUs)
PedestriansCyclistsMotorcyclists
This ties in to our work on a number of EU funded research projects, such as WATCH-OVER and SAVE-U
-
Copyright MIRA 2008
Why do we need pre-crash test facilities?
Why do we need preWhy do we need pre--crash test crash test facilities?facilities?
A safe environment for:Research and development
Currently new tests are being designed for each projectComponents and sub-systems often tested in isolationFuture refinement activities would benefit from established and repeatable test procedures/environments
Demonstration activitiesProof-of-concept tests to showcase technologies, encourage public acceptance and develop commercial support.
Certification and ValidationCommercial systems will require validation against a set of specific requirements, and therefore a defined set of tests.
-
Copyright MIRA 2008
Image from the United Nations Population Fund (UNPFA) web site: http://www.unfpa.org/swp/2007/presskit/images/japan.jpg
Tokyo, Japan
-
Copyright MIRA 2008
Recreating realistic scenariosRecreating realistic scenariosRecreating realistic scenarios
The requirements for test scenarios are linked to the systems under test. In most cases it is desirable to have minimal test equipment in view of the vehicle sensors
Current automotive tests such as crash, EMC, and emissions are very established, and specialist facilities exist. The body and safety tests are the closest to replicating pre-crash scenarios
However, in these tests there are often systems such as rails and winches which are not acceptable for some pre-crash sensor tests
-
Copyright MIRA 2008
Body and Safety TestingBody and Safety TestingBody and Safety Testing
-
Copyright MIRA 2008
Controlling test conditionsControlling test conditionsControlling test conditions
The test environment should be controlled to allow for safe, repeatable testsOutdoor tests introduce a number of challenges in this area. We can’t control nature, but we can…
Automate as much as possibleTest vehicle controlData synchronisation
Monitor environmental conditionsProvide clear signals to co-ordinate “actors”
-
Copyright MIRA 2008
Testing safelyTesting safelyTesting safely
Risk assessment procedure for any proving ground testDetailed FMEA (Failure Mode and Effects Analysis) for test equipmentRigorous maintenance procedures for test equipmentStrict operating procedures and checksRedundancy of safety mechanismsFail safe modes in control electronics
-
Copyright MIRA 2008
Current/Future ADAS SensorsCurrent/Future ADAS SensorsCurrent/Future ADAS Sensors
24GHz RadarMono and Stereo vision camerasPassive Infra-RedWireless communications
2.4Ghz Chirp Spread Spectrum (CSS)
LIDARUltra-wide band (UWB)
-
Copyright MIRA 2008
Data Acquisition RequirementsData Acquisition RequirementsData Acquisition Requirements
Quiet wireless environmentTherefore no wireless data streams during the test
On-board storageDurableLightHigh capacityFast, shared, accessQuick “data dump” or drive switch between tests
Interfacing with proprietary hardware / softwareAccurate time stamping
Required for synchronising all logged data (on and off-board the test vehicle)
-
Copyright MIRA 2008
Ground TruthWhere was everything?
Ground TruthGround TruthWhere was everything?Where was everything?
Very important that we can compare real events with sensor readingsKey element is timing
External ground truth monitoring must support synchronisation with on-vehicle data
Options include:Positioning devices on every “actor” in the scenario
High accuracy required and therefore high costVideo footage and image processing
Suitable observation positions can be hard to findDistorting lens increase coverage but complicate image processing
-
Copyright MIRA 2008
Case Studies: SAVE- U and WATCH-OVER
Case Studies: Case Studies: SAVESAVE-- U and WATCHU and WATCH--OVEROVER
BackgroundTest conceptResults / VideoConclusions http://www.watchover-eu.org/
http://www.save-u.org/
-
Copyright MIRA 2008
SAVE-USAVESAVE--UU
SAVE-U was a large European project that ended in 2005.
It was aimed at developing an integrated safety concept for VRUs such as pedestrians and cyclists.
An innovative sensor platform was developed with three different technologies (24 GHz radar, IR and video cameras).
The maximum vehicle speed considered was 40 km/h
-
Copyright MIRA 2008
WATCH-OVERWATCHWATCH--OVEROVER
WATCH-OVER started in January 2006. It is a collaborative project co-funded by the European Commission under FP6.
The innovative concept is represented by an on board platform and by a vulnerable user module. The system is based on short range communication and vision sensors.
Maximum vehicle speedincreased to 50 km/h
-
Copyright MIRA 2008
Project RequirementsProject RequirementsProject Requirements
MIRA is responsible for dynamic evaluation of the system – especially at close range (highest risk)
Target must:Look like a moving VRU (video)Look like a moving VRU (IR)Reflect like a moving VRU (radar)
Hence target must BE a VRU – not a picture or a dummy…but absolutely no risk of actual impact
MIRA solution is to mount the entire system on a tethered dynamic test rig, not a car
-
Copyright MIRA 2008
MIRAMIRA’’ss HeadquartersHeadquarters
-
Copyright MIRA 2008
Test site configurationTest site configurationTest site configuration
105m
5.5m
27m
25m
10m
50m
19m29m
3.2m
1.6m OK
No2 Circuit
No2 Bend No3North Straight
Observation RoadNo15 CorrugationsNo13 Resonance Road
Parking
Entrance
ExitConcrete
wall
Crash barrier
Grass
T2
Created:20070601Revised:20070611
To Control Tower
N
Tarmac
Store
Tether point
-
Copyright MIRA 2008
Pre-crash test vehiclePrePre--crash crash
test vehicletest vehicle
-
Copyright MIRA 2008
Restraint MechanismsRestraint MechanismsRestraint Mechanisms
Test vehicle
Falling weight
Braking Drum
Energy absorbers
Deformed steel bar
-
Copyright MIRA 2008
Braking system in use during SAVE-U tests
-
Copyright MIRA 2008
SAVE-U test with pedestrians crossing
-
Copyright MIRA 2008
Ground TruthGround TruthGround TruthTo allow accurate post-test data analysis, onboard sensors logged
rig velocity and yaw, and “ground truth” information is recorded using an overhead camera.
On board cameras
Overhead “ground truth” camera
-
Copyright MIRA 2008
Overhead ground truth camera capturing a SAVE-U test scenario
-
Copyright MIRA 2008
Data acquisitionData acquisitionData acquisition
-
Copyright MIRA 2008
Un-tethered speed measurement
UnUn--tethered speed tethered speed measurementmeasurement
Max: 50.4km/h
Target: 50km/h
8 seconds60m
Braking took 3 seconds.With tether ropes this is reduced to 1 second.
0
2
4
6
8
10
12
14
16
0 5 10 15
Time (s)
Vel
ocity
(m/s
)
-
Copyright MIRA 2008
Test scenariosTest scenariosTest scenarios
A variety of scenarios were run in SAVE-U with vehicles, pedestrians and cyclists
In WATCH-OVER the scenario complexity will be increased, with more actors and night tests
-
Copyright MIRA 2008
ConclusionsConclusionsConclusionsIncreasing scenario complexity desired by system designersSafety issues need to be tightly monitored and controlledTest vehicle positioning
Manual/Semi-Autonomous/Fully-Autonomous vehicles all require accurate monitoring and control
Actor control is very importantRepeatable test scenarios Safety
Ground truthThe capture and synchronisation of position information for all actors in a test is non-trivial.This must be considered as a design requirement at an early stage of the test design
-
Copyright MIRA 2008
Specifically the future of pre-crash testing…
Autonomous vehiclesAutonomous VRUs?Purpose built test sites
with protective barriers and fail safe restraintsComplex test scenariosEnvironmental conditions – Fog/Rain etcCornering, urban/built up areas
The future of pre-crash sensing
The future of preThe future of pre--crash crash sensingsensing
-
Copyright MIRA 2008
Improved test scenarioImproved test scenarioImproved test scenario
Test Scenario
Test Vehicle
Restraint Mechanism
-
Copyright MIRA 2008
Autonomous Test VehicleAutonomous Test VehicleAutonomous Test Vehicle
+ Complex and repeatable test scenarios- High levels of reliability need to be assured
for use around VRUs
-
Copyright MIRA 2008
http://www.mira.co.uk
MIRA LtdWatling Street
NuneatonWarwickshire
CV10 0TUUnited Kingdom