大陆自动驾驶概念介绍

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2. ADAS Function One Page IntroductionMay, 2015www.continental-corporation.comChassis & Safety Division Advanced Driver Assistance Systems
3. Function One Pager – Traffic Sign Assist Basic Use Cases:Description Speed Limit Assist (SLA): Determination of the maximum allowable velocity No-Passing Assist (NPA): Determination of no-passing regulations Wrong Way Assist (WWA): Warning when driving in the wrong direction Motivation Relief of strain through „memory function“ Prevention of non-deliberate violations of the maximum speed (safety gain, speeding tickets, driving bans) Prevention of non-deliberate violations of no-passing regulations (safety gain, penalties, driving bans) Increased comfort through coupling with ACC Safety gain by warning for highly dangerous situations Variants: Circular signs Circular signs + US signs + triangular/diamond signs With and without digital map input (eHorizon) All main markets covered (Europe, Asia, North America) Sign types:
4. Function One Pager – Lane DetectionLane DetectionBasic Use Cases:Description Lane Detection provides estimates for the position and types of lane boundaries such as Lane markings (painted and Bott’s Dots) Road edges (e.g. concrete to grass boundaries) Elevated structures (e.g. guard rails, walls, …) Detection of ego lane and both adjacent lanes Full 3D tracking with double clothoide road model Scalable for mono and stereo cameras incl. usage of stereo processing Motivation Detection module for all lane based functions such as LDW, LDP, LKA. Furthermore, input to many environment describing functions Applicable standards: Fulfills all regulatory requirements (EU- & CA-NCAP) Safety Integrity Level according to ISO 26262: QM, ASIL A, ASIL B Ego Lane Adjacent Lanes Availability: > 99% Min. Curve radius: 100m Marker Width: 8cm-60cm
5. LDWFunction One Pager – Lane Departure Warning & Lateral ControlLateral Safety & Comfort Lane Departure Warning & Lateral ControlBasic Use Cases:Description Supports the driver at keeping vehicle in ego lane by means of warnings, steering or braking intervention. Variants: Lane Departure Warning (LDW) provides a warning when an unintended lane departure of the vehicle is detected. Lane Departure Prevention (LDP) provides a system intervention (steering or single side braking) to prevent the vehicle from leaving the ego lane. Lane Keep Assist (LKA) provides continuous steering support to keep vehicle centered in ego lane at all times. Applicable standards: Fulfills all regulatory requirements (EU- & US-NCAP) Safety Integrity Level according to ISO 26262: QM (LDW) ASIL B (LDP, LKA) Warning LDP System Intervention LKA
6. Function One Pager – Lane Departure Warning Basic Use Cases: Description Lane Departure Warning issues a warning if a vehicle approaches the edge of a lane. Lane detection and vehicle trajectory prediction are used to detect when lane departure is imminent. If the driver starts to leave a lane without indicating, a warning is given which can be : optical - display in the instrument cluster of head-up display haptic - vibration of the steering wheel or side bolster acoustic - buzzer Performance Characteristics Warning 0.2 seconds before predicted lane departure Supporting Algorithms Lane Detection Trajectory Estimation!LDW:!Lateral Safety & ComfortViewing and Warning
7. Function One Pager – Sway Warning System (SWS) Use Cases: Description The SWS function detects if the vehicle is unsteady and will warm the driver by a buzzer sound and message on display that the vehicle has been swaying. The vehicle will be detected to be unsteady due to “lack of attention” when: Case 1 (long term unsteadiness): the vehicle keeps swaying inside the lane Case 2 (momentary unsteadiness): driver makes abrupt correction of steering wheel when he/she realized that the vehicle has been drifting. In this case the system becomes more sensitive. Supporting Algorithms Lane Detection Trajectory EstimationLateral Safety & ComfortViewing and Warning
8. TrafficDetect. RangeØ React. Timeoncoming800m0,50spreceeding600m0,75sFunction One Pager – Head Light Assist Advanced Assistance Intelligent Headlamp ControlBasic Use Cases:Description: The Head Light Assist detects oncoming and ahead traffic and controls the high beam to optimize the illumination and visibility of the road ahead during night time without blinding of other traffic. Motivation: Reliefs the driver from the tiring switching between high-beam and low-beam. Avoiding unintentional blinding of other traffic. More comfortable, safer driving thanks to better vision at night. Improved visibility without blinding encountering traffic. Adaptive environment modeling for optimized lighting in various situations such as highways, urban and rural roads. Variants: IHC light: Automatically switches high-beam on and off (binary). IHC standard: Additionally provides automatic adaption of low-beam lighting distance. IHC plus / matrix: Glare-free high-beam with 1 to 5 cut-off regions for maximum visibility of environment.HLA light:HLA standard:HLA plus / matrix:Variable
9. Function One Pager – Object Detection (OD) Object DetectionBasic Use Cases:Description: OD delivers list of safety critical and function relevant objects ahead Attributes include object dynamics, dimension, shape Objects are classified as pedestrians, vehicles (passenger car, truck), motorbike, bicyclist. The stereo version in addition detects and tracks generic objects (dynamic and stationary) builds a freespace representation Motivation: Safety gain by collision warning, mitigation and prevention Comfort gain by ACC Stop+Go; Traffic Jam Assist, Construction Site Assist Variants: Mono Object detection (MOD) Stereo Object detection (SOD) Stereo Freespace detection (FSD)Emergency brake Assist (EBA) Forward collision warning (FCW) Adaptive Cruise Control (ACC) Traffic Jam Assist (TJA) Pedestrian detection for warning and braking (FCW/EBA)Stereo only : Generic obstacles (e.g. trash bins, trees,animals, guardrails) and freespace for ACC, TJA
10. Function One Pager – Camera Monitoring (CMON)Basic Use Cases:Description The Camera Monitoring (CMON) aims at ensuring the camera to deliver interpretable images to the other functions e.g. to object detection. To this end, CMON detects / compensates Blockage of the camera’s field of view, Misalignment of the camera / decalibration of the camera Features -- Blockage Detection of condensation, partial blockage, full blockage in the field of view  provide signal to activate windshield heating Clearance measurement to ensure free optical path for other functions Detection of bad weather conditions, e.g., fog, heavy rain Features -- Calibration Offline calibration of intrinsic and extrinsic camera parameters in the production plant (Customer-plant calibration is optional) Online calibration of intrinsic and extrinsic parameters during camera operation Super-fast startup mode (online) for providing good calibration input to the other functions.calibration patterncameraOnline calibration:Target – calibration:Blockage:
11. Function One Pager – Path Profile EstimationAdvanced Assistance Path Profile EstimationBasic Use Cases:Description: Detection of the road unevenness up to 15m ahead of the vehicle. Motivation: with the road profile information such as bumps or pot holes an adaptive, adjustable suspension system can be preconditioned to increase comfort. No need for compromises in chassis/suspension tuning or manual switching between suspension modes to increase comfort without reducing vehicle dynamics. Warning from road irregularities that possibly could damage the vehicle (e.g. speed bumpers). Safety Integrity Level according to ISO 26262: QM
12. Function One Pager – Emergency Brake AssistLongitudinal Safety & ComfortEmergency Brake AssistGen. 1Basic Use Cases:Run-UpDescription: The EBA system is meant to avoid accidents by means of driver visual/audible alert, autonomous partial braking with respect to moving objets. The EBA function shall cascade the different warning and braking stages as well as the different levels of decelleration. Motivation: This function is meant to reduce most of the accidents happening due to the driver lack of awareness of a hazardous situation such as approaching vehicles with high relative speed or deceleartion. Applicable standards: ISO 15623 - Forward Obstacle Warning System (FOWS). ISO 22839 - Forward Collision Avoidance Assitance System (FCAAS) Safety Intergrity Level according to ISO 26262: Depends on specific implementation Warning only  None (QM). Autonomous partial braking (< 4 m/s²)  None (QM).
13. Function One Pager – Emergency Brake AssistLongitudinal Safety & ComfortEmergency Brake AssistGen. 2Basic Use Cases:Run-UpDescription: The EBA system is meant to avoid accidents by means of driver visual/audible alert, autonomous partial and full braking. The EBA function shall cascade the different warning and braking stages as well as the different levels of decelleration. Motivation: This function is meant to reduce most of the accidents happening due to the driver lack of awareness of a hazardous situation such as approaching vehicles with high relative speed or deceleartion. Applicable standards: ISO 15623 - Forward Obstacle Warning System (FOWS). ISO 22839 - Forward Collision Avoidance Assitance System (FCAAS) MLIT Collision Mittigation Braking. NHTSA Forward Collision Warning, Collision Imminent Braking. EuroNCAP / vFFS tests (AEB City/Urban). Safety Intergrity Level according to ISO 26262: Depends on specific implementation Warning only  None (QM). Autonomous partial braking (< 4 m/s²)  None (QM). Autonomous full braking with limited speed reduction  ASIL B.Cut-inCut-in
14. Function One Pager – Emergency Brake AssistLongitudinal Safety & ComfortEmergency Brake AssistGen. 3 / Veh.Basic Use Cases:Run-UpCut-inDescription: In addition to the generation 2 use cases, the generation 3 shall support the intersection assist function. The intersection assist is meant to avoid accidents by means of driver visual/audible alert, autonomous partial and full braking. The EBA function shall cascade the different warning and braking stages as well as the different levels of decelleration. Motivation: This function is meant to reduce most of the accidents happening due to the driver lack of awareness of a hazardous situation such as approaching vehicles with high relative speed. This often occurs if the driver of the object vehicle fails to give way. Applicable standards: None. Safety Integrity Level according to ISO 26262: Depends on specific implementation Warning only  None (QM). Autonomous partial braking (< 4 m/s²)  None (QM). Autonomous full braking with limited speed reduction  ASIL B.Run-up turn inRun-up crossingDraft
15. Function One Pager – Emergency Brake AssistLongitudinal Safety & ComfortEmergency Brake AssistGen. 3 / Ped.Basic Use Cases:DraftDescription: The EBA ped system is meant to avoid collisions with by means of visual/audible alert and autonomous full braking. The EBA function shall not cascade the warning and braking stages nor different levels of decelleration. Motivation: This function is meant to reduce most of the accidents happening due to the driver lack of awareness of a hazardous situation such as pedestrians crossing the vehicle path. Activation conditions: Host speed 5 km/h up to 60 km/h Moving pedestrian is confirmed by radar to be inside the driving corridor Stationary pedestrian is confirmed by camera and radar to be inside the driving corridor Activation: Forward Collision Warning @ TTC <= 1.2s  not part of cascade Full braking (10 m/s²) when collision inevitable Pedestrian nor subject vehicle can avoid the collision. Limited speed reduction (to be confirmed) Applicable standards: EuroNCAP / vFFS tests (AEB Pedestrian). Safety Intergrity Level according to ISO 26262: Depends on specific implementation Warning only  None (QM). Autonomous full braking with limited speed reduction  To be clarified.Vehicle width
16. Function One Pager – Adaptive Cruise ControlLongitudinal Safety & ComfortAdaptive Cruise ControlGen. 1-4Basic Use Cases:Description: The ACC system shall behave as a conventional cruise control system in an open lane condition. When approaching a slower vehicle in subject vehicle path, the ACC system shall use the power train and the brakes to adjust the subject vehicle speed in order to maintain the driver selected headway. Motivation: It is meant to increase comfort by supporting the driver’s task to maintain an appropriate headway with respect to any licensable vehicle in dense traffic situations on highways, secondary roads and in cities. Human Machine Interface: Cruise Control switches, Headway switch. Instrument penal cluster: status, selected speed/headway, object selected telltale. Buzzer. Applicable standard: ISO/FDIS 15622 Safety Intergrity Level according to ISO 26262: Limited deceleration  None (QM)Gen.DescriptionSpeed rangeDeceleration authority1Maintain driver selected speed (Cruise Control) and driver selected headway (Adaptive) by means of power train and brakes.30 – 210 km/h3 m/s²2Brings vehicle to full stop and than ramps out the brake pressure (Follow to Stop). After coming to a stop the vehicle is held at standstill. Upon driver confirmation this function performs an automatic drive off (Full Speed Range, Stop&Go). Multi-object control considers hidden objects and objects on adjacent lanes.0 – 210 km/h4 m/s²3ACC extended by the use case “approach to stationary (not stopped) object” when confirmed by video sensor. The function is designed to be more anticipatory (less driver intervention) through incorporation of lane curvature, exits, speed limits.0 – 210 km/h4 m/s²4Combination of lonfitudinal control with lateral control:- In the speed range above 60 km/h, hands on is required.- Below 60 km/h, "hands on" is not required. The driver conformation is no longer required --> "Auto Go", Highly automated driving (Traffic Jam Assist).0 – 60 km/h6 m/s²Subject approaches slower targetSubject approaches decelerating targetTarget Cut-inTarget Cut-outSubject Cut-out
17. Function One Pager – Emergency Brake & Steer Assist Int. Lat. & Long. Safety & Comfort Emergency Brake & Steer AssistBasic Use Cases:Description: The integrated Emergency Brake & Steer Assist function detects obstacles in the ego driving lane and calculates the criticality of the traffic situation. The system will warn the driver and initiate a cascaded brake intervention to preventively reduce the vehicle speed. If the driver decides for and starts an evasion maneuver, the optimal trajectory to avoid a collision will be calculated. The system supports to steer along this optimized trajectory and control the driving behavior of the vehicle even in high dynamic situations. Motivation: Emergency Brake & Steer Assist addresses additional use cases The system can help avoiding a collision when it’s too late for braking. Especially at high speeds, on low friction surfaces and for scenarios with small overlap an integrated braking/evasion maneuver can be more effective than solely braking. Variants: EBSA-ESC: Optimized ESC parameter set-up and torque vectoring by brake EBSA-EPS: Steering support by steering torque overlay EBSA-Chassis: Optimized chassis set-up for improved vehicle dynamics Rear-end collision (vehicle)!Crossing pedestrian!Pulling out or turning vehicle!
18. Function One Pager – Traffic Jam Assist Int. Lat. & Long. Safety & ComfortTraffic Jam AssistGen. 1-3Basic Use Cases:Description: The TJA system combines ACC S&G with a lane keeping system. The system shall maintain the driver selected headway with respect to the preceding vehicle similar to ACC S&G. In addition, the system shall center the vehicle inside the lane. Motivation: It is meant to increase comfort by relieving the driver from his lateral an longitudinal control tasks in dense traffic situations. Out of Scope: Highly / fully automated driving. Human Machine Interface: Same as ACC Applicable standard: None Safety Integrity Level according to ISO 26262: TBDSubject approaches slower targetSubject approaches decelerating targetTarget Cut-inTarget Cut-outSubject Cut-outGen.DescriptionSpeed rangeDeceleration authority1Adaptive Cruise Control with Stop and (driver initiated) Go in combination with lane keeping assist. The system shall not make any active lane changes.0 – 210 km/h6 m/s²2Same as Gen 1 but with automatic go.0 – 210 km/h6 m/s²3In addition to Gen 2 the system shall make active lane changes when required (e.g. lane ends, merge into adjacent lane)0 – 210 km/h6 m/s²Merge
19. Function One Pager – Rear Cross Traffic AlertLongitudinal Safety & ComfortRear Cross Traffic Alertw/o BrakingBasic Use Cases:Description: The RCTA shall indicate to the driver that while backing up from a parking spot, there is approaching traffic that might cross the path of the subject vehicle in a few seconds (at least 2,5 [s]). The RCTA shall consider licenced vehicles (pass. cars, trucks, motor cycles). Other road users such as cyclists or pedestrians can be considered as well. The RCTA system is active when the gear state is reverse or park in the entire speed range (performance evaluated upto 3,5 [m/s]). Motivation: Mostly the view of the driver (line-of-sight) is limited by vehicles parking next to the subject vehicle. Out of scope: The RCTA is not a parking aid nor a "back-up aid" (shall not alert or brake with respect to stationary objects, e.g. other parked vehicles or poles etc...). Human Machine Interface: Tell tale in the side mirrors or buzzer Applicable standard: None Safety Integrity Level according to ISO 26262: Warning only  None (QM)
20. Function One Pager – Rear Cross Traffic Alert with BrakingLongitudinal Safety & ComfortRear Cross Traffic Alert w. Brakingw. BrakingBasic Use Cases:Description: The system shall indicate to the driver that while backing up from a parking spot, there is approaching traffic that might cross the path of the subject vehicle in a few seconds (at least 2,5 [s]). The system shall consider licenced vehicles (pass. cars, trucks, motor cycles). Other road users such as cyclists or pedestrians can be considered as well. The system is active when the gear state is reverse or park in the entire speed range (performance evaluated upto 3,5 [m/s]). In addition to the (audible/visual) alert, the vehicle is autonomously prevented from backing up using the brake for a limited time. Motivation: Mostly the view of the driver (line-of-sight) is limited by vehicles parking next to the subject vehicle. Out of scope: The RCTA is not a parking aid nor a "back-up aid" (shall not alert or brake with respect to stationary objects, e.g. other parked vehicles or poles etc...). Human Machine Interface: Tell tale in the side mirrors or buzzer Applicable standard: None Safety Integrity Level according to ISO 26262: Keeping vehicle in standstill  TBD.
21. Function One Pager – Rear Pre-Crash SensingLongitudinal Safety & ComfortRear Pre-Crash SensingBasic Use Cases:Description: The RPCS system shall indicate in the entire speed range, that a moving vehicle is approaching the subject vehicle from the rear with kinematic conditions such that ... there is a latent hazard of a rear crash (object following to close). a rear crash is likely when the object or subject vehicle does not change the kinematics (steer, brake or accelerate). a rear crash is inevitable. Motivation: This function is supposed to reduce the injury (such as whip lash) as a consequence of rear crashes, by adjusting the head rest and tightening the seat belt. Human Machine Interface: None. Applicable standard: None Safety Integrity Level according to ISO 26262: TBD
22. Function One Pager – Side Pre-Crash SensingLongitudinal Safety & ComfortSide Pre-Crash SensingBasic Use Cases:Description: The SPCS system shall indicate in the entire speed range, that a moving vehicle is approaching the subject vehicle from the side with kinematic conditions such that ... there is a latent hazard of a rear crash (object coming to close). an side crash is likely when the object or subject vehicle does not change the kinematics (steer, brake or accelerate). a side crash is inevitable. Motivation: This function is supposed to reduce the number of accidents that occur when an object vehicle is entering a road. Human Machine Interface: Lamp / Buzzer. Applicable standard: None Safety Integrity Level according to ISO 26262: TBD
23. Function One Pager – Occupant Safe ExitAdvanced AssistanceOccupant Safe ExitBasic Use Cases:Description: The OCS system shall indicate to the driver that it is dangerous open the door to exit the vehicle, because a moving vehicle (mostly bycicles) is about to pass the subject vehicle very closely in the next few seconds. Motivation: This function is supposed to reduce the number of accidents happening while the driver is exiting the vehicle as a consequence of the driver overseeing paralell driving vehicles in the "blind spot" respectively approaching vehicles with high relative speed than crashing into the vehicle door. Human Machine Interface: Telltale (e.g. in the side mirrors), flashing/buzzer during when driver door adjar. Jam driver door for a limited time. Flashing of brake lights Applicable standard: None Safety Intergrity Level according to ISO 26262: Warning only  None (QM) Warning only  None (QM). Jam driver door  TBD.
24. SoT : Subject overtakes TargetFunction One Pager – Blind Spot WarningLateral Safety & ComfortLane Change AssistIBasic Use Cases:Description: The LCA system shall indicate to the driver that it is dangerous to change the lane because: a moving licenced vehicle on the adjacent lane resides in the zone representing at least the "blind spot" of the rear view mirror. a moving licenced vehicle is about to enter the "blind spot" in the next few seconds. Motivation: This function is supposed to reduce the number of accidents happening during lane change scenario＇s as a consequence of the driver overseeing paralell driving vehicles in the "blind spot" respectively approaching vehicles with high relative speed. Human Machine Interface: Telltale (e.g. in the side mirrors), flashing during subject vehicle lane change. Buzzer. Applicable standard: ISO/FDIS 17387 Safety Intergrity Level according to ISO 26262: Warning only  None (QM) TypeDescription Relative speed TTC SpeedIAlso refered to as Blind Spot Detection. Alerts the driver when a vehicle enters the BSD zone.- 3 … 12 m/s0 s10 – 250 km/hToS : Target overtakes SubjectMerge-in
25. SoT : Subject overtakes TargetFunction One Pager – Lane Change AssistLateral Safety & ComfortLane Change AssistII/III a/b/cBasic Use Cases:Description: The LCA system shall indicate to the driver that it is dangerous to change the lane because: a moving licenced vehicle on the adjacent lane resides in the zone representing at least the "blind spot" of the rear view mirror. a moving licenced vehicle is about to enter the "blind spot" in the next few seconds. Motivation: This function is supposed to reduce the number of accidents happening during lane change scenario＇s as a consequence of the driver overseeing paralell driving vehicles in the "blind spot" respectively approaching vehicles with high relative speed. Human Machine Interface: Telltale (e.g. in the side mirrors), flashing during subject vehicle lane change. Buzzer. Applicable standard: ISO/FDIS 17387 Safety Intergrity Level according to ISO 26262: Warning only  None (QM) TypeDescription Relative speed TTC SpeedII/IIIaAlerts the driver when a vehicle shall enter the BSD zone in the near future. The LCA type I is included.10 m/s2,5 s0 – 210km/hII/IIIb15 m/s3,0 sII/IIIc 20 m/s3,5 s ToS : Target overtakes SubjectMerge-in
26. ManeuverFunction One Pager – Template<Cluster><Function><Variant(s)>Basic Use Cases:Description: Hendusam nietum volupta ssimus doloreritio. Et occullparum quiandelignim descil ipiduciis ex endiam dent fugiatur, non sequit reium facepudit adi ut quibuscitia quatumquos earunte vellab ipsam arupis aruptationse laborpos sunt volorrum ex erum quas …. Motivation: … quidis exeribe rumen adipsus re, te quam lamens ulpa pliquidarsuntium eos rest res voluptas molut maiorer itat em qui necepta tquas magnihi ciandig enduntibea doleste vol lore. Applicable standards: ISO xxxxx - … Safety Integrity Level according to ISO 26262: Warning only  None (QM). Autonomous partial braking (< 4 m/s²)  None (QM). … Variants:
27. Function Parking AssistBasic Use Cases: Description Parking Assist provides an automated parking facility. Free parking spaces are detected and displayed in the surround view image. The driver nominates a particular parking space using a touch screen display. The system controls the steering to manoeuvre the vehicle into the parking space. Performance Characteristics Parking position accurate to within 50mm. Supporting Algorithms Parking Spot Detection Object Detection Vehicle Trajectory PlanningParallel Parking:Perpendicular Parking:Garage Parking:Surround View System: SVS230 Viewing, Warning and Assist
28. Function Remote ParkingBasic Use Cases: Description Parking Assist provides an automated parking facility. Free parking spaces are detected and displayed in the surround view image. The driver nominates a particular parking space using a touch screen display and may exit the vehicle. The system controls the steering to manoeuvre the vehicle into the parking space, while the driver remotely controls the forwards/backwards motion. Performance Characteristics Parking position accurate to within 50mm. Supporting Algorithms Parking Spot Detection Object Detection Vehicle Trajectory PlanningBasic Use Cases:Parallel Parking:Perpendicular Parking:Garage Parking:Surround View System: SVS230 Viewing, Warning and Assist
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