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A methodology to derive precision requirements for automatic emergency braking (AEB) test procedures
(2015)
AEB Systems are becoming important to increase traffic safety. Test procedures in testing for consumer information, manufacturer self-certification and technical regulations are used to ensure a certain minimum performance of these systems. Consequently, test robustness, test efficiency and finally test cost become increasingly important. The key driver for testing effort and test costs is the required repeatable accuracy in a test design - the higher the accuracy, the higher effort and test costs. On the other hand, the performance of active safety systems depends on time discretization in the environment perception and other sub-systems: for instance, typical sensors supply information with a cycle time of 50 - 150 ms. Time discretization results in an inherent spread of system performance, even if the test conditions are perfectly equal. The proposed paper shows a methodology to derive requirements for a test setup (e.g. test repeats, use of driving robots, ...) as function of AEB system generation and rating method (e.g. Euro NCAP points awarded, pass/fail, ...). While the methodology itself is applicable to AEB pedestrian and AEB Car-Car scenarios, due to the lack of sufficient test data for AEB Car-Car, the focus of this paper is on AEB pedestrian scenarios. A simulation model for the performance of AEB Pedestrian systems allows for the systematic variation of the discretization time as well as test condition accuracy. This model is calibrated with test results of 4 production vehicles for AEB Pedestrian, all fully tested by BASt according to current Euro NCAP test protocols. Selected parameters to observe the accuracy of the test setup in case of pedestrian AEB is the calculated impact position of pedestrian on the vehicle front (as if no braking would have occurred), and the test vehicle speed accuracy. These variable was shown in real tests to be repeatable in the range of ± 5 cm and ± 0,25 km/h, respectively, with a fully robotized state of the art test setup. The sensitivity of AEB performance (measured in achieved speed reduction as well as overall rating result according to current Euro NCAP rating methods) towards discretization and the sensitivity of performance towards test accuracy then is compared to identify economic yet robust test concepts. These comparisons show that the available repeatability accuracy of current test setups is more than sufficient for today's AEB system capabilities. Time discretization problems dominate the performance spread especially in test scenarios with a limited pedestrian dummy reveal time (e.g. child behind obstruction, running adult scenarios with low car speeds). This would allow to increase test tolerances to decrease test cost. A methodology which allows to derive the required tolerances in active safety tests might be valuable especially for NCAPs of emerging countries that do not have the necessary equipment (e.g. driving robots, positioning units) available for the full-scale and high tolerance EuroNCAP active safety procedures yet still want to rate active safety systems, thus improving the global safety.
Autonomous Emergency Braking (AEB) systems for pedestrians have been predicted to offer substantial benefit. On this basis, consumer rating programmes, e.g. Euro NCAP, are developing rating schemes to encourage fitment of these systems. One of the questions that needs to be answered to do this fully, is to determine how the assessment of the speed reduction offered by the AEB is integrated with the current assessment of the passive safety for mitigation of pedestrian injury. Ideally, this should be done on a benefit related basis. The objective of this research was to develop a benefit based methodology for assessment of integrated pedestrian protection systems with pre-crash braking and passive safety components. A methodology has been developed which calculates the cost of pedestrian injury expected, assuming all pedestrians in the target population (i.e. pedestrians impacted by the front of a passenger car) are impacted by the car being assessed, taking into account the impact speed reduction offered by the car’s AEB (if fitted) and the passive safety protection offered by the car’s frontal structure. For rating purposes, this cost can be normalised by comparing it to the cost calculated for selected cars. The methodology uses the speed reductions measured in AEB tests to determine the speed at which each casualty in the target population will be impacted. The injury to each casualty is then calculated using the results from standard Euro NCAP pedestrian impactor tests and injury risk curves. This injury is converted into cost using ‘Harm’ type costs for the body regions tested. These costs are weighted and summed. Weighting factors were determined using accident data from Germany and GB and the results of a benefit analysis performed by the EU FP7 AsPeCSS project. This resulted in German and GB versions of the methodology. The methodology was used to assess cars with good, average and poor Euro NCAP pedestrian ratings, with and without a current AEB system fitted. It was found that the decrease in casualty injury cost achieved by fitting an AEB system was approximately equivalent to that achieved by increasing the passive safety rating from poor to average. Also, it was found that the assessment was influenced strongly by the level of head protection offered in the scuttle and windscreen area because this is where head impact occurs for a large proportion of casualties. The major limitation within the methodology is the assumption used implicitly during weighting. This is that the cost of casualty injuries to body areas, such as the thorax, not assessed by the headform and legform impactors, and other casualty injuries such as those caused by ground impact, are related linearly to the cost of casualty injuries assessed by the impactors. A methodology for assessment of integrated pedestrian protection systems was developed. This methodology is of interest to consumer rating programmes which wish to include assessment of these systems. It also raises the interesting issue if the head impact test area should be weighted to reflect better real-world benefit.
The Intersection 2020 project was initiated to develop a test procedure for Automatic Emergency Braking systems in intersection car-to-car scenarios to be transferred to Euro NCAP. The project aims to address current road traffic accidents on European roads and therefore sets a priority of the identification of the most important car-to-car accidents and Use Cases. Taking into account technological and practical limitations, Test Scenarios are derived from the Use Cases in a later stage of the project. This paper presents parts of a larger study and provides an overview of common car-to-vehicle(at least four wheels) collision types at junctions in Europe and specifies seven Accident Scenarios from which the three scenarios “Straight Crossing Paths (SCP)”, “Left Turn Across Path – Opposite Direction Conflict (LTAP/OD)” and “Left Turn Across Path – Lateral Direction (LTAP/LD)” are most important due to their high relevance regarding severe car-to-car accidents. Technical details about crash parameters such as collision and initial speeds are delivered. The analysis work performed is input for the definition and selection of the Use Cases as well as for the project’s benefit estimation. The numbers of accidents and fatalities in accidents at intersections involving a passenger car were shown per intersection type. In both statistics, it was found that accidents at crossroads and T- or staggered junctions are of highest relevance, followed by roundabouts. Focusing on accidents at intersections between one passenger car and another road user shows that around one-third of all accidents and related fatalities could have been assigned to car-to-PTW accidents and one-fifth of all accidents and fatalities to car-to-car accidents. Regarding car-to-car accidents with at least serious injury outcome 38% out of 34,489 car-to-car accidents happened at intersections. These figures correspond to 18% of the fatalities (4,236 fatalities in total). Considering all intersection types, around half of all related accidents happened in urban environments whereas this number decreased to one-third of all fatalities. Further, the proportion of road fatalities per country occurring at intersections varies widely across the EU. Also, there are proportionately more fatalities in daylight or twilight conditions at junctions. Use Cases are supposed to be derived from Accident Scenarios and by adding detailed information for example about the road layout, right-of-way and the vehicle trajectories prior to the collision. Instead of applying cluster algorithms to the accident data, a pragmatic approach was finally preferred to create them. Note: Use Cases serve as an intermediate step between the Accident Scenarios and the Test Scenarios which describe the actual testing conditions. Finally, 74 Use Cases were identified. This large number indicates the complexity of intersection crashes due to the combination of several parameters.
Bicyclists and pedestrians belong to the most endangered groups in urban traffic. The EU-funded collaborative research project PROSPECT (‘PROactive Safety for PEdestrians and CyclisTs´) aims to significantly improve safety of those unprotected traffic participants by expanding the scope of scenarios covered by future active safety systems in passenger cars. Concepts for sensor control systems are built into three prototypes covering emergency interventions such as Autonomous Emergency Braking (AEB) as well as Autonomous Emergency Steering (AES). These systems tackle the well-known challenges of currently available systems including limited field-of-view by sensors, fuzzy path prediction, unreliable intent reaction times and slow reaction times. These highly innovative functions call for extensive validation methodologies based on already established consumer testing procedures. Since these functions are developed towards the prevention of intersection accidents in urban areas, a key aspect of the advanced testing methodology is the valid approximation of naturalistic trajectories using driving robots. Eventually, several simulator studies complemented a user acceptance and benefit analysis to evaluate the expected overall impact of the PROSPECT systems. The results achieved within the PROSPECT project are highly relevant for upcoming test protocols regarding the most critical situations with Vulnerable Road Users (VRU). With introducing the new methods in Euro NCAP (European New Car Assessment Programme) a significant increase in road safety is expected.
PROSPECT (Proactive Safety for Pedestrians and Cyclists) is a collaborative research project involving most of the relevant partners from the automotive industry (including important active safety vehicle manufacturers and tier-1 suppliers) as well as academia and independent test labs, funded by the European Commission in the Horizon 2020 research program. PROSPECT's primary goal is the development of novel active safety functions, to be finally demonstrated to the public in three prototype vehicles. A sound benefit assessment of the prototype vehicle's functionality requires a broad testing methodology which goes beyond what has currently been used. Since PROSPECT functions are developed to prevent accidents in intersections, a key aspect of the test methodology is the reproduction of natural driving styles on the test track with driving robots. For this task, data from a real driving study with subjects in a suburb of Munich, Germany was used. Further data from Barcelona will be available soon. The data suggests that intersection crossing can be broken down into five phases, two phases with straight deceleration / acceleration, one phase with constant radius and speed turning, and two phases where the bend is imitated or ended. In these latter phases, drivers mostly combine lateral and longitudinal accelerations and drive what is called a clothoid, a curve with curvature proportional to distance travelled, in order to change lateral acceleration smoothly rather than abrupt. The data suggests that the main parameter of the clothoid, the ratio distance travelled to curvature, is mostly constant during the intersections. This parameter together with decelerations and speeds allows the generation of synthetic robot program files for a reproduction of natural driving styles using robots, allowing a much greater reproducibility than what is possible with human test drivers. First tests show that in principle it is possible to use the driving robots for vehicle control in that manner; a challenge currently is the control performance of the robot system in terms of speed control, but it is anticipated that this problem will be solved soon. Further elements of the PROSPECT test methodology are a standard intersection marking to be implemented on the test track which allows the efficient testing of all PROSPECT test cases, standard mobile and light obstruction elements for quick reproduction of obstructions of view, and a concept for tests in realistic surroundings. First tests using the PROSPECT test methodology will be conducted over the summer 2017, and final tests of the prototype vehicles developed within PROSPECT will be conducted in early 2018
Since its creation in 2011 the Pre-Crash-Matrix (PCM) offers the possibility to observe the pre-crash phase until five seconds before crash for a wide range of accidents. Currently the PCM contains more than 8.000 reconstructed accidents out of the GIDAS (German In-Depth Accident Study) database and is enlarged continuously by more than 1.000 cases per year. Hence, a detailed investigation of active safety systems in real accident situations has been made feasible. The PCM contains all relevant data in database format to simulate the pre-crash phase until the first collision of the accident for a maximum of two participants. This includes the definition of the participants and their characteristics, the dynamic behavior of the participants as time-dependent course for five seconds before crash as well as the geometry of the traffic infrastructure. The digital sketch of the accident and information from GIDAS as well as from supplementary databases represent the main input for the simulation of the pre-crash phase of an accident with the VUFO simulation model VAST (Vufo Accident Simulation Tool). This simulation in turn embodies the foundation of the PCM. The PCM underlies continual improvements and enhancements in consultation with its users. In addition to collisions of cars with other cars, pedestrians, bicycles and motorcycles the PCM now also covers car to object and car to truck collisions. The paper illustrates car to truck collisions as a showcase and explains perspectives for further developments. In 2016 a more detailed definition of the contour of the vehicle was added. Furthermore, the geometrical surroundings of the accident site will be provided in a new structure with a higher level of detail. Thus, a precise classification of road marks and objects is possible to further improve the support of developing and evaluating ADAS. This paper gives an overview about the latest developments of the PCM with its innovations and provides an outlook to upcoming enhancements. Besides potential areas of application for the development of ADAS are shown.
The advent of active safety systems calls for the development of appropriate testing methods. These methods aim to assess the effectivity of active safety systems based on criteria such as their capability to avoid accidents or lower impact speeds and thus mitigate the injury severity. For prospective effectivity studies, simulation becomes an important tool that needs valid models not only to simulate driving dynamics and safety systems, but also to resolve the collision mechanics. This paper presents an impact model which is based on solving momentum conservation equations and uses it in an effectivity study of a generic collision mitigation system in reconstructed real accidents at junctions. The model assumes an infinitely short crash duration and computes output parameters such as post-crash velocities, delta-v, force directions, etc. and is applicable for all impact collision configurations such as oblique, excentric collisions. Requiring only very little computational effort, the model is especially useful for effectivity studies where large numbers of simulations are necessary. Validation of the model is done by comparison with results from the widely used reconstruction software PC-Crash. Vehicles involved in the accidents are virtually equipped with a collision mitigation system for junctions using the software X-RATE, and the simulations (referred to as system simulations) are started sufficiently early before the collision occurred. In order to assess the effectivity, the real accident (referred to as baseline) is compared with the system simulations by computing the reduction of the impact speeds and delta-v.
For more than a decade, ADAC accident researchers have analysed road accidents with severe injuries, recording some 20,000 accidents. An important task in accident research is to determine the causative factors of road accidents. Apart from vehicle engineering and human factors, accident research also focuses on infrastructural and environmental aspects. To find out what accident scenarios are the most common in ADAC accident research and what driver assistance systems can prevent them, our first task was to conduct a detailed accident analysis. Using CarMaker, we performed a realistic simulation of accident scenarios, including crashes, with varying parameters. To begin with, we made an initial selection of driver assistance systems in order to determine those with the greatest accident prevention potential. One important finding of this study is that the safety potential of the individual driver assistance systems can actually be examined. It also turned out that active safety offers even much more potential for development and innovation than passive safety. At the same time, testing becomes more demanding, too, as new systems keep entering the market, many of them differing in functional details. ADAC will continue to test all driver assistance systems as realistically as possible so as to be able to provide advice to car buyers. Therefore, it will be essential to develop and improve test conditions and criteria.
In 2016 the seventh ESAR conference (Expert Symposium on Accident Research) was held in Hannover. ESAR is an international convention of experts, who analyze traffic accidents all over the world and discuss their results in this context, conducted at the Medizinische Hochschule Hannover every 2 years. It connected representatives of public authorities, engineers in automotive development and scientists and offers a forum with particular emphasis on In-Depth-Analyses of accident statistics and accident analyses. Special focus is placed on research on the basis of so-called "In-Depth-Accident-Investigations" [data collections at the sites of the accidents], which are characterized by extensive documentations of the sites of the accidents, of the vehicles as well as of the injuries, encompassing several scientific fields. ESAR aims at a multi-disciplinary compilation of scientific results and at discussing them on an international, scientific level. It is thus a scientific colloquium and a platform for exchanging information for all accident researchers. Experiences in accident prevention as well as in the complex field of accident reconstruction are stated and new research fields are added. Existing results of long-term research work in Europe, the US, Australia and Japan include different infrastructural correlations and give findings on population, vehicle population and driver characteristics, which offer a basis for recommendations to be derived and measures for increasing road safety.
Enhanced protection of pedestrians and cyclists remains on the focus. Besides infrastructural and behavioral aspects it is necessary to exploit technical solutions placed on motorized vehicles. Accident research needs reliable data as well as national road accident statistics. Changing the view on seriously injured road users is one of the challenges which will substantially contribute to the optimization on future traffic safety. The missing accuracy in the definition of personal injury has a detrimental effect on making cost efficient road safety policy which is not only focused on fatal accidents. The European commission requested that, starting in 2015, all EU member states provide more detailed data on the injury status of road casualties, with special regard to the group of seriously injured. Conventional accident data will always be essential. But to obtain detailed data about driver behavior in real traffic situations further data sources are required. These could be EDR data, data from electronic control units, data from traffic surveys and traffic counting, naturalistic diving studies and field operational tests. Gaining insight into normal as well as critical driver behavior will enable accident researchers to deduct functions estimating the increase or decrease of accident risk associated with certain behaviors or vehicle functions. Also with view to the introduction of highly automated driving functions in the future such data is urgently needed. Computer simulation based tools to estimate the benefits of active safety systems are another step on the way towards the safety assessment of automated driving. It is now the duty of the scientific community to ask the right questions, to develop a methodology and to merge all these data sources into a common framework for the assessment of future traffic safety innovations.