Sensoren für Fahrerassistenzsysteme Von Komfort- zu Sicherheitssystemen Sensors for Driver Assistant Systems - From Comfort to Safety Systems

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1 15 Aachener Kolloquium Fahrzeug- und Motorentechnik Sensoren für Fahrerassistenzsysteme Sensors for Driver Assistant Systems - From Comfort to Safety Systems Dipl-Ing Jürgen Seuss Hella KGaA, Lippstadt Jürgen Seuss, Leiter Produktkoordination Fahrerassistenzsysteme Aachen, Fig 1

Comfort to Safety Systems Dipl-Ing Jürgen Seuss Hella KGaA, Lippstadt

2 2 15 Aachener Kolloquium Fahrzeug- und Motorentechnik 2006 Definitionen Lidar Front Kamera Fusion 24 GHz 2 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 2 Komfortsystem Ein Fahrerassistenzsystem, das den Fahrer in der normalen Fahraufgabe unterstützt Sicherheitssystem Ein Fahrerassistenzsystem, das den Fahrer in kritischen Fahraufgaben unterstützt oder das autark eingreift um Unfallfolgen zu vermindern 3 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 3

Fahraufgabe unterstützt Sicherheitssystem Ein Fahrerassistenzsystem, das den Fahrer in kritischen Fahraufgaben unterstützt oder das autark eingreift

3 15 Aachener Kolloquium Fahrzeug- und Motorentechnik Definitionen Lidar Front Kamera Fusion 24 GHz 4 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 4 Hella LIDAR Sensor Measurement Range 150m (200m) Azimuth Angle 16 /12 (16x1 /12x1 ) Distance Resolution 01 m Distance Accuracy +/- 1% Velocity Resolution Velocity Accuracy 01 km/h +/- 1km/h 5 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 5

150m (200m) Azimuth Angle 16 /12 (16x1 /12x1 ) Distance Resolution 01 m Distance Accuracy +/- 1% Velocity Resolution Velocity Accuracy

4 4 15 Aachener Kolloquium Fahrzeug- und Motorentechnik 2006 Hella LIDAR Sensor 12/16 Channel x 3Targets: Distance [01m] Amplitude [4Bit] Charackteristic [1Bit] Channel Object list: Distance [01m] V Track [01km/h] A Track [001m/s²] Longitudinal Control (ACC) Rohsignal- Analyse Vorfilterung Tracking PreCrash Max 48 Objects: Lifetime [14] Channel [015] Distance [01m] Amplitude [4Bit] V Object [01 km/h] Build tracks (max 25) from objects - Calculate lane prediction - Select relevant track for ACC - Data for Range of Sight - Traffic Situation recognition 6 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 6 Hella LIDAR Sensor 25 Collision Mitigation Precrash Phase Postcrash Phase Distance [m] t w Warning Rel Velocity [km/h] t CM Autonomous Braking t CR Crash (Contact Sensor) time Brake Criterion Steering Criterion 7 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 7

km/h] Build tracks (max 25) from objects - Calculate lane prediction - Select relevant track for ACC - Data for Range of Sight - Traffic Situation recognition 6 ConfidentialThe Contents may only be

5 15 Aachener Kolloquium Fahrzeug- und Motorentechnik Definitionen Lidar Front Kamera Fusion 24 GHz 8 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 8 Hella Frontkamera Kamera Winkel (H x V): 46 x 30 Auflösung: 768 x 488 Pixel Type: CMOS monochrom Auflösung lateral (50m) 0,07 m Zykluszeit 40 ms 9 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 9

Kamera Winkel (H x V): 46 x 30 Auflösung: 768 x 488 Pixel Type: CMOS monochrom Auflösung lateral (50m) 0,07 m Zykluszeit 40

6 6 15 Aachener Kolloquium Fahrzeug- und Motorentechnik 2006 Hella Frontkamera Front Camera Fernlicht Assistent (HBA) Dynamische Hell-Dunkel Grenze Verkehrszeichenerkennung Lane Departure Warning (LDW) / Heading Control (HC) Lane Departure Warning & Adaptive Cruise Control (LDW+) NightVision I NightVision II 10 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 10 Definitionen Lidar Front Kamera Fusion 24 GHz 11 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 11

NightVision II 10 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 10

7 15 Aachener Kolloquium Fahrzeug- und Motorentechnik LIDAR Multi-Beam (NIR 905 nm) Time-of-flight, Mehrzielfähigkeit pro Kanal 16 Kanäle horizontal angeordnet Applikation: ACC, Objektdetektion Sensor Integration: Fahrzeug-Frontbereich / Windschutzscheibe Integration 12 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 12 HDR CMOS-Bildsensor Bildsignalverarbeitung 1-Box, 2-Box (Trennung Kamerakopf und ECU) Applikation: LDW, Fahrspurdetektion, Verkehrszeichenerkennung, NightVision, Sensor Integration: Windschutzscheibe Integration 13 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 13

permission All rights reserved Fig 12 HDR CMOS-Bildsensor Bildsignalverarbeitung 1-Box, 2-Box (Trennung Kamerakopf und ECU) Applikation: LDW, Fahrspurdetektion,

8 8 15 Aachener Kolloquium Fahrzeug- und Motorentechnik 2006 IDIS Bildsensorik 150 m 16 horiz Öffnungswinkel 5070 m (Fahrspur, Objekte) 45 horiz Öffnungswinkel Komplementäre Fusionsbereiche Redundanter Fusionsbereich 14 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 14 SRR SRR LIDAR proprietär proprietär proprietär data acquisition preprocessing data acquisition preprocessing data acquisition preprocessing appl specific postprocessing (raw) target interface (raw) target interface (raw) target interface fusion tracking object interface object interface object interface appl specific postprocessing history/ adaptable FIFO appl specific postprocessing bidirectional connection sensor type/id time stamp measurements variances sensor types/ids time stamp estimations variances appl spec interface appl spec interface appl spec interface HMI controller legend: signal processing variants/ parameter sets 15 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 15

acquisition preprocessing data acquisition preprocessing data acquisition preprocessing appl specific postprocessing (raw) target interface (raw) target interface (raw) target interface fusion

9 15 Aachener Kolloquium Fahrzeug- und Motorentechnik Definitionen Lidar Front Kamera Fusion 24 GHz 16 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 16 Basis Frequenz Bandbreite Zyklus Zeit Messreichweite 24 GHz (K-Band) 100 MHz (76 MHz) 36 ms 075 m 55 m Field of View Azimuth ±50 ± 70 Angle of Integration ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 17

Bandbreite Zyklus Zeit Messreichweite 24 GHz (K-Band) 100 MHz (76 MHz) 36 ms 075 m 55 m Field of View Azimuth ±50 ± 70 Angle of

10 10 15 Aachener Kolloquium Fahrzeug- und Motorentechnik 2006 Target Detection Track Generation Object Generation Reliable Detection and Warning by Closing Vehicle Detection! Closing Vehicle Zone Blind Spot Zone 70 m 55 m Subject vehicle speed range: 30 km/h to 250 km/h Evaluated relative velocity: -10 km/h to +100 km/h 18 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 18 Rear End Collision Parking Support Door Monitoring 19 ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 19

Closing Vehicle Zone Blind Spot Zone 70 m 55 m Subject vehicle speed range: 30 km/h to 250 km/h Evaluated relative velocity: -10 km/h to +100 km/h 18

11 15 Aachener Kolloquium Fahrzeug- und Motorentechnik Active Light Assistant Intelligent NightVision II Dyn Cut-Off Line Assistent LBA FLA Pred Pred DBL AHL NightVision I Light-based Driver Assistant Systems Camera-Based Applications Traffic Sign Recognition LDW / Heading Control Lateral-Assistant Radar-Based Applications SWA Long Range SWA Stop&Go Assistant ACC+ IDIS Stop&Go urban- Assistant ACC Low Range ACC IDIS Lidar-Based Applications Pedestrian Detection Collision- Mitigation Precrash Longitudinal-Assistant Ultrasonic -Based Applications Electronic Park Assist RVC Intelligent RVC Park-Assistant ConfidentialThe Contents may only be passed on, used or made known with our express permission All rights reserved Fig 20

Assistant ACC Low Range ACC IDIS Lidar-Based Applications Pedestrian Detection Collision- Mitigation Precrash Longitudinal-Assistant Ultrasonic -Based Applications Electronic Park Assist RVC

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