Advanced Driver Assistance System

Dr. Shree Prasad M.

Asst. Prof., Dept. of E.E.E.,
BITS Pilani
Off-Campus, Bangalore.

Advanced Driver Assistance System 1 / 14 BITS Pilani, Pilani Campus

Outline

1 Vehicle Driving Automation Systems: SAE J3016.

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Vehicle Driving Automation Systems

* Vehicle Driving Automation Systems: Perform part or all of the

dynamic driving tasks (DDT) on sustained basis.
* DDT:
1. Lateral vehicle motion control.
2. Longitudinal vehicle motion control.
3. Monitoring the driving environement:
i. Object and event detection.
ii. Recognition.
iii. Classification and
iv. Response preparation.
4. Object and event response execution.
5. Maneuver planning.
Tasks 3., and 4. are collectvely called as object and event detection
and response (OEDR).

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Active Safety Versus Driving Automation

=⇒ Difference between active safety system and driving automation.

* Active Safety Systems: Momentary intervention during potentially
hazardous situation. Example: ESC, AEB, LKA etc.
* Driving Automation: Part or all of the DDT on sustained basis.

“Why LKA is an active safety system? Only when the vehicle steers or
drifts away from the lane marking, the LKA system steps in and center
the vehicle in its desired lane. Is this system performing DDT all the
time?” (Even the driver is performing DDT)
=⇒ “Question is whether it is partial (only correcting) or full steering
(Lateral) control”: Partial qualifies as active system, and full will be
automation.

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Driving Automation Levels

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Driving Automation: Level 1

Driver Assistance

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Driving Automation: Level 1 Contd.

ACC,( and BSD) Demo:

* Set desired speed: Ego vehicle speed when its current lane is clear.
* Set desired distance: Distance to the preceding vehicle.
ACC Video by Bosch:
https://www.youtube.com/watch?v=Iu-UP88K9cQ
https://www.youtube.com/watch?v=own VaRZ9M8
Demo Video by Bosch:
https://www.youtube.com/watch?v=mIG8bp6F2pY

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Driving Automation: Level 2

Patial automation.

* Driver supervises the feature’s performance while engaged.

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Driving Automation: Level 2 Contd.

Examples: (Combination of ACC, and LKA)

* GM: Super Cruise.
Demo Video:
https://driving.ca/car-culture/auto-tech/deep-dive-gm-super-cruise-explained-by-a-
cadillac-engineer(Lane change on demand at time 5:16)
https://www.cnbc.com/2020/02/05/gm-expanding-super-cruise-driver-assist-
system-to-22-vehicles-by-2022.html
https://www.youtube.com/watch?v=SK YIQ7TD8Q (Doesn’t change lane
mentioned at 6:10 also explains the significance of “machine maps”.)
* Mercedes-Benz: Pilot.
* Volvo: Pilot assist.
Demo Video:
https://www.volvocars.com/uk/support/topics/use-your-car/car-functions/tips-for-
using-pilot-assist
https://www.youtube.com/watch?v=GChq1ywHrw0 (Good real time demo of level
2 traffic jam assist and pilot assist).
* Nissan: Pro Pilot Assist 2.0
(Source: https://www.tomtom.com/blog/automated-driving/different-levels-of-
autonomous-driving/)

Advanced Driver Assistance System 9 / 14 BITS Pilani, Pilani Campus

Driving Automation: Level 2 Contd.

Observations:
* GM’s supercruise is limited to more than 200,000 miles in certain
free(high) ways of US, and Canada. These free ways are Lidar mapped
apriori and stored in Car.
* Cannot change lanes.
* Condtional operation:
a. Clearly visible lane lines.
b. Weather Conditions.
* Steering control might be required to avoid obstacles such as animals,
crash barriers etc.
Specific to India:
i Push carts, bullock carts, overloaded trucks etc.
ii Unscientific danger indicators: Tree branch or a pole placed inside a pit
dug by civic agencies.
iii Truck laden with protruding out iron rods (In ACC, will Radar measure
distance to protruding iron rods or the truck??!!!).

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Driving Automation: Level 2 Contd.

Figure 1: Image Source: https://www.apnnews.com/

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Driving Automation: Level 3-5

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Driving Automation: Level 3-5 Contd.

Level 3 (Tactical) from Honda:

https://www.youtube.com/watch?v=0yg5N-7vwug (Truely Level
3??!!!)
Level 3 Drive Pilot from Mercedes:
https://www.youtube.com/watch?v=5TWKFHsvseo
(How these systems behave under rain and with passing emergency
vehicle??!!!)
Geofencing!!!
https://www.youtube.com/watch?v=1gjweWq8qAc
Level 4: Automated Valet parking
https://www.youtube.com/watch?v=9j4MDcXqsq4

Advanced Driver Assistance System 13 / 14 BITS Pilani, Pilani Campus

Retrofitting active safety features to vehicles

https://www.mobileye.com/uk/fleets/products/mobileye-shield-plus/
https://www.mobileye.com/uk/fleets/products/mobileye-8-connect/

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