Intelligent Vehicles:

A New World Coming…..

Presentation to SAE In-Car Electronics and

Telematics TOPTEC
September 21, 2000

Richard Bishop
Richard Bishop Consulting

www.ivsource.net
 IV’s: This Joint is Jumpin’….
• During/After Crash Technology Evolving
• Telematics is exploding
– “Information Layer” -- in-vehicle information
• Driver Assistance systems entering market
– “Control Layer” -- helps driver drive more safely,
productively, efficiently
• Automated Driving -- ongoing development
• Results from significant activity in trucks, buses,
special vehicles can flow to the passcar platform
 IV Activity Worldwide:
The Players

• Automotive / truck OEMs and suppliers

worldwide
• Publicly-funded programs in Asia, Europe,
North America
 IV Players Worldwide:
North America
• USDOT Intelligent Vehicle Initiative
– Goal: accelerate the deployment of near-term safety systems for cars, heavy trucks,
buses, specialty vehicles
– Cost-shared projects initiated in 1999 with truck OEMs and state DOTs
– Pre-competitive research projects being negotiated with carmakers
– Ambitious Safety Goals: example -- 50% reduction in heavy-truck related fatalities
within ten years

• Federal Transit Administration

• Bus Rapid Transit program
• USDOD: autonomous military vehicles
• University research: California PATH, U. of Minnesota,
Ohio State University
 IV Players Worldwide:
Asia

• Japan
– Advanced Cruise-Assist Research Association
(AHSRA) very active (Ministries of
Construction and Transportation)
– Japan’s Ministry of International Trade and
Industry (MITI) performing advanced work
• Activity also in Korea, Singapore
• Industrial automation in Australia
 IV Players Worldwide:
Europe

• Europe
– European Commission projects
• 5th Framework Research Program
• Projects include public and private sector
participants from major countries
– National level programs in France, Netherlands,
Sweden
– Research in Italy, Germany, UK
 Driver Assistance Systems
• Night Vision
• Adaptive Cruise Control
• Collision Warning
• Collision Avoidance
• Driver Impairment Monitoring
• Advanced Driver Assistance
• Cooperative Infrastructure
• Automated Driving
Driver Assistance Systems:
Night Vision
DeVille 2000 With Night Vision
 Driver Assistance Systems:
Adaptive Cruise Control
• ACC: Foot-free driving
– forward-looking radar “sees” slower vehicles ahead
– system automatically adjusts speed and maintains a selectable
following distance
– desired speed is resumed when the way ahead is clear
– some systems use digital maps to enhance operations
• Now on the market for $1500-2000
– Trucks: US (2000)
– Cars: Japan (1997), Europe (1999), US (2000)
• Next generation: stop-n-go traffic operation
2000 XKR
With ACC
 Driver Assistance Systems:
Collision Warning
• Heavy trucks are where the market action is
• Over 50,000 heavy trucks equipped with Eaton-Vorad
radar-based system
– covers forward zone and right blind spot
– selling “thousands” per year
– accident reductions of 50% or greater not unusual for some fleets

• Lane departure warning entered heavy truck market in

1999
– based on image processing
– first on Mercedes trucks (Europe), followed by Freightliner (Iteris system)
– now a factory option from Kenworth (SafeTRAC)
– suitable for automotive aftermarket
 Assistware’s
Lane Departure Warning System
 Driver Assistance Systems:
Collision Warning
• Transit Bus Performance Spec’s in
Development
– Forward Collision Warning: San Mateo (Ca.)
transit system with California PATH
– Rear Impact CW: Ann Arbor Transit with Veridian
– Lane Change / Merge CW: Pittsburgh Transit (100
buses) with Carnegie Mellon
• also initial research in Pedestrian Detection / Avoidance
 Driver Assistance Systems:
Collision Warning for Automotive
• Adaptive Cruise Control systems are edging in this
direction
• Ford signed agreement with Iteris for Lane
Departure Warning Systems for MY2003
• Japan SmartCruise systems
– CW for forward obstacles/vehicles, road/lane departure,
intersections, crossing paths, pedestrians, road condition
– Systems also take control if driver does not heed warning
– Major demo Nov 28 - Dec 1 near Tokyo
 Driver Assistance Systems:
Collision Warning for Automotive

• USDOT-Industry Joint Pre-competitive “Enabling

Research” agreement in the works
• Ford, GM, DaimlerChrysler, Nissan, Toyota &
Navtech
• Key focus areas:
– Enhanced digital maps to augment collision warning
systems
– Develop driver workload performance metrics
– Additional work in test methodologies for CW
 Driver Assistance Systems:
Collision Avoidance
• Activity in forward CA, vehicle dynamics control, lane
departure prevention, ACC w/brake actuation
• NHTSA-GM: $35M cost-shared project: “ACAS”
– using radar, vision for forward sensing
– mostly collision warning, with modest braking
– extensive algorithm development, vehicle integration, human
factors (warnings), data collection, evaluation
– naturalistic test with ten Buick LeSabres starts in 2002
• Major benefits in congestion relief
– majority of non-recurring congestion due to fender-benders
 Driver Assistance Systems:
Impairment Monitoring

• Is the Driver Fit to Drive???

• Technology exists to monitor:
– driving performance:
• lane keeping (SPI), steering wheel movements
– physiological factors:
• ocular measures: blink rate, blink velocity, % eye
closure…. you name it
• head position monitoring
 Driver Assistance Systems:
Impairment Monitoring
• Major government research is focused on trucking
– fatigue monitors
• Systems are in product development cycle for cars
and trucks
• On the market:
– Trucks: Basic systems now, advanced systems under
development
– Cars: higher reliability needed; strong market
perceived for older drivers
 Driver Assistance Systems:
Impairment Monitoring

• Technology Approaches:
– Ocular measures
• Image processing of driver’s face with IR illumination
• Active eye-tracking
– Doppler radar illumination of face/body
• tracks eye movements, head movements, etc.
– Head movement monitoring using capacitor plates
– Stereo image processing of eyes/face/head
– Lane-keeping & steering input patterns
 Headtrak:
Proximity Array Sensing System
 Driver Assistance Systems:
Impairment Monitoring

• How do you wake ‘em up???

• Some say “detect fatigue before drowsiness
sets in,” giving driver plenty of advance
warning
• When drowsiness present, haptic feedback
(seat vibration) seems most promising
 Advanced Driver Assistance
Systems
• “Co-Pilot” functions will continue to emerge
– Stop-n-go ACC for congested traffic (~2003)
– Lane keeping on freeways (~2004)
– Merge assistance (~2006)
• The Killer App: Low Speed Automation!
– Automated throttle, brakes, steering in tedious stop-n-go
traffic
– being developed in Europe, Japan
– availability as early as 2005 overseas, 2007 in U.S.??
 Cooperative Infrastructure
Opens Up New Possibilities
• Magnetic lane marking enables snowplow operations in zero
visibility (Ca, Az, Mn)
– Will car/truck products emerge to use magnet-marked roads?
• Magnetic lane marking tape and vehicle system recently
commercialized by 3M (Lane Awareness System)
• Infrastructure Consortium looking at intersection collision
avoidance techniques
• Cooperative vehicle-infrastructure standards process in early
stages
• Arizona considering opening HOV lanes to Intelligent
Vehicles, to incentivize public to adopt systems
Lane Awareness System:
Sensor Bar on Snowplow
 Insurance/Liability Implications:
Enhanced DVI
• Driver-vehicle interface evolving
– voice-activated control, hands-free cellular phone, e-
mail “read” to driver
• OK, hands are on the wheel -- but where is the
driver’s attention?
– Eye-tracking technology tracks attention placement
– Driver warnings can be tuned to attention placement
• OK, attention is on the road -- but where is
driver’s brain? Unsolved mystery….
 Insurance/Consumer Implications:
New Product Opportunities
• New insurance products assess premiums in real-time, based on
vehicle location & time
• Future products: what can be monitored that provides an indication
of driver behavior?
– Frequency of hard accelerations, hard braking, excess speed, excess lateral
acceleration, …..
– Driving while fatigued
– Driving with insufficient attention on the road
• Safe drivers can choose to be monitored in order to save a few
bucks
• What should be monitored? Industry, regulators, and consumers
will decide
 Automated Driving: it’s coming!
• Hands-off, feet-off driving: customers want it
• Demonstrated in 1997 by National Automated Highway
System Consortium
• Basic system capability exists
– machine intelligence & machine perception now being refined
by researchers (California PATH, Ohio State U., France,
Germany, Japan, Korea)
– must transform into an affordable, trustworthy product
• Bishop prediction: available in 2010
• Revolutionary changes in society<>travel
 Automated Driving:
Passenger Cars (1)
• California PATH: work continuing since Demo 97 to refine
algorithms, hardware for both cars and heavy trucks
• Mechanical Engineering Lab (Japan):
– cooperative driving using 5.8 GHz DSRC intervehicle
communication, DGPS, machine vision, radar, laser
– Public demo announced for Nov. 22-27 near Tokyo
• LIVIC: French La Route Automatisee program
– research labs INRIA, INRETS, LCPC and OEM partners
– focusing on sensor fusion in CARSENSE
– scenarios and deployment paths defined for rural, intercity, and
commuter scenarios
 Automated Driving:
Passenger Cars (2)
• Korea University: KAV-5 relies on four cameras
to follow road, vehicles
• University of Parma (Italy): ARGO vision-based
autonomous vehicle
– successfully completed 2000 km tour of Italian roads
• Arizona: conducted a planning study for
automated lanes in median of Interstate 10
(Phoenix-Tucson)
 Automated Driving:
Heavy Trucks
• CHAUFFEUR program in Europe demonstrated
“electronic tow-bar” in 1999
– Lead truck closely followed by fully automated second truck
– Using vehicle-vehicle communication, image processing, active
infrared, radar
• CHAUFFEUR II implementing multiple trucks in platoons
and improved image processing
– Led by DaimlerChrysler with Renault VI and Iveco as OEM
partners
• Caltrans is sponsoring a study of adding automated truck
lanes to Interstate 10, coast-to-coast
 Automated Driving:
Transit Buses
• Bus Rapid Transit concept seeks to combine rail-like
capacity with flexibility of buses
• Exclusive lane operation in urban areas sometimes
requires narrow lanes and lateral guidance
• Guided bus systems being implemented in France,
Netherlands, UK, USA
• Toyota: Intelligent Multimodal Transit System
– fully automated, using platooning techniques
• Technologies include magnetic guidance, image
processing
 Automated Driving:
Demo 2002
• California DOT taking a lead role to stimulate
the implementation of automated vehicles --
key to congestion relief
– sees trucks / buses as precursor to cars
• Caltrans sponsoring Demo 2002
– Trucks in electronic towbar convoys
– “Bus trains”
• California PATH leading development
 Automated Vehicles:
Military / Industrial
• USDOD sponsoring $50 Demo III project
– autonomous unmanned scout vehicles
– off-road operation at 20 mph
– on-road operation at 40 mph
– using extensive sensor suite: MMW radar, foliage
penetrating radar, laser scanner, FLIR, monochrome
and color vision, stereo vision
• Four vehicle undergoing rugged testing “with the
troops” in October
 Automated Vehicles:
Military / Industrial
• Port automation: automated freight container
movement (Rotterdam)
• Autonomous mining vehicles
– Australian Centre for Field Robotics
– strip mining
– underground mining
 Summary
• There’s a lot going on! …. A diverse array of
activity for all vehicle types
• Look for increasingly intelligent vehicles to move
most rapidly into commercial vehicle markets --
where the intelligence enhances the bottom line
• Look for consumers to become increasingly
comfortable with driver aids and demand more
relief from the tedium of driving ….and look for
the technology to deliver.
 Resources / Events
• ITS World Congress Intelligent Vehicle
Exhibition
– November 6-9, Turin, Italy
• Japan’s Demo 2000 (www.ahsra.or.jp)
– November 27 - December 1, Tsukuba City, Japan
• ITS America (www.itsa.org)
• www.IVsource.net -- Continued updates and
reporting
 Handouts

• “Intelligent Vehicles” for Arizona

• Mack Trucks IVI Op Test Fact Sheet
• Mack Electronics
• SafeTRAC Lane Departure Warning
• 3M Lane Awareness System
– samples of magnetic tape
• Paper: Survey of IV Applications Worldwide
• Japan Demo 2000
Thank you.