Frank Niewels

The narrow road assistant - Next generation advanced driver assistance in inner-city

With the availability of novel sensor technologies, as e.g. stereo vision, advanced driver assistance systems (ADAS) for highly complex urban scenarios get increasingly into focus. In this contribution, with the “narrow road assistant” an inner-city ADAS is presented that supports the driver in safely passing narrow road passages based on offering early scenario-specific information and automated steering support. The focus of the contribution will be on system design aspects and first concepts for scene analysis that aim at recognizing and considering the driver intention. The named ADAS is realized in the context of the publicly-funded project UR:BAN, which started in 2012.

An inertial navigation system for inner-city ADAS

In this paper an inertial navigation system (INS) is presented that is designed to specifically meet the requirements of next generation inner-city driver assistance. It integrates information from wheel speed sensors, the steering wheel, as well as a low-cost inertial measurement unit. The INS is based on a two-staged processing. An Interacting Multiple Model (IMM) filter that combines a kinematic and a dynamic bicycle model first estimates the vehicles motion in 2D. A subsequent filter integrates the 2D estimates with additional sensor data to yield reliable 3D position information. The proposed INS has been evaluated in test drives of several kilometers where it exhibited highly accurate relative positioning. The high accuracy in conjunction with the fact that the used sensors are already built in many todays production vehicles renders the presented INS attractive for driver assistance systems.

Electronic stability program (ESP)

Human error is the cause for a large portion of road accidents. Due to external circumstances, such as an obstacle suddenly appearing on the road or driving at inappropriately high speeds, the vehicle can reach its critical limits and it becomes uncontrollable. The lateral acceleration forces acting on the vehicle reach values that overtax the driver. Electronic systems can make a major contribution towards increasing driving safety.

Exploration of Centralized Car2X-Systems over LTE

Car2X-Communication is a method for data exchange between vehicles and infrastructure units to increase traffic safety and efficiency. Usually data processing and control is performed within the vehicle i.e decentralized. Centrally organized systems hardly get any attention in latest research, although they have many advantages. Since communication systems are improving, even safety-critical centralized systems become realistic. In this paper we present the technical feasibility of centralized Car2X-Systems based on LTE. Exemplarily, we investigate a Server-based Adaptive Cruise Control System (SbACC), whereby the longitudinal behavior of vehicles is controlled by a central server over LTE. Additionally we identify several methods with which the requirements for delay and bandwidth can be relaxed, such that a sufficient performance of the SbACC can still be guaranteed. The evaluation is then performed based on the simulation of scenarios with realistic movement and communication, yielding a maximum required bandwidth of the SbACC in downlink of 2.15% in an urban and 9.6% in a suburban scenario.

Environment perception for inner-city driver assistance and highly-automated driving

While driver assistance systems mainly targeted highway or parking scenarios in the past, systems assisting in inner-city traffic increasingly get into focus today. Since driving in urban areas is characterized by a larger variety of situations that have to be covered, finding an adequate representation of the vehicle surrounding is a challenging task for the perception of these systems. In this paper we present our perception system that has been specifically designed for the demands of inner-city driving. It first features a plugin-based architecture by which multiple sensor setups as well as different driver assistance functions can be supported. Second, it is characterized by a hybrid modeling approach that combines the well known model-based object tracking technique with model-free representations in terms of grids. We will present details on a specific implementation of the system using a 3D lidar sensor. Finally, it is shown how the system is used in the Narrow Road Assistant - a next-generation driver assistance system supporting the driver in safely passing narrow road passages in inner-city.

Statistical Modelling of Object Detection in Stereo Vision-Based Driver Assistance

In this work, a statistical analysis of object detection for stereo vision-based driver assistance systems is presented. Analytic modelling has not been attempted previously due to the complexity of dense disparity maps and state-of-the-art algorithms. To approach this problem, a simplified algorithm for object detection in stereo images which allows studying error propagation is considered. In order to model the input densities, vehicle contours are approximated by Gaussian Mixture Models and distance dependent measurement noise is taken into account. Theoretical results are verified with Monte Carlo methods and real-world image sequences. Using the proposed model, a prediction on the uncertainty in object location and optimal threshold selection can be obtained.

Integrierte Querdynamikregelung mit ESP, AFS und aktiven Fahrwerksystemen

Die Entwicklung der vergangenen 1–2 Jahrzehnte im Automobil und speziell im Fahrwerksbereich ist gepragt durch den Einzug von aktiven mechatronischen Systemen, welche bisher passive mechanische Komponenten ersetzen. Neben ESP sind die wesentlichen Systeme im Bereich Lenkung Active Front Steering AFS, elektrische oder elektrohydraulische Servolenkungen, regelbare Hinterachslenkungen und in weiterer Zukunft Steer-by-Wire. Im Bereich Fahrwerk sind es die Luftfederung, regelbare Dampfer, aktive Wankstabilisatoren (ARC — Active Roll Control) und vollaktive Fahrwerke wie ABC; der Bereich Antrieb wird derzeit beherrscht durch die Entwicklungen der Hybrid-Technologien, deren Potenziale bei weitem noch nicht erschopft sind, insbesondere wenn man die Moglichkeiten des seriellen Hybrid-Antriebs in Betracht zieht.

The narrow road assistant - evolution towards highly automated driving in inner city

With the “narrow road assistant” (NRA), this contribution elaborates on an inner-city ADAS that supports the driver in safely passing narrow road passages. The system offers early scenario-specific information together with automated support in steering and braking. The solved challenges and gathered experiences will ease and accelerate the development of future functions for piloted inner-city driving. In this sense, the function is an important evolutionary step towards highly automated driving in urban areas. The ADAS was realized in the context of the publicly-funded project UR:BAN, which started in 2012. In October 2015 the project UR:BAN reached its peak in a public presentation in Düsseldorf Germany. Numerous driving demonstrations allowed guests an independent evaluation on a larger scale. The Bosch NRA performed in all situations reliably surpassing the expectations of many guests. The focus of the contribution will be on the detailed description of the system and its evaluation.

Antilock Braking System (ABS)

In hazardous driving conditions, it is possible for the wheels of a vehicle to lock up under braking. The possible causes include wet or slippery road surfaces, and abrupt reaction on the part of the driver (unexpected hazard). The vehicle can become uncontrollable as a result, and may go into a slip and/or leave the road. The antilock braking system (ABS) detects if one or more wheels are about to lock up under braking and if so makes sure that the brake pressure remains constant or is reduced. By so doing, it prevents the wheels from locking up and the vehicle remains steerable. As a consequence the vehicle can be braked or stopped quickly and safely.

Elektrische und elektronische Systeme im Kfz

Der Anteil der Elektronik im Fahrzeug stieg in den letzten Jahren stark an und wird auch in Zukunft noch weiter zunehmen. Die technische Entwicklung in der Halbleitertechnik ermoglicht mit der zunehmenden Integrationsdichte immer komplexere Funktionen. Die Funktionalitat der in Kraftfahrzeugen eingebauten elektronischen Systeme ubertrifft mittlerweile die Leistungsfahigkeit der Raumkapsel Apollo 11, die 1969 den Mond umkreiste.