Jan-Erik Källhammer

Pedestrian injury mitigation by autonomous braking

The objective of this study was to calculate the potential effectiveness of a pedestrian injury mitigation system that autonomously brakes the car prior to impact. The effectiveness was measured by the reduction of fatally and severely injured pedestrians. The database from the German In-Depth Accident Study (GIDAS) was queried for pedestrians hit by the front of cars from 1999 to 2007. Case by case information on vehicle and pedestrian velocities and trajectories were analysed to estimate the field of view needed for a vehicle-based sensor to detect the pedestrians one second prior to the crash. The pre-impact braking system was assumed to activate the brakes one second prior to crash and to provide a braking deceleration up to the limit of the road surface conditions, but never to exceed 0.6 g. New impact speeds were then calculated for pedestrians that would have been detected by the sensor. These calculations assumed that all pedestrians who were within a given field of view but not obstructed by surrounding objects would be detected. The changes in fatality and severe injury risks were quantified using risk curves derived by logistic regression of the accident data. Summing the risks for all pedestrians, relationships between mitigation effectiveness, sensor field of view, braking initiation time, and deceleration were established. The study documents that the effectiveness at reducing fatally (severely) injured pedestrians in frontal collisions with cars reached 40% (27%) at a field of view of 40 degrees. Increasing the field of view further led to only marginal improvements in effectiveness.

Uncooled Infrared Bolometer Arrays Operating in a Low to Medium Vacuum Atmosphere: Performance Model and Tradeoffs

In this paper we present a comprehensive calculational model for the noise equivalent temperature difference (NETD) of infrared imaging systems based on uncooled bolometer arrays. The NETD model is validated and benchmarked using published performance data of state-of-the-art uncooled infrared bolometer arrays. The calculational model is used to evaluate possible infrared sensor and system design tradeoffs that allow optimization for low-cost infrared systems with improved reliability and lifetime, while still achieving a NETD of about 150 mK, required for pedestrian injury mitigation systems. We propose an approach in which high performance crystalline semiconductor materials with very low 1/f-noise properties and a temperature coefficient of resistance (TCR) of 3 %/K are used as thermistor material for the bolometers. The resulting increased bolometer performance can be used to operate the infrared imaging arrays in a vacuum atmosphere with increased gas pressure while still achieving useful NETD levels. The proposed calculational model suggests that a NETD on the order of 150 mK can be reached with uncooled infrared bolometer arrays operating in vacuum pressures on the order of 6 mbar. Such specifications for the bolometer vacuum package dramatically simplify wafer-level vacuum packaging and ease long-term reliability issues, contributing to lowering the vacuum packaging and thus, the overall infrared imaging chip costs.

Low-cost far infrared bolometer camera for automotive use

A new low-cost long-wavelength infrared bolometer camera system is under development. It is designed for use with an automatic vision algorithm system as a sensor to detect vulnerable road users in traffic. Looking 15 m in front of the vehicle it can in case of an unavoidable impact activate a brake assist system or other deployable protection system. To achieve our cost target below €100 for the sensor system we evaluate the required performance and can reduce the sensitivity to 150 mK and pixel resolution to 80 x 30. We address all the main cost drivers as sensor size and production yield along with vacuum packaging, optical components and large volume manufacturing technologies. The detector array is based on a new type of high performance thermistor material. Very thin Si/SiGe single crystal multi-layers are grown epitaxially. Due to the resulting valence barriers a high temperature coefficient of resistance is achieved (3.3%/K). Simultaneously, the high quality crystalline material provides very low 1/f-noise characteristics and uniform material properties. The thermistor material is transferred from the original substrate wafer to the read-out circuit using adhesive wafer bonding and subsequent thinning. Bolometer arrays can then be fabricated using industry standard MEMS process and materials. The inherently good detector performance allows us to reduce the vacuum requirement and we can implement wafer level vacuum packaging technology used in established automotive sensor fabrication. The optical design is reduced to a single lens camera. We develop a low cost molding process using a novel chalcogenide glass (GASIR®3) and integrate anti-reflective and anti-erosion properties using diamond like carbon coating.

Fulfilling the pedestrian protection directive using a long-wavelength infrared camera designed to meet both performance and cost targets

Pedestrian fatalities are around 15% of the traffic fatalities in Europe. A proposed EU regulation requires the automotive industry to develop technologies that will substantially decrease the risk for Vulnerable Road Users when hit by a vehicle. Automatic Brake Assist systems, activated by a suitable sensor, will reduce the speed of the vehicle before the impact, independent of any driver interaction. Long Wavelength Infrared technology is an ideal candidate for such sensors, but requires a significant cost reduction. The target necessary for automotive serial applications are well below the cost of systems available today. Uncooled bolometer arrays are the most mature technology for Long Wave Infrared with low-cost potential. Analyses show that sensor size and production yield along with vacuum packaging and the optical components are the main cost drivers. A project has been started to design a new Long Wave Infrared system with a ten times cost reduction potential, optimized for the pedestrian protection requirement. It will take advantage of the progress in Micro Electro-Mechanical Systems and Long Wave Infrared optics to keep the cost down. Deployable and pre-impact braking systems can become effective alternatives to passive impact protection systems solutions fulfilling the EU pedestrian protection regulation. Low-cost Long Wave Infrared sensors will be an important enabler to make such systems cost competitive, allowing high market penetration.

Driver Acceptance of False Alarms to Simulated Encroachment

Objective: We investigated driver acceptance of alerts to left-turn encroachment incidents that do not produce a crash. If an event that produces a crash is the criterion for a “true” alert, all the alerts we studied are technically false alarms. Our aim was to inform the design of intersection-assist active safety systems. Background: The premise of this study is that it may be possible to overcome driver resistance to alerts that are false alarms by designing systems to issue alerts when and only when drivers would expect and accept them. Method: Participants were passengers in a driving simulator that presented left-turn encroachment incidents. Participant point of view, the direction of encroachment, and postencroachment time (PET) were manipulated to produce 36 near-crash incidents. After viewing each incident, the participant rated the relative acceptability of a hypothetical alert to it. Results: Repeated-measures ANOVA and logistic regression indicate that acceptability varies inversely with PET. At PET intervals less than 2.2 s, driver point of view and encroachment direction interact. At PET intervals more than 2.2 s, alerts to lateral encroachments are more acceptable than alerts to oncoming encroachments. Conclusion: Driver acceptance of alerts by active safety systems will be sensitive to context. Application: This study demonstrates the utility of eliciting subjective criteria to inform system design to match driver (user) expectations. Intersection-assist active safety systems will need to be designed to adapt to the interaction of driver point of view, the direction of encroachment, and PET.

Sensor fusion to enable next generation low cost Night Vision systems

The next generation of automotive Night Vision Enhancement systems offers automatic pedestrian recognition with a performance beyond current Night Vision systems at a lower cost. This will allow high market penetration, covering the luxury as well as compact car segments. Improved performance can be achieved by fusing a Far Infrared (FIR) sensor with a Near Infrared (NIR) sensor. However, fusing with todays FIR systems will be too costly to get a high market penetration. The main cost drivers of the FIR system are its resolution and its sensitivity. Sensor cost is largely determined by sensor die size. Fewer and smaller pixels will reduce die size but also resolution and sensitivity. Sensitivity limits are mainly determined by inclement weather performance. Sensitivity requirements should be matched to the possibilities of low cost FIR optics, especially implications of molding of highly complex optical surfaces. As a FIR sensor specified for fusion can have lower resolution as well as lower sensitivity, fusing FIR and NIR can solve performance and cost problems. To allow compensation of FIR-sensor degradation on the pedestrian detection capabilities, a fusion approach called MultiSensorBoosting is presented that produces a classifier holding highly discriminative sub-pixel features from both sensors at once. The algorithm is applied on data with different resolution and on data obtained from cameras with varying optics to incorporate various sensor sensitivities. As it is not feasible to record representative data with all different sensor configurations, transformation routines on existing high resolution data recorded with high sensitivity cameras are investigated in order to determine the effects of lower resolution and lower sensitivity to the overall detection performance. This paper also gives an overview of the first results showing that a reduction of FIR sensor resolution can be compensated using fusion techniques and a reduction of sensitivity can be compensated.

Assessing Contextual Factors That Influence Acceptance of Pedestrian Alerts by a Night Vision System

Objective: We investigated five contextual variables that we hypothesized would influence driver acceptance of alerts to pedestrians issued by a night vision active safety system to inform the specification of the system’s alerting strategies. Background: Driver acceptance of automotive active safety systems is a key factor to promote their use and implies a need to assess factors influencing driver acceptance. Method: In a field operational test, 10 drivers drove instrumented vehicles equipped with a preproduction night vision system with pedestrian detection software. In a follow-up experiment, the 10 drivers and 25 additional volunteers without experience with the system watched 57 clips with pedestrian encounters gathered during the field operational test. They rated the acceptance of an alert to each pedestrian encounter. Results: Levels of rating concordance were significant between drivers who experienced the encounters and participants who did not. Two contextual variables, pedestrian location and motion, were found to influence ratings. Alerts were more accepted when pedestrians were close to or moving toward the vehicle’s path. Conclusion: The study demonstrates the utility of using subjective driver acceptance ratings to inform the design of active safety systems and to leverage expensive field operational test data within the confines of the laboratory. Application: The design of alerting strategies for active safety systems needs to heed the driver’s contextual sensitivity to issued alerts.

Near Zone Pedestrian Detection using a Low-Resolution FIR Sensor

This paper explores the possibility to use a single low-resolution FIR camera for detection of pedestrians in the near zone in front of a vehicle. A low resolution sensor reduces the cost of the system, as well as the amount of data that needs to be processed in each frame. We present a system that makes use of hot-spots and image positions of a near constant bearing to detect potential pedestrians. These detections provide seeds for an energy minimization algorithm that fits a pedestrian model to the detection. Since false alarms are hard to tolerate, the pedestrian model is then tracked, and the distance-to-collision (DTC) is measured by integrating size change measurements at sub-pixel accuracy, and the car velocity. The system should only engage braking for detections on a collision course, with a reliably measured DTC. Preliminary experiments on a number of recorded near collision sequences indicate that our method may be useful for ranges up to about 10 m using an 80 times 60 sensor, and somewhat more using a 160 times 120 sensor. We also analyze the robustness of the evaluated algorithm with respect to dead pixels, a potential problem for low-resolution sensors.

Design and evaluation of a quantum-well-based resistive far-infrared bolometer

To address the growing needs of the automotive industry for low cost solutions to far infrared imaging, a silicon - silicon germanium (Si/SiGe) quantum well resistive bolometer technology is presented. The Si/SiGe thermistor structure is epitaxially grown and combines a high temperature coefficient of resistance (TCR) with low flicker noise. A TCR of approximately 3%/K for a Ge fraction of 32% is demonstrated. Quantum mechanical calculations show that a minimum SiGe layer thickness of 8 nm is needed to avoid degradation caused by ground state shift due to carrier confinement in the SiGe potential wells. In contrast to most of todays bolometer designs, the optical quarter wave cavity needed to achieve high absorption of radiation is an integral part of the quantum well thermistor structure. Optimization of the full bolometer design is made where the interaction between optical absorption, heat capacity and electrical properties is considered and a design approach targeting the lowest noise equivalent temperature difference is presented. As part of the optimization, it was found that for the best overall solution, optical absorption can be sacrificed in favor for a smaller heat capacity.

Night Vision: Requirements and possible roadmap for FIR and NIR systems

A night vision system must increase visibility in situations where only low beam headlights can be used today. As pedestrians and animals have the highest risk increase in night time traffic due to darkness, the ability of detecting those objects should be the main performance criteria, and the system must remain effective when facing the headlights of oncoming vehicles. Far infrared system has been shown to be superior to near infrared system in terms of pedestrian detection distance. Near infrared images were rated to have significantly higher visual clutter compared with far infrared images. Visual clutter has been shown to correlate with reduction in detection distance of pedestrians. Far infrared images are perceived as being more unusual and therefore more difficult to interpret, although the image appearance is likely related to the lower visual clutter. However, the main issue comparing the two technologies should be how well they solve the drivers problem with insufficient visibility under low beam conditions, especially of pedestrians and other vulnerable road users. With the addition of an automatic detection aid, a main issue will be whether the advantage of FIR systems will vanish given NIR systems with well performing automatic pedestrian detection functionality. The first night vision introductions did not generate the sales volumes initially expected. A renewed interest in night vision systems are however to be expected after the release of night vision systems by BMW, Mercedes and Honda, the latter with automatic pedestrian detection.