Prepared by:

JOSHI JAY (Cx-46)

MEHTA HARSH (Cx-74)

1
 50

Global Data Local Data Internal Data Driver

 Lane segments  Lane recognition  Steering angle  Destination
 Traffic signs  Object detection  Wheel speed  Action
 …  …  ….  Dynamic etc…

Local environmental sensing is the missing link between vehicle,

digital map and real world !
© Siemens VDO Automotive | SV C RS DA 21.02.2006 3
Radar Lidar Video
 24 GHz UWB near range  Laser Range Detection  Monocular Vision
 24 GHz NB mid range  SIT 3D Camera  Stereo Vision

GPS & Map Ultrasonic Communication

 Localization by GPS  Short Range Low Cost  Car to Car

and map Distance Sensor  Car to Infrastructure
pro.pilot
 pro.pilot pro.pilot pro.pilot
Traffic Jam Assist Traffic Sign Recognition Park Mate

pro.pilot
Night Vision (FIR)

pro.pilot
Adaptive Cruise Control

System Concept HMI

pro.pilot
Sensitive Guidance

pro.pilot
Night Vision (NIR)

pro.pilot
Implementation in 2006 Blind Spot Detection /
pro.pilot pro.pilot
Lane Departure Warning Safe Exit Assist Lane Change Assist
 Components Algorithms
 Lidar sensor & ECU
 Object detection and
for distance
tracking
measurement with
5 infrared laser  Lane association
beams (one main plus
 Control of beam
2 x 2 to cover cut-ins)
adjustment (sweep and
 Beam adjustment into curve
micro-sweep)
 High sensitivity (230m detection range)
 Effective water spray suppression

Vehicle Integration Driver Interface

 HW Integration  Control via steering
arm
 Brake & throttle
control  Warning strategy
 Sensor Fusion (e.g.  System status via Icons
with Digital Maps via in Head Up Display or
Electronic Horizon) Instrument Cluster
 Integration of camera, rain sensor &  Acoustic signal for
light sensor into Lidar package driver intervention
possible © Siemens VDO Automotive | SV C RS DA 21.02.2006
Components Algorithms
 CMOS High Dynamic  Object Detection
Range Camera Algorithm for lane
 Modular Image recognition based on
Processing ECU lane track markings
 Electronic Steering  consideration of curves
Actuator for steering
 Monitoring of vehicle
wheel vibration
dynamics and driver
actions

Vehicle Integration Driver Interface

 Directed Vibration warning via
 HW Integration steering wheel
 CAN-Bus  Variable thresholds for vibration
Interfaces and steering torque
 Sensor Fusion  System Warning strategy
(e.g. with Digital
Maps via  System status via Icons in Head
Electronic Horizon) Up Display or Instrument
Cluster
Components Algorithms
 Dual-beam 24GHz
Radar sensor with  Detection of
8 6 5beam-shape
4 3 2 1 0
ECU in one package II relevant objects
applying a pulsed beam-shape I
within the detection
frequency hopping zone
UWB mode (SV  Classification of
patented) Warning Zone
detected objects
 Electronic Steering
Actuator for HMI  Issue warning

Vehicle Integration Driver Interface

 Integration of radar  Red LED in door frame
sensors invisibly close to wing mirror
behind fascia
 Vibrating steering
 CAN-Bus Interfaces wheel in combination
 Sensor Fusion (e.g. with turn signal
with Digital Maps via  warning strategy
Electronic Horizon)

© Siemens VDO Automotive | SV C RS DA 21.02.2006

 Components Algorithms
 NIR-sensitive
camera (0,9μm)  Filtering
(same HDR CMOS  Image analysis
camera as for LDW)
 ECU  Object detection
 NIR headlights
 Alternatively:
FIR-Camera
 Head Up Display

Vehicle Integration Driver Interface

 Visualization via
 HW Integration head up display
 HUD visualization
Pedestrians ahead!

 Integration of
strategy with other
navigation info
functions
 Integration of lane
markings in FIR-
image
Pedestrians ahead!
© Siemens VDO Automotive | SV C RS DA 21.02.2006
 Components Algorithms
 eHorizon: provides
 Digital maps via GPS & map data for
eHorizon ADAS applications
 HDR CMOS Camera  Data fusion of
with ECU sensors and digital
 Head Up Display maps
(HMI)  Object Detection
(e.g. traffic signs)
with probability
calculation

Vehicle Integration Driver Interface

 HW Integration  Head-up Display or

Instrument Cluster
 ECU
 Reject button on
 CAN-Bus
steering wheel
Interfaces
 Sensor Fusion  warning strategy

© Siemens VDO Automotive | SV C RS DA 21.02.2006

 Components Algorithms

 Object Detection
 CMOS High Algorithm for
Dynamic Range vehicle
Camera recognition
 Modular Image  Monitoring of
Processing ECU vehicle dynamics
and driver actions

Vehicle Integration Driver Interface

 HW Integration  System Warning strategy

 CAN-Bus  System status via Icons in
Interfaces Head Up Display or
Instrument Cluster
 Sensor Fusion
(e.g. with LIDAR)

© Siemens VDO Automotive | SV C RS DA 21.02.2006

 Components Algorithms

 calculation of
 ultrasonic sensors trajectory for
semiautonomous
 steering actuator parking
maneuver

Vehicle Integration Driver Interface

 HW Integration  Display in Instrument

Cluster
 ECU
 warning strategy
 CAN-Bus
Interfaces

© Siemens VDO Automotive | SV C RS DA 21.02.2006

 Components Algorithms
 Digital maps
 Multiple sensors  Integration of
(Radar, Lidar, environmental
Camera) sensors data into
 GPS Information navigation
process

Vehicle Integration Driver Interface

 Enhanced road
 HW Integration information on
 ECU (navigation) display
(e.g. lane position)
 CAN-Bus Interfaces
 Situation adapted
 Sensor Fusion driving instructions

© Siemens VDO Automotive | SV C RS DA 21.02.2006

Scope

Reduction of accident Get ready for Mitigation of accident impact

probability the accident for passengers

pro.pilot Vehicle Pre-Crash Restraint Post-Crash

Dynamics system System system
 Blind Spot
Detection
 ABS  Front Airbag  GSM
System

 Lane Departure
 Anti Slip  Side Airbag  Telemetrics
Warning
Control Rescue

Crash
 Night Vision
(e.g. ESP)
 Adaptive Cruise
Control
 Driver
Monitoring
Situation

Normal Critical
Pre-Crash In-Crash Post-Crash
Driving Condition

Accident avoidance Accident happens

 ... runs in or stands

... drives in front or w aits

11% 7% ... drives side by side in the

6% 16% same direction
... is driving in opposite
9% direction
4%
... turns or crosses
1%
Collision betw een vehicle
8% and pedestrian
9% Collision w ith an obstacle on
29%
the road
Lane Departure to the right

Europe Lane Departure to the left

29 % Turns or Crosses -> BSD
Other
16 % drives in front -> ACC
15 % Lane Departure -> LDW
(Source: Statistisches Bundesamt, 2005)
 Vision "Collision Free Driving"

OEMs
Driver Society
Supplier
 Safety
 Sales  Safety of all
 Comfort
road users
 Fun &  Profit
 Environmental
Pleasure  Branding and
Protection
 Orientation & differentiation
 Economics
Overview
 Costs

Advanced Driver Assistance Systems

 pro.pilot (Advanced Driver Assistance Systems)
pro.pilot uses environmental sensing in order to assist the driver
in his driving task to increase safety and comfort

pro.pilot

Assist but not patronize the driver!

 Low-Cost SHARC
 66 MHz
 198 MFLOPS
 3.3v
 Floating Point
 2 serial transmit/receive ports support 32-channel TDM
 Two timers with event capture and PWM options
 12 programmable I/O pins
 10 DMA channels
 Glueless multiprocessing with 2 ADSP-21065Ls
 198 MFLOPS (32-bit floating-point)
 198 MOPS (32-bit fixed-point)
 16K 32-bit Dual-ported on-chip memory (544 KBits
configurable)
 64M x 32-bit word external address space
 Glueless SDRAM interface
 I2S mode supports up to 8 channels
 $10 per unit at 100,000 quantity
 Communications
 Digital Audio
 Biometrics Identification
 Automotive
 Industrial & Medical
 Instrumentation
 Comfort / Driving
Relax Pleasure & Fun
Driving without stress Enjoy driving, but
e.g. LDW, ACC never leave
the limit

Driver
Driving Driving like
with less fuel on the home course
consumption, less cost e.g. Sensitive Guidance, Night
e.g. ACC Stop&Go Vision, Object Detection

Economic Orientation &

Driving Overview