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Automated Lane Keeping Systems

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Presentation on theme: "Automated Lane Keeping Systems"— Presentation transcript:

1 Automated Lane Keeping Systems
Examples for system reaction on different driver input Supporting presentation to document ACSF-22-07

2 Principles for the proposal for regulatory provisions in doc ACSF-22-07
A driver override of an activated system shall always be possible using the conventional controls (pedals and steering wheel) Any input of the driver to the conventional controls leads always to either automatic deactivation or a transition demand depending on if the driver has taken over manual control or not. The driver input… to the steering control may be suppressed or mitigated by the system if it could lead to a critical situation to the braking control shall be suppressed if it would result in a lower deceleration than that induced by the system to the accelerator control shall be suppressed if it would prevent the system from meeting the requirements of this regulation.

3 Definition of “Manual Control”
2.2.y. The driver is deemed to have “taken over manual control” if one or more of the following conditions are met: The driver manually deactivates the system. The driver maintains the vehicle stationary by any braking system. The driver provides an input to the brake or accelerator control and is holding the steering control. The driver provides a steering input which Option 1 = [led the vehicle to cross a lane marking] Option 2 = [alters the vehicle’s path]. The driver follows a transition demand by grabbing the steering control. Reminder “monitoring by the driver availability recognition system“

4 Definition of “Manual Control”
2.2.y. The driver is deemed to have “taken over manual control” if one or more of the following conditions are met: The driver manually deactivates the system. The driver maintains the vehicle stationary by any braking system. The driver provides an input to the brake or accelerator control and is holding the steering control. The driver provides a steering input which Option 1 = [led the vehicle to cross a lane marking] Option 2 = [alters the vehicle’s path]. The driver follows a transition demand by grabbing the steering control. Reminder “monitoring by the driver availability recognition system“

5 ALKS examples – Definitions and Symbols
ACTIVATED System is active and performing the driving task DEACTIVATED System is not active and not performing the driving task Driver is in manual control OVERRIDE The driver input forces the vehicle to a change of the lateral or longitudinal movement other than the system would do by performing the driving task TRANSITION DEMAND System is active but due to a driver Input (in these examples only the driver input is considered) the driver is requested to take over the manual driving task again System with no steering input detected System with steering input detected

6 Automated Lane Keeping Systems
Steering override leads to deactivation upon lane departure [Option 1]

7 Steering override leads to deactivation upon lane departure [Option 1]
Scenario 1: the driver steers the vehicle out of the lane Km/h VALKSMax Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Repeat Example Brake Accelerator

8 Steering override leads to deactivation upon lane departure [Option 1]
Scenario 2: the driver steers the vehicle inside the lane Km/h VALKSMax Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Repeat Example Brake Accelerator

9 Automated Lane Keeping Systems
Steering override leads directly to deactivation [Option 2]

10 Steering override leads directly to deactivation [Option 2]
Km/h VALKSMax Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Accelerator Brake Repeat Example

11 Automated Lane Keeping Systems
Acceleration override while driver is not holding the steering wheel (layout 1: accelerator control does have priority)

12 Acceleration override while driver is not holding the steering wheel
(layout 1: accelerator control does have priority) VALKSMax Km/h Safety Zone Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Repeat Example Brake Accelerator

13 Automated Lane Keeping Systems
Acceleration override while driver is not holding the steering wheel (layout 2: accelerator control does not have priority)

14 Acceleration override while driver is not holding the steering wheel
(layout 2: accelerator control does not have priority) VALKSMax Km/h Safety Zone Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND Accelerator Brake Repeat Example

15 Automated Lane Keeping Systems
Acceleration while the driver is holding the steering wheel

16 Acceleration while the driver is holding the steering wheel
VALKSMax Km/h Safety Zone Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Accelerator Brake Repeat Example

17 Automated Lane Keeping Systems
Brake while holding the steering wheel

18 Brake while holding the steering wheel
VALKSMax Km/h Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Accelerator Brake Repeat Example

19 Automated Lane Keeping Systems
Brake while not holding the steering wheel

20 Brake while not holding the steering wheel
VALKSMax Km/h Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Accelerator Brake Repeat Example

21 Automated Lane Keeping Systems
Two channel takeover to manual control

22 Two channel takeover to manual control
VALKSMax Km/h Safety Zone ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Repeat Example Brake Accelerator

23 The driver follows a transition demand by grabbing the steering control.
VALKSMax Km/h ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Repeat Example Brake Accelerator

24 The driver maintains the vehicle stationary by any braking system
VALKSMax Km/h ALKS Status ACTIVATED ACTIVATED DEACTIVATED DEACTIVATED OVERRIDE OVERRIDE TRANSITION DEMAND TRANSITION DEMAND Repeat Example Brake Accelerator

25 Thank you

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