Abstract

In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is overactuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account. © 2008 IEEE.

Abstract

This paper presents a microscopic traffic model for the validation of advanced driver assistance systems. This model describes single-lane traffic and is calibrated with data from a field operational test. To illustrate the use of the model, a Monte Carlo simulation of single-lane traffic scenarios is executed with application to cooperative adaptive cruise control system. The model is then validated by comparing the simulation results with data gathered from test drives. ©2007 IEEE.

Abstract

Recently, the developments in the field of ADA systems shifted from comfort oriented systems to safety oriented systems. Consequently, the complexity of testing those systems increased. This leads to a demand for reproducible, efficient and safe testing methods for ADA systems in general, and pre-crash systems in particular. A method for pre-crash systems evaluation is presented, involving TNO's Vehicle Hardware-inthe-Loop facility (VeHIL) and its Crash Lab. This method, called VeHIL/Pre-crash, aims to support the development and verification of pre-crash systems, increasing the level of reproducibility, effectiveness and safety of the testing process. To this end, a test vehicle, positioned on a roller bench, is placed in a simulated traffic environment. In order to provide the test vehicle's environment sensor input, one of the simulated traffic participants is represented by a rail guided target vehicle, which is stopped by crumple tubes. Although the realization of this setup is not straightforward due to practical aspects such as high decelerations of the target and the challenge to establish a realistic sensory input in a confined environment, it is considered a promising development allowing for nondestructive testing of pre-crash systems in a hardwarein-the-loop setup. © 2008 IEEE.

Abstract

urban intersections drivers handle multiple tasks simultaneously, making urban driving a complex task. An advanced driver assistance system may support drivers in this specific driving task, but the design details of such a system need to be determined before they can be fully deployed. A driving simulator experiment was conducted to determine the relationship between different subtasks of driving at urban intersections. Participants completed four drives, each comprising 20 comparable intersections with different traffic situations and encountered one unexpected braking event during the experiment. The effects of varying levels of event urgency on the relationship between different driving subtasks were studied. Furthermore, the influence of workload on this relationship was determined by giving half of the subjects an additional cognitive task. After the lead car braked unexpectedly, participants reduced speed and increased headway depending on the urgency of the braking event. Depending on the workload, participants returned to the normal speed and headway again after a number of intersections. Participants experiencing a high-workload drove more smoothly, except for those who had experienced the most urgent unexpected event. High workload additionally affected the length of the adjustments to the unexpected event.