Delft University of Technology
Road Infrastructure Requirements for Improved Performance of Lane Assistance Systems
Reddy, Nagarjun; Farah, Haneen; Dekker, Thijs; Huang, Yilin; van Arem, Bart
Publication date 2020
Document Version Final published version Citation (APA)
Reddy, N., Farah, H., Dekker, T., Huang, Y., & van Arem, B. (2020). Road Infrastructure Requirements for Improved Performance of Lane Assistance Systems. Poster session presented at Transportation Research Board Annual Meeting, Washington, D.C., United States.
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Main Research Question: What changes need to be made to
the road infrastructure to increase the performance of Level 1
Automated Vehicles with Lane Assistance Systems?
Road Infrastructure Requirements for Improved Performance of Lane Assistance Systems
Nagarjun Reddy, Haneen Farah, Thijs Dekker, Yilin Huang, Bart van Arem
Session 1212, Paper P20-21166, Transportation Research Board, January 2020
E-mails: N.Reddy@tudelft.nl; h.farah@tudelft.nl; dekkert@noord-holland.nl; Y.Huang@tudelft.nl; B.vanArem@tudelft.nl2. STAMP model
3. Field test
1. Introduction & Research Question
“Highest” performing ODD
•
Visibility conditions have a significant effect on detection performance, especially in rainy conditions under streetlights;•
On lane widths less than 2.5 m, and on Left curves, LKS positions the vehicle significantly to the left from the lane center;•
Road curvature must be considered in combination with the speed limit to safely accommodate LKS steering limitations;•
Infrastructure (re)design requires elimination of distracting “lines” in the driving environment (e.g. Asphalt repair patches);•
Close collaboration between road authorities and OEMs is crucial to expand the systems’ Operational Design Domain (ODD);•
Drivers must be adequately informed about the limitations of these system by OEMs as well as authorities;4. Results
5. Conclusions
§ The rapid advent of automated vehicles has raised a lot of interest in understanding their impacts on transportation;
§ New EU regulation makes it mandatory from 2022 that all vehicles sold in the EU will have a set of automated safety systems including lane assistance systems;
§ Road authorities need to take initiative towards understanding the implications of these systems on existing road infrastructure;
9: Lane Detection Performance
Definitions StructureControl Unsafe Control Actions (UCAs) Loss Scenarios
Refined Safety Requirements (RSRs)
Hardware
In-vehicle
Communication
Infrastructure
Algorithm
“Least” performing ODD
Speed 70-80 kmph; Lane width >= 2.5 m; Straight Section
Speed 60-70 kmph; Lane width < 2.5 m; Left Curve
ODD-Performance levels Visibility condition Speed category (kmph) Lane
width Type of curve
High
Performance Dark, Rainy, Cloudy, Clear 70-80, 80-90 ≥ 2.5 m Straight section, Right Curve Medium
Performance Streetlights, Dark Rainy >90 -
-Low
Performance Streetlights Rainy 60-70
< 2.5 m Left Curve
Lane Position with Lane widths
Routes covered in the field test
Depiction of the System as a Control Structure The STPA analysis steps, based on the STAMP model
§ 2 vehicles, equipped with a Lane Keeping System (LKS) and a Lane Departure Warning (LDW) system respectively, driven on about 600 km routes in different driving environments;
Asphalt repair patches Speed reduction limit placed too late before a curve
Median with crossings has too sharp curves Reverse curves too sharp without enough transition section
A typical provincial road
Working of a Lane Keeping System
§ Significant effect of Visibility conditions and Speed on Detection performance, and a significant effect of Lane width and Type of Curve on Lane Position;
Speed categories distribution during the field test Visibility conditions distribution during the field test
§ Useful for understanding a System containing several interacting components and sub-components;
§ Analysis involves theoretic System description, and its extensive risk analysis using STPA (Systems-Theoretic Process Analysis), resulting in specific safety requirements;
Lane Detection Performance with Visibility conditions
Lane Detection Performance with Speed categories
S a e f inf a c e Time of Da Da /D k/Nigh C n l Ac i n m dif inf a c e Changes for required performance le els of Vehicle Radi f c e T ee along ide oad
Road ign S ee Ligh C a h ba ie
Lane ma king pe and q ali Pa emen pe Wid h of he lane Speed limi of oad ec ion Median pe and id h Sho lde pe and id h Di on oad Rain condi ion We /d
pa emen New state:
Position on lane Pe f mance indica mea emen Performance indicators of ehicle: 4 Detection states, MLP, SDLP No, LKS not active Yes, LKS active Measured Operational Design Domain C e 2 - LKS E aluate LKS performance C e 1 - R ad a h Wea he c di i I f a c e c e P efe ed di ance f om line No, LKS not active Yes Speed above or equal to activation threshold? H man D i e Yes Steering Torque calculation An line de ec ed? No Yes De ec bo h line ? De ec ion b en o / De ec ed Ope a ional De ign Domain Wea he effec One line de ec ed P efe ed po i ion on lane E ecution of steering correction b steering mechanism Override detected b Human Driver? No No, e ec e ma pe mi ed o q e Ye , e ec e calc la ed ee ing o q e Steering torque within ma permitted torque?
