Evaluation of the USDOTs Intelligent Vehicle Initiative IVI

Evaluation of the USDOT’s Intelligent Vehicle Initiative (IVI) Generation 0 Field Operational Tests Presented by John E. Orban (Battelle) Luigi “Gino” Mastrippolito (U. S. Army ATC) NDIA 3 rd Annual Intelligent Vehicle Systems Symposium and Exhibition Traverse City, Michigan June 11, 2004

Discussion Topics n John Orban Background – Intelligent Vehicle Initiative q Safety Benefits Methodology q Some Preliminary Findings q n Gino Mastrippolito Nationwide FOT Data Acquisition Challenges q Nationwide FOT Data Acquisition Solution q Evaluation of IVI Generation 0 FOTs

The Intelligent Vehicle Initiative n Five Field Operational Tests (FOTs) of Intelligent Vehicle Safety Systems (IVSS) q q q n Commercial Vehicles (Freightliner, Volvo, Mack) Snowplows/Specialty Vehicles (Minnesota) Transit Buses (Pennsylvania/California) DOT Agencies q q q ITS Joint Program Office National Highway Traffic Safety Administration Federal Motor Carrier Safety Administration n Battelle is the Independent Evaluator n ATC developed on-board data acquisition system for Volvo FOT Evaluation of IVI Generation 0 FOTs

Five Separate Field Operational Tests Volvo: Collision Warning, Adaptive Cruise Control, Elec. Controlled Brakes Freightliner: Rollover Advisor Mack: Safety Advisor, Lane Departure Warning Plus, other platforms • Snow plows and emergency vehicles • Transit Evaluation of IVI Generation 0 FOTs

Mack Trucker Advisor/LDW Systems Safe. TRAC Lane Departure Warning Trucker Safety Advisory 36 Mc. Kenzie Tanker Trucks - 9 with LDW only - 9 with TSA only - 9 with LDW and TSA - 9 control trucks Evaluation of IVI Generation 0 FOTs

Volvo Collision Warning System with ACC and ECBS 100 U. S. Xpress Long-Haul Trucks - 50 with ACC & ECBS - 50 control trucks Evaluation of IVI Generation 0 FOTs

Freightliner Roll Advisor and Control (RA&C) System RSA Level 3 (Highest Lateral Acceleration Range) Severity HIGH RISK OF ROLLOVER DETECTED REDUCE SPEED AT LEAST 12 MPH Level 2 (Higher Lateral Acceleration) ROLLOVER RISK DETECTED REDUCE SPEED AT LEAST 7 MPH 6 Praxair Tanker Trucks Level 1 (Threshold Lateral Acceleration) - before & after study RISKY MANEUVER DETECTED Evaluation of IVI Generation 0 FOTs

Evaluation Goals 1. Assess Benefits A. B. C. D. 2. 3. 4. 5. Safety (highest priority) Mobility Efficiency and Productivity Environmental Quality Assess Driver Acceptance and Human Factors Evaluate System Performance Assess Product Maturity for Deployment Identify Institutional and Legal Issues Evaluation of IVI Generation 0 FOTs

Safety Benefits Methodology – Three Data Sources: n Historical Data: National Automotive Sampling System (NASS) General Estimates System (GES) q Historical crash rates (by type) without IVSS q Identify “driving conflicts” that precede crashes n Driving Data from Field Operational Tests q Determine frequency of driving conflicts – by type of crash q Quantify conditions (speed, following interval, etc) at time of conflict q Evaluate driving behaviors (with and without IVSS) n Track Tests q Validate crash simulation models q Demonstrate system performance Evaluation of IVI Generation 0 FOTs

General Methodology for Estimating Safety Benefits Mack FOT Crash Databases (GES, FARS) Historical Conflict & Crash Rates Estimate Future Crash Reductions Estimate Conflict & Crash Reduction Rates Volvo FOT Freightliner FOT Evaluation of IVI Generation 0 FOTs

Partition Data by Driving Conflicts Crashes S 1 (Driving conflict 1) S 2 S 3 (Driving conflict 2) (No conflict) Normal Driving Evaluation of IVI Generation 0 FOTs

Estimating Reduction in Number of Crashes Simplest Form Useful form From GES Population Statistics “Prevention Ratio”“Exposure Ratio” FOT Data and Analytical Models Evaluation of IVI Generation 0 FOTs FOT Data

“Rear-End” Driving Conflicts Conflict Number (Si) Rear-end. 1 Rear-end. 2 Rear-end. 3 Rear-end. 4 Rear-end. 5 Conflict Definition Truck is traveling at a constant speed and encounters a lead vehicle traveling at a lower speed. Truck is decelerating and encounters a lead vehicle, already in this vehicle’s lane, traveling in the same direction. Truck is changing lanes or merging and encounters a lead vehicle traveling at a lower speed. Truck encounters a stopped vehicle in lane. Truck is traveling at a constant speed and encounters a lead vehicle decelerating. Sum Evaluation of IVI Generation 0 FOTs Relative Frequency for Heavy Trucks 72% 7% 2% 2% 1% 84%

Potential Rear-End Conflict: A Cut. In Position vs. Time Evaluation of IVI Generation 0 FOTs

Some Preliminary Results n Freightliner FOT: Roll Advisor & Control System RSA Severity Level 3 (Highest Lateral Acceleration Range) HIGH RISK OF ROLLOVER DETECTED REDUCE SPEED AT LEAST 12 MPH Level 2 (Higher Lateral Acceleration) ROLLOVER RISK DETECTED REDUCE SPEED AT LEAST 7 MPH Level 1 (Threshold Lateral Acceleration) RISKY MANEUVER DETECTED Evaluation of IVI Generation 0 FOTs

A Rollover Conflict: High Speed in Turn Lateral Acceleration vs. Time 65% of static rollover threshold Evaluation of IVI Generation 0 FOTs

How to Apply Crash Reduction Equation From GES “Prevention Ratio”“Exposure Ratio” 1. Count conflicts 2. Simulate probability of a crash 3. Determine historical rates. Evaluation of IVI Generation 0 FOTs

Estimated Exposure Ratio Hypothetical Results Conflicts VMT Conflicts per 1, 000 VMT Exposure Ratio Driver-Specific Ratios Without RA&C With RA&C 90 70 225, 000 250, 000 0. 40 0. 28 (with 95% confidence limits) 0. 70 Evaluation of IVI Generation 0 FOTs

Estimating the Prevention Ratio “Prevention Ratio” Evaluation of IVI Generation 0 FOTs

Estimating the Prevention Ratio n Approach: q q q Simulate crashes under actual conflict conditions (using time domain vehicle dynamic model) Generate a statistical distribution of possible speeds Select variance to match historical crash rates to simulated average w/o RA&C Example Simulation Results Actual Conflict Speed in Actual Conflict (mph) Simulated Roll Speed (mph) S 1 50 53 S 2 45 49 S 3 43 45 . . S 90 61 64 Evaluation of IVI Generation 0 FOTs

Statistical Distribution of Possible Speeds for Each Conflict Probability Variance = (σ · vi, j)2 that a crash occurs, given this conflict Variance parameter selected to match FOT and historical crash rates (w/o RA&C) P(C|S 1, j) vj Actual speed of this conflict vj, R Speed where this conflict leads to a roll Hypothetical Result: Average Pw(C|S)/Pwo(C|S) = 1. 2 Evaluation of IVI Generation 0 FOTs

Benefits Calculation (Hypothetical) Too fast in a Tank curve trailers Similar calculations performed for all tractor trailers and all large trucks. These fleets account for 471 and 787 rollovers per year, respectively, without RA&C Evaluation of IVI Generation 0 FOTs

Schedule for Completion of Final Reports n Freightliner – June 2003 n Volvo – Early 2004 n Mack – Early 2005 DOT Release Dates TBD Evaluation of IVI Generation 0 FOTs

Discussion Topics n John Orban Background – Intelligent Vehicle Initiative q Safety Benefits Methodology q Some Preliminary Findings q n Gino Mastrippolito Nationwide Data Acquisition Challenges q Nationwide Data Acquisition Solution q Evaluation of IVI Generation 0 FOTs

Intelligent Vehicle Initiative VOLVO Field Operational Test Evaluation of IVI Generation 0 FOTs

Intelligent Vehicle Initiative VOLVO Field Operational Test Data Acquisition Challenge • Acquire data from 100 Class-8 Trucks for 2 years • 50 Trucks will have advanced safety systems • 50 Trucks will be “control” vehicles • 30 with CWS, 20 without CWS (later converted) • Trucks operated in normal revenue generating service by a nationwide commercial carrier. • Record data relevant to potentially hazardous situations • Get data from trucks and change test parameters WITHOUT interfering with the truck’s activity Evaluation of IVI Generation 0 FOTs

Intelligent Vehicle Initiative VOLVO Field Operational Test Data Acquisition Challenge n n n Interfaces to sensors, GPS and multiple vehicle data buses. Record data in histogram format during all vehicle operations. • Vehicle operation history and statistics of vehicle activity. Record data in time history format when trigger conditions are met. • Potentially hazardous situation record. • Pre-trigger collects 10 seconds prior then 5 seconds post trigger. Transfers the status and data to a central facility regularly. Operating parameters may be modified during test. Provide access to data for review by several groups.

Intelligent Vehicle Initiative VOLVO Field Operational Test Instrumentation System GPS SATELLITES AUTOMATED DATA HARVESTING NATIONWIDE TRUCK FLEET CELLULAR TELECOMMUNICATIONS DATA ACQUISITION SYSTEM HIGH PERFORMANCE COMPUTING ANALYST/CUSTOMER VISION (Versatile Information System Integrated ON-line) Evaluation of IVI Generation 0 FOTs

Intelligent Vehicle Initiative VOLVO Field Operational Test On-Board Data Acquisition System n n n n PC-104 based embedded computer system Real-time operating system Analog and digital interfaces Serial Bus Interfaces Removable solid-state memory card User Programmable and Re -programmable Custom Features q q CWS interface Integrated cellular modem Integrated bi-axial accel. Front panel connectors Evaluation of IVI Generation 0 FOTs

Intelligent Vehicle Initiative VOLVO Field Operational Test Data Parameters Monitored n SAE J 1939 Data Bus n n n Vehicle Identification Number Fault Codes GPS Receiver n n VORAD Data Bus n n n Steering Position Lateral Acceleration Longitudinal Acceleration Derived Parameters n GPS Location GPS Time (Greenwich Mean) Following Distance Relative Velocity Relative Acceleration DDU Light Status DDU Audio Status Target ID Target Azimuth Analog Sensors n SAE J 1708 Data Bus n n Road Speed Throttle Percentage Brake Pedal Percentage Service Brake Application Brake Pressure Cruise Control Status Odometer Ambient Temperature ABS Status n n Following Interval Time-to-Collision Kinetic Motion Steering Wheel Rate Evaluation of IVI Generation 0 FOTs

Intelligent Vehicle Initiative VOLVO Field Operational Test Trigger Conditions n n n n Lateral Acceleration > 0. 2 g’s Fore/Aft Accel > 0. 25 g when brake applied Steering Rate > 120 °/sec when speed is > 30 mph ABS active Kinetic Motion Conditions (Battelle and Volpe derived) Time-to-Collision less than 4 seconds when road speed > 20 mph (for minimum of. 66 seconds) Following interval < 0. 5 seconds when road speed > 11 mph (for minimum of 0. 5 seconds)

Data and Video Viewed from Database Evaluation of IVI Generation 0 FOTs

Intelligent Vehicle Initiative VOLVO Field Operational Test Summary • Active project acquiring, transferring and archiving data from a nationwide fleet of trucks. • Programmable/Reprogrammable on-board acquisition system. • Interface to many communications systems. • Automated database loading. • World Wide Web database interface. • Graphical User Interfaces. • Standard and evolving data mining tools. • Valuable Test and Evaluation tool for many years/projects. Evaluation of IVI Generation 0 FOTs

Acknowledgements n Safety Benefits Methodology Anne-Claire Christiaen, Jeff Hadden, Nancy Mc. Millan, Vangal Narendran, Michael Neighbor, Doug Pape, Shaffer, Greg Stark (Battelle) q Wassim Najm (Volpe NTSC) q n Data Collection Methodology q n VISION Team (U. S. Army ATC) U. S. DOT Sponsors (FMCSA, NHTSA, FHWA) q August Burgett, Tim Johnson, Jim Britell, Bob Miller Evaluation of IVI Generation 0 FOTs Steve