Session 22 Bo Wass

En ny generation
Night Vision
Transportforum 2009

Bo Wass
8. January 2009

Copyright Autoliv Inc., All Rights Reserved

Innehåll

Behovet av Night Vision (NV)
Översikt IR-teknik för NV
NV1
NV2
Exempel med NV 2
Slutsats och nästa steg

ALV-Wass-Transportforum 2009 Copyright Autoliv Inc., All Rights Reserved

Behovet av
Night Vision


Behovet av NV
Hur definiera målet ?

UMTRI study (2001-33) based on FARS data 1987-1997
41597 fatalities (1999) sorted by type and % of occurrence at night.
70%

60%

50%

40%
Total fatalities
30% Of which in darkness

20%

10%

0%
Other vehicle Pedestrian Overturn Tree
in motion

Note that the effect of darkness is biased by other important factors
such as traffic conditions and human behaviors

Behovet av NV

Metod använd av UMTRI för att eliminera andra faktorer än
mörker
“Daylight Saving Time” (DST) metoden
Jämför perioder om 3 veckor före och efter vinter / sommartids
övergång
Observations tid: 1 timma före och efter dag/natt eller natt/dag
övergångar
Andra parametrar antas i huvudsak konstanta


Behovet av NV

Slutsats av UMTRI-studien
Riskökning vid bilkörning i mörker avseende olyckor med
dödlig utgång:
Kollision med fotgängare: 4.14
Kollision med vilt: 4.60
Kollision med annan bil i rörelse : 1.33
Potentiell minskning av dödsolyckor i mörker per år genom
att eliminera effekten av mörker:
Kollision med fotgängare : 76%

*) based on 1999 US statistics


Fotgängarolyckor med dödlig utgång

Number of fatalities 2700 5200 19000 7000

% of total traffic 32% 11% 14%
fatalities

% of pedestrian 66% 67% 47%
fatalities at night time

Location of fatal 64% away from 80% away from 71% away from
pedestrian accidents crossings (*) intersections intersections

Elderly as pedestrian 2/3 > 65 y.o. 1/5 > 65 y.o. 2/5 > 65 y.o.
fatalities 1/2 > 75 y.o. 1/10 > 75 y.o. 1/3 > 75 y.o.

Source: IRTAD 2005, www.bast.de


Fotgängarolyckor med dödlig utgång i Europa

Dawn &
twilight;
17%

Day; 36%

Source: CARE Database / EC
Date of query: July 2005
Night; 47%

Behovet av NV
Slutsats

All data indikerar att det första trafiksäkerhetsmålet för
Night Vision ska vara att reducera fotgängarolyckor
Systemets funktionalitet måste inkludera förbättrad
“situation awareness” och varning.

impact

Awareness Automatic Activation of
Warning Ride Down Rescue
enhancement Braking Protections

0


Infrared (IR)
Technology for
Night Vision


FIR och NIR för Night Vision
Grundläggande funktion

FIR
“Far Infra Red” or “Passive IR”, (typically 8-12 mikrometer)
All objects with own temperature above 0° emit radiation according to
K
Planck´s law (depending on object temperature and emissivity)
FIR sensors only “listen” to the emitted radiation (Passive)
Most materials are opaque to FIR (glass, plastic etc.), some specific
materials are transparent (Ge, Si etc.)
NIR
“Near Infra Red” or “Active IR” (typically 0,8 mikrometer)
Works like visible light: sensors are capturing NIR reflected by objects
Illumination e.g by modified halogen lamps


Karaktäristiska egenskaper

FIR
“Strange image” from thermal contrast in the scene
No illumination, hence no disturbance to other cars
No glare from head lights (FIR is “blocked” by glass and plastics)
Very long range from low attenuation in air
Intrinsically fit for detection of living beings
Moderately affected by adverse weather conditions
NIR
Conventional image from grey contrasts but living beings are hard to
identify from the scene
Illumination is a potential problem for oncoming NIR-NV equipped cars
Glare from head lights (partly removable by image processing)
Range limited by illuminator range and more limited by attenuation in air
Strongly affected by adverse weather conditions

En jämförelse
Distance

240 m

Younger drivers
200 m

160 m
Older drivers

120 m

80m
Easier detection using FIR

40m
UMTRI-2004-38 Pedestrian Detection with Near
and Far Infrared Night Vision Enhancement


Autoliv FIR Night Vision 1
Awareness enhancement
In production since 2005


Autoliv Night Vision
Generation 2


Fotgängardetektering och varning
Historik

Viktiga förutsättningar
successful experience with FIR NV camera and system
real world need for early detection of Pedestrians at night
intrinsic ability of FIR to detect living beings
Autoliv beslutade 2005 att starta produktutvecklingen av NV
Generation 2 med fotgängarvarning
internal development
2nd generation camera and ECU
SOP October 2008


Krav

Krav: Varna “soon enough” med hög tillförlitlighet
“Time to Impact” (TTI) : Interna studier visar att 2-4 s är
önskvärt (reaktionstid + agerande) beroende på hastighet
Ex, varning vid 3,5 s TTI motsvarar ca 88 m detekteringsavstånd vid
konstant 90 km/h
Systemkrav detekteringsavstånd: 90 m
“Warning-rate” : > 90 %
Falska varningar: < 1 per 3 timmar (reference data set)
Bra bildkvalitet
HMI (designas av biltillverkaren)


Teknologibegränsningar

Använd kommersiellt tillgänglig sensor och processor
Detector pixel count and FoV shall provide enough image-
pixels to identify a pedestrian at 90m
Processor & architecture
Fit for running the novel and innovative detection algorithms
Must meet the high data stream demand
Automotive grade
Car specific functions should be well separated from the pedestrian
detection software


NV2 System Lay-Out


FIR Sensing & processing technology choice

Detector:
Vanadium Oxide Bolometer (FLIR Systems)
320X240 pixels
25 µ pixel pitch for reduced cost
High sensitivity : NETD<100mK
Optics:
HFoV: 24 deg horizontal
Detection
Algorithm containing Extractor, Classifier based on latest
statistical learning theory, car’s Path Prediction and
Tracker


NV2 FIR Camera

Shutter

Power &
Video Boards

FIR
Detector
Serviceable
Front Window

Optics


Estimering av TTI (och position) position

X/Y Distance and Time-to-Impact estimator
Examples: 1.8 m and 1.2 m “stationary” pedestrians, car speed 50km/h
Actual system performance compared with reference sensor data
Y distance (m)
9 6
TTI (s)
8
4
7
6
1.8 m 2

5
0
4
3 -2

2
-4
1 True
-6
0
6 7 8 9 10 11 12 13 14 15 Estimated 6 7 8 9 10 11 12 13 14 15
Sequence Time (s) Sequence Time (s)
10 6
Y distance (m)
TTI (s)
9
4
8
7
6
1.2 m 2

5 0

4
-2
3
2 -4
1
0 -6
8 9 10 11 12 13 14 8 9 10 11 12 13 14
Sequence Time (s) Sequence Time (s)


Varningstrategi och HMI

The warning is activated
when:
a pedestrian is located in
the “static” warning area
a pedestrian moves into the
vehicle path
size of warning area is
speed-dependent

An OEM-specific HMI is used to alert the driver


Varningstrategi och HMI


Slutsats och nästa steg

Slutsats
FIR is confirmed to be the best technology for detecting living
beings
Pedestrian Detection with single FIR camera is a world’s first
Real World safety benefit expected to be high
Successful development and SOP
Nästa steg
Animal Detection & Warning


Tack!


Session 22 Bo Wass

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