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Transcript of Mobileye Technologies Ltd. - taraas.jptaraas.jp/wp-content/uploads/2016/02/3-2.NHTSA... ·...
Mobileye Technologies Ltd.
Forward Collision Warning TestLane Departure Warning Test
2008 Dodge Grand CaravanVehicle No. 360
Conducted by:
Transportation Research Center Inc.10820 State Route 347
East Liberty, Ohio 43319
Project No.: 20120569July 12, 2012
FINAL REPORT
Mobileye Technologies Ltd.7 Florinis StreetP.O. Box 24854
Nicosia 1034, Cyprus
Project Number: 20120569 ii July 12, 2012
TABLE OF CONTENTSSECTION PAGE
1.0 OBJECTIVE 1
2.0 APPROACH 1
3.0 TEST DATA 2
4.0 TEST EQUIPMENT LIST AND CALIBRATION INFORMATION 20
5.0 PHOTOGRAPHS 22
APPENDIX TEST FACILITIES
1
1.0 OBJECTIVE
Mobileye Technologies Ltd. contracted with Transportation Research Center Inc. (TRC Inc.) to
perform Forward Collision Warning (FCW) and Lane Departure Warning (LDW) Systems
testing on a 2008 Dodge Grand Caravan. Testing was performed to evaluate two camera-
based systems that were installed on the Dodge Grand Caravan. The objective was not to test
the vehicle itself, but to utilize the vehicle to test two separate aftermarket systems under
development. The Mobileye 560 system utilized a camera that mounted to the inside of the
windshield while the iOnRoad system utilized a cellular phone application. TRC Inc. provided
the test drivers, facilities, principal other vehicle (POV), and instrumentation.
All tests were performed at lightly loaded conditions (unloaded vehicle weight + instrumentation
+ driver).
2.0 APPROACH
The test vehicle (Subject Vehicle – SV) and POV were instrumented with an Oxford Technical
Solutions (OxTS) RT3002 GPS system. The FCW and LDW alert signals were captured by a
Dewetron DEWE-3031 data acquisition system by tapping the speaker outputs from both FCW
and LDW systems. All data from the OxTS RT system and FCW / LDW systems was recorded
at a sample rate of 1 MBaud (100 Hz equivalent). A coordinate measurement machine (FARO
Arm) was utilized to measure critical points on both the SV and the POV for setup of the OxTS
RT system.
Prior to starting the testing for each day, the tire pressures were set to the manufacturer’s cold
inflation pressures. All of the testing was recorded by an onboard multi-video camera system
that synchronizes all cameras and audio into a single file.
For the Forward Collision Warning test, TRC Inc. provided the POV (Target Vehicle), a 2006
Toyota Camry sedan.
2
3.0 TEST DATA
DATA SHEET 1 (Sheet 1 of 4)GENERAL TEST AND VEHICLE PARAMETER DATA
TEST VEHICLE INFORMATION
Vehicle Make / Model / Body Style: Dodge / Grand Caravan / MPV
Vehicle No.: 360 VIN: 1D8HN54PX8B147775 Color: red
Engine Data: 6 cylinders 3.8 liters
Transmission Data: 5 speed Manual X Automatic Overdrive
Final Drive: Rear Drive X Front Drive AWD / Four Wheel Drive
Date Received: 6/26/12 Odometer Reading: 79,218 miles
DATA FROM VEHICLE’S CERTIFICATION LABEL
Vehicle Manufactured by: Chrysler LLC
Date of Manufacture: 2-08
GVWR: 2,745 kg Front GAWR: 1,339 kg Rear GAWR: 1,407 kg
DATA FROM TIRE OR TIRE PLACARD
Tire Pressure with Maximum Capacity Vehicle Load: Front: 250 kPa
Rear: 250 kPa
Load Index and Speed Rating: 100S
Recommended Tire Size: Front: 225 / 65R 16 100S Rear: 225 / 65R 16 100S
Recommended Cold Tire Pressure: Front: 250 kPa Rear: 250 kPa
Treadwear: 460 Traction: B Temperature: B
3
3.0 TEST DATA….continued
DATA SHEET 2 (Sheet 2 of 4)GENERAL TEST AND VEHICLE PARAMETER DATA
INSTALLED TIRE SIZE(S) ON VEHICLE:
From Tire Sidewall Front Axle Rear Axle
Manufacturer and Model Yokohama Avid S33 Yokohama Avid S33
Tire Size Designation 225 / 65R 16 100S 225 / 65R 16 100S
VEHICLE DIMENSIONS:
Front Track Width: 165.4 cm Wheelbase: 308.5 cm
Rear Track Width: 164.6 cm
UNLOADED VEHICLE WEIGHT (UVW):
Front Axle 1,160.0 kg Left Front 595.2 kg Right Front 564.8 kg
Rear Axle 949.6 kg Left Rear 477.4 kg Right Rear 472.2 kg
Total UVW 2,109.6 kg
TOTAL LOADED VEHICLE WEIGHT (TEST WEIGHT):
Front Axle 1,221.8 kg Left Front 634.8 kg Right Front 587.0 kg
Rear Axle 998.4 kg Left Rear 505.0 kg Right Rear 493.4 kg
Total Loaded Vehicle Weight 2,220.2 kg
4
3.0 TEST DATA….continued
DATA SHEET 2 (Sheet 3 of 4)GENERAL TEST AND VEHICLE PARAMETER DATA
LDW / FCW TECHNOLOGY
Manufacturer: Mobileye Technologies
Model: Mobileye 560
System Components:
1) Windshield-mounted vision sensor unit with a compact High Dynamic Range CMOScamera and image processing board.
2) Audio alert speaker.
3) Display and control unit with visual directional warnings and numerical headwaymeasurement value.
Applications / Features:
1) Daylight Pedestrian Collision Warning, including Bicycle Detection.
2) Forward Collision Warning, including Motorcycle Detection.
3) Lane Departure Warning.
4) Headway Monitoring and Warning.
5) Intelligent High-Beam Control.
6) Traffic Sign Recognition.
5
3.0 TEST DATA….continued
DATA SHEET 2 (Sheet 4 of 4)GENERAL TEST AND VEHICLE PARAMETER DATA
Manufacturer: iOnRoad
Model: iOnRoad (version 1.2.3p)
System Components:
1) Cellular smart phone application.
2) Motorola RAZR (Model XT912).
3) Cellular phone windshield mount.
Applications / Features:
1) Forward Collision Warning.
2) Lane Departure Warning.
3) Visual and audible alert.
4) Utilizes cellular phone’s built-in camera and GPS.
6
3.0 TEST DATA….continued
DATA SHEET 3 (Sheet 1 of 2)VEHICLE REFERENCE DATA
SUBJECT VEHICLE (SV)
x-distance (longitudinal) Point of reference is the front axle centerline.(Positive from front axle toward front of vehicle.)
y-distance (lateral) Point of reference is the vehicle centerline.(Positive from the center toward the right.)
z-distance (vertical) Point of reference is the ground plane.(Positive from the ground down.)
Inertia Sensing System referenced from the Front Axle, Vehicle Centerline, and Ground Plane:
Center of Gravity Inertia Sensing System
x-distance -138.7 cm -185.4 cm
y-distance -2.2 cm 1.0 cm
z-distance -99.9 cm
GPS Antenna and Front Tire Location referenced from the Inertia Sensing System
GPS Antenna Left Front Tire Right Front Tire
x-distance 7.9 cm 185.5 cm 186.6 cm
y-distance -0.8 cm -96.4 cm 94.4 cm
z-distance -72.8 cm 94.7 cm 95.3 cm
Front Bumper Location
x-distance 281.0 cm
y-distance -0.7 cm
z-distance 44.9 cm
7
3.0 TEST DATA….continued
DATA SHEET 4 (Sheet 2 of 2)VEHICLE REFERENCE DATA
PRINCIPAL OTHER VEHICLE (POV)
POV MAKE / MODEL / BODY STYLE: 2006 Toyota Camry
x-distance (longitudinal) Point of reference is the front axle centerline.(Positive from front axle toward front of vehicle.)
y-distance (lateral) Point of reference is the vehicle centerline.(Positive from the center toward the right.)
z-distance (vertical) Point of reference is the ground plane.(Positive from the ground down.)
Locations:
Center of Gravity Inertial Sensing System
x-distance -113,5 cm -186.0 cm
y-distance -4.2 cm 0.8 cm
z-distance -69.1 cm
Antenna and Rear Bumper Location referenced from the Inertia Sensing System
GPS Antenna Rear Bumper Location
x-distance 0.6 cm -201.7 cm
y-distance -0.8 cm -2.1 cm
z-distance -78.5 cm 15.8 cm
RECORDED BY: Alan Ida DATE: 7/03/12APPROVED BY: Ken Webster DATE: 7/12/12
8
3.0 TEST DATA….continued
DATA SHEET 5 (Sheet 1 of 6)FORWARD COLLISION WARNING TEST RESULTS
MOBILEYE 560 TEST #1
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/05/12
Wind Speed 3.1 m/sec Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa(10m/sec (22mph) max)
LR 250 kPa RR 250 kPaAmbient Temperature 25.6 °C(0°C (32°F) - 38°C (100°F))
Test 1 – Subject Vehicle (SV) Encounters Stopped Principal Other Vehicle (POV) on a Straight Road
File #
SV Speed atTime of Alert(72.4 ± 1.6
km/h)
POV Speed atTime of Alert
(0 mph)
Mobileye 560TTC at Time of
Alert(≥2.1 sec)
SV Speeddeviation ≤ 1.6
km/h?
SV Brakesapplied prior to
Alert?
Lat. DistanceCenterline between
SV & POV at Time ofAlert
(≤ 0.6 m)
SV Yaw Rate(± 1.0º / sec)
Invalid orPass / Fail
0003 72.468 0 3.098 Yes No 0.063 Yes Pass
0004 72.360 0 2.998 Yes No 0.081 Yes Pass
0005 72.396 0 2.736 Yes No 0.089 Yes Pass
0006 72.540 0 3.054 Yes No 0.081 Yes Pass
0007 72.108 0 3.055 Yes No 0.016 Yes Pass
0008 72.324 0 3.007 Yes No 0.063 Yes Pass
0009 72.576 0 2.869 Yes No 0.209 Yes Pass
0010 72.432 0 2.720 Yes No 0.075 Yes Pass
9
3.0 TEST DATA….continued
DATA SHEET 6 (Sheet 2 of 6)FOWARD COLLISION WARNING TEST RESULTS
MOBILEYE 560 TEST #2
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/05/12
Wind Speed 4.0 m/sec Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa(10m/sec (22mph) max)
LR 250 kPa RR 250 kPaAmbient Temperature 26.1 °C(0°C (32°F) - 38°C (100°F))
Test 2 – Subject Vehicle (SV) Encounters Decelerating Principal Other Vehicle (POV)
File #
SVSpeed atTime of
Alert(72.4 ±
1.6 km/h)
POVSpeedprior toBraking(72.4 ±
1.6 km/h)
HeadwayDistance
3 seconds priorto Braking
(27.5 to 32.5m)
HeadwayDistance at
Start ofBraking
((27.5 to 32.5m)
POV BrakingRate at Time of
Alert(0.27g to 0.33gwithin 1.5 sec.)
Mobileye 560TTC at Time of
Alert(≥2.4 sec)
Lat. DistanceCenterline
between SV &POV at Time of
Alert(≤ 0.6 m)
SV & POVYaw Rate
(± 1.0º / sec.)
Invalid orPass / Fail
0011 71.496 72.324 29.870 30.151 0.314 2.778 0.291 Yes Pass
0012 72.396 72.468 29.346 29.521 0.276 2.614 0.133 Yes Pass
0013 71.928 72.540 29.893 29.699 0.300 2.932 0.143 Yes Pass
0014 71.676 72.360 29.686 29.650 0.303 2.686 0.215 Yes Pass
0015 71.964 72.216 30.365 30.273 0.255 2.838 0.040 Yes Invalid
0016 71.928 72.432 30.210 29.953 0.292 2.691 0.202 Yes Pass
0017 72.324 72.648 29.993 30.186 0.276 2.961 0.263 Yes Pass
0018 72.504 72.396 30.357 30.055 0.265 2.779 0.203 Yes Invalid
0019 72.108 72.504 30.005 30.199 0.263 2.730 0.313 Yes Invalid
0020 72.396 72.396 29.807 29.917 0.290 2.850 0.260 Yes Pass
10
3.0 TEST DATA….continued
DATA SHEET 7 (Sheet 3 of 6)FOWARD COLLISION WARNING TEST RESULTS
MOBILEYE 560 TEST #3
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/05/12
Wind Speed 4.0 m/sec Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa(10m/sec (22mph) max)
LR 250 kPa RR 250 kPaAmbient Temperature 27.2 °C(0°C (32°F) - 38°C (100°F))
Test 3 – Subject Vehicle (SV) Encounters Slower Principal Other Vehicle (POV)
File #
SV Speed atTime of Alert(72.4 ± 1.6
km/h)
POV Speed atTime of Alert(32.2 ± 1.6
km/h)
Mobileye 560TTC at Time of
Alert(≥2.0 sec)
SV Speeddeviation ≤ 1.6
km/h?
POV Speeddeviation ≤ 1.6
km/h?
Lat. DistanceCenterline
between SV &POV at Time ofAlert (≤ 0.6 m)
SV Yaw Rate(± 1.0º / sec)
Invalid orPass / Fail
0021 72.648 32.184 3.487 Yes Yes 0.337 Yes Pass
0022 72.612 32.688 3.306 Yes Yes 0.150 Yes Pass
0023 72.684 32.003 3.443 Yes Yes 0.248 Yes Pass
0024 72.540 31.500 3.134 Yes Yes 0.116 Yes Pass
0025 72.612 32.400 3.205 Yes Yes 0.062 Yes Pass
0026 72.828 32.400 3.131 Yes Yes 0.075 Yes Pass
0027 72.576 32.436 3.581 Yes Yes 0.137 Yes Pass
0028 72.288 32.040 3.431 Yes Yes 0.086 Yes Pass
0029 72.216 32.400 3.311 Yes Yes 0.007 Yes Pass
0030 72.540 32.328 3.303 Yes Yes 0.240 Yes Pass
11
3.0 TEST DATA….continued
DATA SHEET 8 (Sheet 4 of 6)LANE DEPARTURE WARNING TEST RESULTS
MOBILEYE 560 TEST #1
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/06/12
Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa
LR 250 kPa RR 250 kPa
Ambient Temperature 34.4 °C Wind Speed 0.9 m/sec(0°C (32°F) - 38°C (100°F)) (10m/sec (22mph) max)
Test 1 – Solid White Line
File#
LineType
DirectionMobileye560 Alert
Occurred?
Speed atTime of Alert(72.4 km/h ±
2.0 km/h)
Lat. Velocity atTime of Alert
(0.1 - 0.6m/s)
Max.YawRate
(≤1.0º / sec)
Lane Position ofVehicle at Time of
Alert(-0.75 m to 0.3 m)
Invalidor Pass
/ Fail
0018 Solid Left Yes 70.848 0.420 Yes -0.044 Pass
0019 Solid Left Yes 72.432 0.470 Yes 0.047 Pass
0020 Solid Left Yes 71.496 0.440 Yes -0.060 Pass
0021 Solid Left Yes 72.720 0.470 Yes 0.050 Pass
0022 Solid Left Yes 72.468 0.440 Yes 0.004 Pass
0023 Solid Left Yes 72.756 0.450 Yes -0.017 Pass
0024 Solid Left Yes 72.468 0.460 Yes -0.068 Pass
0025 Solid Left Yes 72.360 0.460 Yes -0.012 Pass
0026 Solid Right Yes 72.864 0.490 Yes 0.083 Pass
0027 Solid Right Yes 72.720 0.480 Yes 0.038 Pass
0028 Solid Right Yes 71.892 0.480 Yes 0.007 Pass
0029 Solid Right Yes 72.684 0.490 Yes 0.055 Pass
0030 Solid Right Yes 72.828 0.510 Yes 0.008 Pass
0031 Solid Right Yes 72.792 0.520 Yes 0.056 Pass
0032 Solid Right Yes 72.684 0.470 Yes 0.028 Pass
0033 Solid Right Yes 72.720 0.490 Yes 0.012 Pass
0034 Solid Right Yes 72.612 0.500 Yes 0.024 Pass
0035 Solid Right Yes 72.360 0.470 Yes 0.017 Pass
12
3.0 TEST DATA….continued
DATA SHEET 9 (Sheet 5 of 6)LANE DEPARTURE WARNING TEST RESULTS
MOBILEYE 560 TEST #2
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/06/12
Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa
LR 250 kPa RR 250 kPa
Ambient Temperature 34.4 °C Wind Speed 0.9 m/sec(0°C (32°F) - 38°C (100°F)) (10m/sec (22mph) max)
Test 2 – Dashed Yellow Line
File#
LineType
DirectionMobileye560 Alert
Occurred?
Speed atTime of Alert(72.4 km/h ±
2.0 km/h)
Lat. Velocity atTime of Alert
(0.1 - 0.6m/s)
Max.YawRate
(≤1.0º / sec)
Lane Position ofVehicle at Time of
Alert(-0.75 m to 0.3 m)
Invalidor Pass
/ Fail
0002 Dashed Left Yes 71.280 0.460 Yes 0.024 Pass
0003 Dashed Left Yes 72.432 0.450 Yes 0.035 Pass
0004 Dashed Left Yes 72.288 0.440 Yes 0.034 Pass
0005 Dashed Left Yes 72.252 0.450 Yes 0.038 Pass
0006 Dashed Left Yes 72.648 0.450 Yes 0.015 Pass
0007 Dashed Left Yes 72.252 0.440 Yes -0.071 Pass
0008 Dashed Left Yes 71.712 0.460 Yes 0.037 Pass
0009 Dashed Left Yes 72.396 0.460 Yes 0.038 Pass
0036 Dashed Right Yes 71.928 0.490 Yes 0.042 Pass
0037 Dashed Right Yes 72.720 0.500 Yes 0.044 Pass
0038 Dashed Right Yes 72.432 0.500 Yes 0.047 Pass
0039 Dashed Right Yes 72.648 0.490 Yes 0.043 Pass
0040 Dashed Right Yes 72.396 0.470 Yes 0.059 Pass
0041 Dashed Right Yes 72.540 0.490 Yes 0.009 Pass
0042 Dashed Right Yes 72.360 0.490 Yes 0.044 Pass
0043 Dashed Right Yes 72.396 0.510 Yes 0.040 Pass
0045 Dashed Right Yes 72.576 0.500 Yes 0.003 Pass
13
3.0 TEST DATA….continued
DATA SHEET 10 (Sheet 6 of 6)LANE DEPARTURE WARNING TEST RESULTS
MOBILEYE 560 TEST #3
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/06/12
Measured Cold Tire Pressures: LF 250 kPa RF 250 kPaLR 250 kPa RR 250 kPa
Ambient Temperature 34.4 °C Wind Speed 0.9 m/sec(0°C (32°F) - 38°C (100°F)) (10m/sec (22mph) max)
Test 3 – Raised Pavement Markers Line
File#
LineType
DirectionMobileye560 Alert
Occurred?
Speed atTime of Alert(72.4 km/h ±
2.0 km/h)
Lat. Velocity atTime of Alert
(0.1 - 0.6m/s)
Max.YawRate
(≤1.0º / sec)
Lane Position ofVehicle at Time of
Alert(-0.75 m to 0.3 m)
Invalidor Pass
/ Fail
0046RaisedMarkers
Left Yes 72.648 0.450 Yes 0.040 Pass
0047RaisedMarkers
Left Yes 72.180 0.500 Yes 0.027 Pass
0048RaisedMarkers
Left Yes 71.424 0.460 Yes 0.010 Pass
0049RaisedMarkers
Left Yes 72.360 0.490 Yes 0.057 Pass
0050RaisedMarkers
Left Yes 72.684 0.480 Yes 0.096 Pass
0051RaisedMarkers
Left Yes 72.252 0.470 Yes 0.078 Pass
0052RaisedMarkers
Left Yes 72.324 0.470 Yes 0.068 Pass
0053RaisedMarkers
Left Yes 72.108 0.470 Yes 0.056 Pass
0054RaisedMarkers
Left Yes 73.224 0.460 Yes 0.040 Pass
0055RaisedMarkers
Left Yes 72.288 0.480 Yes 0.080 Pass
0056RaisedMarkers
Right Yes 72.252 0.510 Yes 0.021 Pass
0057RaisedMarkers
Right Yes 72.432 0.490 Yes 0.014 Pass
0058RaisedMarkers
Right Yes 72.360 0.500 Yes 0.062 Pass
0059RaisedMarkers
Right Yes 72.288 0.500 Yes 0.024 Pass
0060RaisedMarkers
Right Yes 72.144 0.490 Yes 0.019 Pass
0062RaisedMarkers
Right Yes 72.108 0.500 Yes 0.045 Pass
0063RaisedMarkers
Right Yes 72.612 0.480 Yes 0.020 Pass
0064RaisedMarkers
Right Yes 72.468 0.480 Yes 0.034 Pass
0065RaisedMarkers
Right Yes 72.360 0.480 Yes -0.030 Pass
14
3.0 TEST DATA….continued
DATA SHEET 11 (Sheet 1 of 6)FORWARD COLLISION WARNING TEST RESULTS
IONROAD TEST #1
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/05/12
Wind Speed 3.1 m/sec Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa(10m/sec (22mph) max)
LR 250 kPa RR 250 kPaAmbient Temperature 25.6 °C(0°C (32°F) - 38°C (100°F))
Test 1 – Subject Vehicle (SV) Encounters Stopped Principal Other Vehicle (POV) on a Straight Road
File #
SV Speed atTime of Alert(72.4 ± 1.6
km/h)
POV Speed atTime of Alert
(0 mph)
IOnRoad TTCat Time of Alert
(≥2.1 sec)
SV Speeddeviation ≤ 1.6
km/h?
SV Brakesapplied prior to
Alert?
Lat. DistanceCenterline between
SV & POV at Time ofAlert
(≤ 0.6 m)
SV Yaw Rate(± 1.0º / sec)
Invalid orPass / Fail
0003 N/A 0 No Alert Yes No N/A Yes Fail
0004 N/A 0 No Alert Yes No N/A Yes Fail
0005 N/A 0 No Alert Yes No N/A Yes Fail
0006 N/A 0 No Alert Yes No N/A Yes Fail
0007 N/A 0 No Alert Yes No N/A Yes Fail
0008 N/A 0 No Alert Yes No N/A Yes Fail
0009 N/A 0 No Alert Yes No N/A Yes Fail
0010 N/A 0 No Alert Yes No N/A Yes Fail
15
3.0 TEST DATA….continued
DATA SHEET 12 (Sheet 2 of 6)FOWARD COLLISION WARNING TEST RESULTS
IONROAD TEST #2
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/05/12
Wind Speed 4.0 m/sec Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa(10m/sec (22mph) max)
LR 250 kPa RR 250 kPaAmbient Temperature 26.1 °C(0°C (32°F) - 38°C (100°F))
Test 2 – Subject Vehicle (SV) Encounters Decelerating Principal Other Vehicle (POV)
File #
SVSpeed atTime of
Alert(72.4 ±
1.6 km/h)
POVSpeedprior toBraking(72.4 ±
1.6 km/h)
HeadwayDistance
3 seconds priorto Braking
(27.5 to 32.5m)
HeadwayDistance at
Start ofBraking
((27.5 to 32.5m)
POV BrakingRate at Time of
Alert(0.27g to 0.33gwithin 1.5 sec.)
IOnRoad TTCat Time of Alert
(≥2.4 sec)
Lat. DistanceCenterline
between SV &POV at Time of
Alert(≤ 0.6 m)
SV & POVYaw Rate
(± 1.0º / sec.)
Invalid orPass / Fail
0011 70.740 72.324 29.870 30.151 0.315 1.330 0.116 Yes Fail
0012 N/A 72.468 29.346 29.521 N/A No Alert N/A Yes Fail
0013 N/A 72.540 29.893 29.699 N/A No Alert N/A Yes Fail
0014 71.172 72.360 29.686 29.650 0.286 1.357 0.268 Yes Fail
0015 N/A 72.216 30.365 30.273 N/A No Alert N/A Yes Fail
0016 N/A 72.432 30.210 29.953 N/A No Alert N/A Yes Fail
0017 N/A 72.648 29.993 30.186 N/A No Alert N/A Yes Fail
0018 72.468 72.396 30.357 30.055 0.275 1.430 0.064 Yes Fail
0019 72.072 72.504 30.005 30.199 0.265 1.093 0.388 Yes Fail
0020 72.324 72.396 29.807 29.917 0.298 1.158 0.768 Yes Fail
16
3.0 TEST DATA….continued
DATA SHEET 13 (Sheet 3 of 6)FOWARD COLLISION WARNING TEST RESULTS
IONROAD TEST #3
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/05/12
Wind Speed 4.0 m/sec Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa(10m/sec (22mph) max)
LR 250 kPa RR 250 kPaAmbient Temperature 27.2 °C(0°C (32°F) - 38°C (100°F))
Test 3 – Subject Vehicle (SV) Encounters Slower Principal Other Vehicle (POV)
File #
SV Speed atTime of Alert(72.4 ± 1.6
km/h)
POV Speed atTime of Alert(32.2 ± 1.6
km/h)
IOnRoad TTC atTime of Alert
(≥2.0 sec)
SV Speeddeviation ≤ 1.6
km/h?
POV Speeddeviation ≤ 1.6
km/h?
Lat. DistanceCenterline
between SV &POV at Time ofAlert (≤ 0.6 m)
SV Yaw Rate(± 1.0º / sec)
Invalid orPass / Fail
0021 72.468 32.328 1.176 Yes Yes 0.243 Yes Fail
0022 72.288 32.436 1.228 Yes Yes 0.230 Yes Fail
0023 72.648 31.788 1.206 Yes Yes 0.091 Yes Fail
0024 N/A N/A No Alert Yes Yes N/A Yes Fail
0025 72.936 32.688 1.186 Yes Yes 0.008 Yes Fail
0026 71.964 32.616 1.405 Yes Yes 0.030 Yes Fail
0027 72.324 32.544 1.475 Yes Yes 0.166 Yes Fail
0028 72.720 32.184 1.518 Yes Yes 0.086 Yes Fail
0029 71.748 32.112 1.601 Yes Yes 0.034 Yes Fail
0030 72.252 32.508 1.300 Yes Yes 0.123 Yes Fail
17
3.0 TEST DATA….continued
DATA SHEET 14 (Sheet 4 of 6)LANE DEPARTURE WARNING TEST RESULTS
IONROAD TEST #1
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/06/12
Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa
LR 250 kPa RR 250 kPa
Ambient Temperature 34.4 °C Wind Speed 0.9 m/sec(0°C (32°F) - 38°C (100°F)) (10m/sec (22mph) max)
Test 1 – Solid White Line
File#
LineType
DirectionIOnRoad
AlertOccurred?
Speed atTime of Alert(72.4 km/h ±
2.0 km/h)
Lat. Velocity atTime of Alert
(0.1 - 0.6m/s)
Max.YawRate
(≤1.0º / sec)
Lane Position ofVehicle at Time of
Alert(-0.75 m to 0.3 m)
Invalidor Pass
/ Fail
0018 Solid Left No N/A N/A Yes No Alert Fail
0019 Solid Left Yes 72.792 0.480 Yes -0.495 Pass
0020 Solid Left Yes 71.316 0.450 Yes 0.363 Fail
0021 Solid Left Yes 72.504 0.480 Yes 1.940 Fail
0022 Solid Left Yes 72.360 0.450 Yes 0.219 Pass
0023 Solid Left Yes 72.648 0.460 Yes 0.296 Pass
0024 Solid Left Yes 72.504 0.470 Yes -1.064 Fail
0025 Solid Left Yes 72.360 0.450 Yes -0.593 Pass
0026 Solid Right Yes 72.684 0.470 Yes 1.754 Fail
0027 Solid Right No N/A N/A Yes No Alert Fail
0028 Solid Right Yes 72.216 0.49 Yes 0.333 Fail
0029 Solid Right Yes 73.152 0.480 Yes 1.745 Fail
0030 Solid Right Yes 72.216 0.480 Yes 2.142 Fail
0031 Solid Right Yes 72.864 0.510 Yes 0.204 Pass
0032 Solid Right Yes 72.684 0.470 Yes 0.050 Pass
0033 Solid Right Yes 72.288 0.460 Yes 2.319 Fail
0034 Solid Right Yes 72.612 0.490 Yes 0.131 Pass
0035 Solid Right Yes 71.748 0.440 Yes 1.743 Fail
18
3.0 TEST DATA….continued
DATA SHEET 15 (Sheet 5 of 6)LANE DEPARTURE WARNING TEST RESULTS
IONROAD TEST #2
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/06/12
Measured Cold Tire Pressures: LF 250 kPa RF 250 kPa
LR 250 kPa RR 250 kPa
Ambient Temperature 34.4 °C Wind Speed 0.9 m/sec(0°C (32°F) - 38°C (100°F)) (10m/sec (22mph) max)
Test 2 – Dashed Yellow Line
File#
LineType
DirectionIOnRoad
AlertOccurred?
Speed atTime of Alert(72.4 km/h ±
2.0 km/h)
Lat. Velocity atTime of Alert
(0.1 - 0.6m/s)
Max.YawRate
(≤1.0º / sec)
Lane Position ofVehicle at Time of
Alert(-0.75 m to 0.3 m)
Invalidor Pass
/ Fail
0002 Dashed Left No N/A N/A Yes No Alert Fail
0003 Dashed Left No N/A N/A Yes No Alert Fail
0004 Dashed Left No N/A N/A Yes No Alert Fail
0005 Dashed Left No N/A N/A Yes No Alert Fail
0006 Dashed Left No N/A N/A Yes No Alert Fail
0007 Dashed Left No N/A N/A Yes No Alert Fail
0008 Dashed Left No N/A N/A Yes No Alert Fail
0009 Dashed Left No N/A N/A Yes No Alert Fail
0036 Dashed Right Yes 72.684 0.480 Yes -0.984 Fail
0037 Dashed Right No N/A N/A Yes No Alert Fail
0038 Dashed Right Yes 72.252 0.490 Yes -0.965 Fail
0039 Dashed Right No N/A N/A Yes No Alert Fail
0040 Dashed Right Yes 72.432 0.480 Yes -0.784 Fail
0041 Dashed Right Yes 72.216 0.490 Yes -0.959 Fail
0042 Dashed Right No N/A N/A Yes No Alert Fail
0043 Dashed Right No N/A N/A Yes No Alert Fail
0045 Dashed Right Yes 73.080 0.490 Yes -0.788 Fail
19
3.0 TEST DATA….continued
DATA SHEET 16 (Sheet 6 of 6)LANE DEPARTURE WARNING TEST RESULTS
IONROAD TEST #3
VEHICLE MAKE / MODEL / BODY STYLE: Dodge / Grand Caravan / MPV
VEHICLE No.: 360 TEST DATE: 7/06/12
Measured Cold Tire Pressures: LF 250 kPa RF 250 kPaLR 250 kPa RR 250 kPa
Ambient Temperature 34.4 °C Wind Speed 0.9 m/sec(0°C (32°F) - 38°C (100°F)) (10m/sec (22mph) max)
Test 3 – Raised Pavement Markers Line
File#
LineType
DirectionIOnRoad
AlertOccurred?
Speed atTime of Alert(72.4 km/h ±
2.0 km/h)
Lat. Velocity atTime of Alert
(0.1 - 0.6m/s)
Max.YawRate
(≤1.0º / sec)
Lane Position ofVehicle at Time of
Alert(-0.75 m to 0.3 m)
Invalidor Pass
/ Fail
0046RaisedMarkers
Left Yes 72.000 0.460 Yes -0.766 Fail
0047RaisedMarkers
Left Yes 72.720 0.510 Yes -0.948 Fail
0048RaisedMarkers
Left Yes 71.604 0.450 Yes -0.859 Fail
0049RaisedMarkers
Left Yes 72.216 0.500 Yes -0.842 Fail
0050RaisedMarkers
Left Yes 72.792 0.480 Yes -0.577 Pass
0051RaisedMarkers
Left Yes 72.180 0.470 Yes -0.650 Pass
0052RaisedMarkers
Left No N/A N/A Yes No Alert Fail
0053RaisedMarkers
Left Yes 71.820 0.470 Yes -0.847 Fail
0054RaisedMarkers
Left No N/A N/A Yes No Alert Fail
0055RaisedMarkers
Left No N/A N/A Yes No Alert Fail
0056RaisedMarkers
Right Yes 72.360 0.520 Yes -1.015 Fail
0057RaisedMarkers
Right No N/A N/A Yes No Alert Fail
0058RaisedMarkers
Right Yes 72.684 0.500 Yes -0.778 Fail
0059RaisedMarkers
Right Yes 72.108 0.490 Yes -1.051 Fail
0060RaisedMarkers
Right Yes 72.648 0.500 Yes -0.698 Pass
0062RaisedMarkers
Right No N/A N/A Yes No Alert Fail
0063RaisedMarkers
Right No N/A N/A Yes No Alert Fail
0064RaisedMarkers
Right No N/A N/A Yes No Alert Fail
0065RaisedMarkers
Right Yes 72.576 0.500 Yes -0.903 Fail
20
4.0 TEST EQUIPMENT LIST AND CALIBRATION INFORMATION
Type Output Range Resolution Accuracy SpecificsSerial
NumberCalibration
Tire PressureGauge
Tire InflationPressure
0 - 99psi 0.01 psi±0.5% of appliedpressure
IntercompModel: 360045
_0113SS11051_By: __TRC______Date:__4-12-12__Due: _ 7-12-12__
Platform ScalesVehicle Total, Wheel,and Axle Load
0 -2500 lbs.per each offour pads
0.5 lb±1.0% of appliedload
Mettler ToledoModel: JXGA1000
5225831- 5JCBy: _Mettler Toledo_Date:_ 5-4-12___Due: _ 8-4-12___
GPS NavigationEquipment
Vehicle Speed
GPS Position –Lateral andLongitudinalCoordinates
Lateral, Longitudinal,and Vertical
Acceleration
Pitch, Roll, and YawRate
Velocity:1,850 km/h
Acceleration:100 m/s
2
Angular Rate:100º/sec
Velocity:0.01m/s (CANBus Limited)
Position:1 cm
Acceleration:10μg
Angular Rate:0.001º/sec
Velocity: 0.05 km/hRMS
Position: 0.02 m(DGPS)
Acceleration: 0.1%
Angular Rate:0.04%
Oxford Technical Solutions(OxTS)
Model: RT3002
_0533_By: _ OxTS_____Date:_11-16-11 _Due:_ 11-18-13 _
GPS NavigationEquipment
Vehicle Speed
GPS Position –Lateral andLongitudinalCoordinates
Lateral, Longitudinal,and Vertical
Acceleration
Pitch, Roll, and YawRate
Velocity:1,850 km/h
Acceleration:100 m/s
2
Angular Rate:100º/sec
Velocity:0.01m/s (CANBus Limited)
Position:1 cm
Acceleration:10μg
Angular Rate:0.001º/sec
Velocity: 0.05 km/hRMS
Position: 0.02 m(DGPS)
Acceleration: 0.1%
Angular Rate:0.04%
Oxford Technical Solutions(OxTS)
Model: RT3002
_0536_By: ___OxTS_____Date:_11-17-11 _Due: _11-19-13 __
Range CalculationEquipment
Distance to LaneMarking, Distance toPOV, POV Speed,GPS Position
N/A N/A N/A
Oxford Technical Solutions(OxTS)
Model: RT Range (Hunter)
_0033_ N/A
Range CalculationEquipment
Distance to LaneMarking, Distance toPOV, POV Speed,GPS Position
N/A N/A N/A
Oxford Technical Solutions(OxTS)
Model: RT Range (Target)
_0033_ N/A
21
4.0 TEST EQUIPMENT LIST AND CALIBRATION INFORMATION…continued
Type Output Range Resolution Accuracy SpecificsSerial
NumberCalibration
Data AcquisitionSystem [Amplify,Anti-Alias, andDigitize]
Record Time; Speed;Distance; Lateral,Longitudinal, andVerticalAccelerations; Roll,Yaw, and PitchRates; AlertWarnings
Sufficient tomeet orexceedindividualsensors
N/ASufficient to meetor exceedindividual sensors
Dewetron SidehandDAS Model: DEWE-3031Digitizer Model: Dewe-Orion-1616-100Amplifier/AntiAliasing:MDAQ-FILT-10-S
101031009__By: __Dewetron_Date:_ 11-30-11__Due: _ 11-30-12__
CoordinateMeasurementMachine
Inertial SensingSystem Location
0-10 feet 0.001 inch±0.003% of fullscale
FARO InternationalModel: Faro Arm
_N10-02-03-01310_
By: _FARO_____Date:_ 9-02-11__Due: 9-02-12__
22
5.0 PHOTOGRAPHS
5.1 Left Side View of Vehicle
5.2 ¾ Front View from Right Side of Vehicle
5.3 Vehicle Certification Label
5.4 Tire and Loading Information Label
5.5 GPS Navigation and Inertial Test Equipment
5.6 Range Calculation Test Equipment
5.7 Data Acquisition Test Equipment
5.8 GPS, WiFi, and Radio Modem Antenna Installation
5.9 ¾ Front View from Left Side of Vehicle (FCW)
5.10 ¾ Rear View from Right Side of Vehicle (FCW)
5.11 Front View of Vehicle (FCW)
5.12 Camera Installed on Hood
5.13 Camera Installed on IMU Strut
5.14 Camera Installed on Windshield
5.15 ¾ Front View from Right Side of Vehicle (LDW)
5.16 Mobileye 560 Display
5.17 iOnRoad Cellular Phone Application
5.18 Principal Other Vehicle – ¾ Front View from Left Side
5.19 Principal Other Vehicle – ¾ Rear View from Left Side
5.20 Principal Other Vehicle – ¾ Front View from Right Side
5.21 Principal Other Vehicle – ¾ Rear View from Right Side
5.22 POV – GPS Navigation and Inertial Test Equipment Installation
5.23 POV – Range Calculation Test Equipment
5.24 POV – GPS, WIFI, & Radio Modem Antenna Installation
5.1 LEFT SIDE VIEW OF VEHICLE
23
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
2
5.2 ¾ FRONT VIEW FROM RIGHT SIDE OF VEHICLE
4
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
2
5.3 VEHICLE CERTIFICATION LABEL
5
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
2
5.4 TIRE AND LOADING INFORMATION LABEL
6
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
2
5.5 GPS NAVIGATION AND INERTIAL TEST EQUIPME
7
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
NT
JULY 2012
2
5.6 RANGE CALCULATION TEST EQUIPMENT
8
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
2
5.7 DATA ACQUISITION TEST EQUIPMENT
9
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
3
5.8 GPS, WIFI, AND RADIO MODEM ANTENNA INSTALLA
0
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
TION
JULY 2012
3
5.9 ¾ FRONT VIEW FROM LEFT SIDE OF VEHICLE (FC
1
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
W)
JULY 2012
3
5.10 ¾ REAR VIEW FROM RIGHT SIDE OF VEHICLE (F
2
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
CW)
JULY 2012
3
5.11 FRONT VIEW OF VEHICLE (FCW)
3
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
3
5.12 CAMERA INSTALLED ON HOOD
4
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
3
5.13 CAMERA INSTALLED ON IMU STRUT
5
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
3
5.14 CAMERA INSTALLED ON WINDSHIELD
6
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
5.15 ¾ FRONT VIEW FROM RIGHT SIDE OF VEHICLE (L
37
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
DW)
JULY 2012
5.16 MOBILEYE 560 DISPLAY
38
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
5.17 IONROAD CELLULAR PHONE APPLICATION
39
2008 DODGE GRAND CARAVANNCAP FCW TESTVEHICLE No.: 360
JULY 2012
5.18 PRINCIPAL OTHER VEHICLE - ¾ FRONT VIEW FROM LEFT SIDE
40
2006 TOYOTA CAMRYNCAP FCW TEST
VEHICLE No.: POV
JULY 20124
5.19 PRINCIPAL OTHER VEHICLE - ¾ REAR VIEW FROM LEFT SIDE
1
2006 TOYOTA CAMRYNCAP FCW TEST
VEHICLE No.: POV
JULY 20124
5.20 PRINCIPAL OTHER VEHICLE - ¾ FRONT VIEW FROM RIGHT SIDE
2
2006 TOYOTA CAMRYNCAP FCW TEST
VEHICLE No.: POV
JULY 20124
5.21 PRINCIPAL OTHER VEHICLE - ¾ REAR VIEW FROM RIGHT SIDE
3
2006 TOYOTA CAMRYNCAP FCW TEST
VEHICLE No.: POV
JULY 20124
5.22 POV - GPS NAVIGATION AND INERTIAL TEST EQUIPMENT INSTALLAT
4
2006 TOYOTA CAMRYNCAP FCW TEST
VEHICLE No.: POV
ION
JULY 2012
4
5.23 POV - RANGE CALCULATION TEST EQUIPMENT
5
2006 TOYOTA CAMRYNCAP FCW TEST
VEHICLE No.: POV
JULY 20124
5.24 POV - GPS, WIFI, & RADIO MODEM ANTENNA INSTALLATION
6
2006 TOYOTA CAMRYNCAP FCW TEST
VEHICLE No.: POV
JULY 2012APPENDIX
TEST FACILITIES
JENNITE PAD
UNCONTROLLEDSURFACE
1,800 ft (548.6 m)
EPANOISE PAD
CONTROLTOWER
1200 ft(365.7 m)
1% slope
SKID CORRELATION PAD
VEHICLE DYNAMICS AREA50 acres (202,343 sq. m.) ofasphaltic concrete & loops surrounded by 8 ft (2.4 m)
high privacy fence.
VDA NORTH LOOP
VDA SOUTH LOOP
630 ft (192 m)
764 ft(233 m)0%
slope
PROFILE ROADSGVW = 4,000 lbs. (1,814 kg)
CLEAN WATER TROUGH
ISO NOISE PAD
RAILROAD CROSSINGHIGH CROWN INTERSECTION
DIPS
UNSPRUNG MASSVIBRATION
Not to Scale
CLASSROOM & SUPPORT GARAGE
EUROPEAN UNION ROAD
LOADINGDOCK
TILTTABLE
DOWNHILL WAVYCOURSE
Neutral speed = 34 mph (62 kph)7 /12% banking
Neutral speed = 47 mph (75 kph)
Loop = .909 mile (1.463 km)
Loop =.749 mile (1.205 km)
TRANSPORTATION RESEARCH CENTER INC.EAST LIBERTY, OHIO 43319-0367
F-14 0612VEHICLE DYNAMICS AREA (VDA)
Load Capacity = (Unless otherwise marked)
29 ft (9 m)wide
29 ft(9 m)wide
Distance across VDA from "A" to "B"2,163 ft (659 m)
A
B
11 /19% banking
PUMPSTATION
CERAMIC & BASALT TILE PADS
CERAMIC TILE SLOPES
N
R www.trcpg.com
400 ft r
300 ft r
500 ft r
200 ft r150 ft r100 ft r
Other Courses: See specific tech sheet
GVW for Asphalt Areas - 80,000 lbs (36,364 kgs): Single Axle - 36,000 lbs (16,364 kgs) Tandem Axle - 48,000 lbs (21,818 kgs)
GVW for Profile Roads = 7,000 lbs (3,182 kgs)
122 m
91 m
152 m
61 m46 m30 m
50 ft r15 m
WEST GATE ENTRANCE
F-13 0308SKID PAD
GVW for Lane 1 and 7 (Asphalt Lanes) = 8,000 lbs (3,636 kgs)GVW for All Other Lanes (Concrete Lanes) = 80,000 lbs (36,364 kgs)
Not to Scale
All Concrete Broomed Surface 1 Lap (Including Loops) = Approximately 4 mi (6.4 klm)
ENTRANCE/EXIT
3,600 ft (1,097 m)
6,300 ft (1,920 m)
9,000 ft
3,300 ft (1,006 m)
2700 ft(823 m)
16 ft (5 m) wide lane14% or 25% banked curveNeutral speed 34 mph (55 kph)
Each lane is14 ft (4.3 m) wide
309 ft radius (94 m)
309 ft radius94 m
84 ft (26 m) wideCROSSWIND
GENERATORS
N
TRANSPORTATION RESEARCH CENTER INC.EAST LIBERTY, OHIO 43319-0367
R www.trcpg.com
16 ft (5 m) wide lane14% or 25% banked curveNeutral speed 34 mph (55 kph)
(2,743 m)
HIGH SPEEDBRAKE AREAS
CUTAWAY VIEW
7 DURABILITY BUMP COURSE654321 DURABILITY BUMP COURSE
34
2
34
2
7 DURABILITY BUMP COURSE654321 DURABILITY BUMP COURSE
A B
A B