PR 13400 IPD 040531 v10 Sensor Data Sheets
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Transcript of PR 13400 IPD 040531 v10 Sensor Data Sheets
Preventive and Active Safety Applications Integrated Project
Contract number FP6-507075 eSafety for road and air transport
Subproject
ProFusion
Deliverable type IP DeliverableDeliverable name Sensor Data Sheets - State-of-
the-art of Sensors and Sensor Data Fusion for Automotive
Preventive Safety Applications
Version number 1.0
Lead contractor FORWISS, University of Passau
Confidentiality status Public
Due date of deliverable 31.05.2004
Actual submission date 19.07.2004
File name <PR-13400-IPD-040531-v10- Sensor_Data_Sheets>
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<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> ii
Authors Tobias Strobel, FORWISS, University of Passau
Alain Servel, PSA PEUGEOT CITROEN
Project Co-ordinator Peter Konhäuser
DaimlerChrysler AG
Research and Technology
Information and Communication
096/T729 - RIC/T
70546 Stuttgart / Germany
Phone +49 711 17 41512
Fax +49 711 17 41242
Mobile +49 160 8630458
E-mail [email protected]
Copyright: PReVENT Consortium 2004
Copyright on template: Irion Management Consulting GmbH 2004
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<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> iii
Revision chart and history log
Version Date Reason
0.1 22-03-2004 First draft version of the ‘Compendium on Sensors’
0.2 05-04-2004 Preliminary scheme for the representation of the information fixed
0.3 22-04-2004 Draft version publicised in advance of the sensor workshop
0.4 30-04-2004 Preliminary roadmaps inserted, to be written out
0.5 16-05-2004 Section on the state-of-the-art of sensor data fusion included
0.6 21-06-2004 Draft version publicised in advance of the final workshop
1.0 19-07-2004 Final draft.
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<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> iv
Table of contents
Authors............................................................................................ ii Project Co-ordinator ........................................................................ ii Revision chart and history log ........................................................ iii Table of contents............................................................................ iv Technical Abstract...........................................................................1 Executive Summary ........................................................................2 1 Introduction.............................................................................1
1.1 Purpose of the document ....................................................1 1.2 Overview .............................................................................1
2 Sensors for preventive and active safety functions ................2 2.1 LIDAR / RADAR ..................................................................1
2.1.1 Bosch..........................................................................1 2.1.2 Continental TEMIC .....................................................1 2.1.3 DENSO.......................................................................1 2.1.4 DELPHI.......................................................................1 2.1.5 Hella ...........................................................................1 2.1.6 IBEO...........................................................................1 2.1.7 RoadEye (for the ‘DenseTraffic’ project) ....................1 2.1.8 TRW Automotive ........................................................1 2.1.9 Valeo ..........................................................................1
2.2 Vision Devices.....................................................................1 2.2.1 Bosch..........................................................................1 2.2.2 Continental TEMIC .....................................................1 2.2.3 DENSO.......................................................................1 2.2.4 Hella ...........................................................................1 2.2.5 Siemens VDO.............................................................1 2.2.6 SMaL ..........................................................................1
References......................................................................................1
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<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> 1.0 1
Technical Abstract
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<PR-13400-IPD-040531-v10- Sensor_Data_Sheets> 1.0 2
Executive Summary These sensor data sheets complement the information collected and fed back in the ‘Compendium on Sensors’, once more pointing up the current state-of-the-art.
For this, ProFusion sent out several questionnaires, among others one was sent to sensor suppliers all over Europe and to partners having great expertise on these fields; Additionally, ProFusion held several workshops dealing with sensors and sensor data fusion concepts, to identify the current state-of-the-art.
The whole information collected, as regards to the state-of-the-art, has been analysed and complemented and is now being fed back to the Preventive Safety Community in the ‘Compendium on Sensors and in the ’Compendium on Sensor Data Fusion’, complemented with concrete ‘examples’ for sensors offered on the market today in this document.
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1 Introduction Complementary to the ‘Compendium on Sensors’ (compare [prosotas: 04]), which introduces the state-of-the-art as regards to the sensor technologies used within PReVENT as well as recent and future trends with respect to these technologies, sensor data sheets of sensors offered on the market already or in their pre-production stage are best capable to show the performance and the limitations of sensor systems used in the automotive sector for preventive safety applications today.
As it was already said in [prosotas:04], several questionnaires have been sent to the other subprojects of PReVENT as well as to all PReVENT partners asking them for their preliminary sensor configurations and the sensor data fusion concepts they intend to use, and in addition data sheets of sensors offered on the market or in the pre-production stage have been collected from the sensor suppliers all over Europe (in detail Bosch, Continental Temic, DENSO, Delphi, Hella, IBEO, RoadEye, TRW Automotive, Valeo, Siemens VDO and SMaL contributed to the compendium). This document is based on exactly these contributions.
Hence, our thank is directed towards our PReVENT partners Uwe Beutnagel-Buchner (Bosch), Horst Kornemann (Continental Temic), Tomoji Suzuki (DENSO), Ulrich Lages (IBEO), Claudio Hartzstein (RoadEye), Alastair Buchanan (TRW Automotive), Joachim Mathes (Valeo), Ludwig Ertl (Siemens VDO) and Michael Kayat (SMaL) deputy to all the persons which spent efforts on supporting ProFusion with their indispensable contributions to this document. But especially, we have to thank Christian Böhlau from Hella. Hella, even though being not partner in PReVENT, took part in our activities to identify the state-of-the-art and supported ProFusion with data sheets of their respective sensors.
1.1 Purpose of the document The ‘Sensor Data Sheets’ should give a brief overview on both the performance and the limitations of sensor systems used in the automotive sector today. Generally speaking, this document is intended to be a reference book to find the introduction to the sensor technologies offered from the European suppliers for preventive safety applications.
For more detailed information we refer you to the respective companies. The addresses and the contact information is given on the ‘company pages’ before the sensor data sheets are presented.
1.2 Overview In principal, the ‘Sensor Data Sheets’ document is divided in two parts, one section on ranging sensors like LIDAR and RADAR sensors (see section 2.1), an other one on imaging sensors (compare section 2.2), e. g. monocular cameras, stereo cameras and 3D range cameras, and finally, we present data sheets from ‘virtual sensors’ such as digital maps, for example.
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2 Sensors for preventive and active safety functions This paper deals with sensors offered for preventive and active safety functions in the automotive environment, as mentioned above.
All the sensors offered for preventive and active safety functions are specified in a set of parameters. These parameters may be separated at least into four groups:
• the technology independent mechanical parameters,
• parameters specifying the operating environment,
• the interface parameters, and finally,
• the technology and product specific key parameters.
For all these groups of parameters, the following scheme will be used to map the information received from the suppliers:
Feature Value Unit Remark
Table 1 Scheme
Feature The feature field defines what is specified. For example, for all types of sensors, at least the size, the weight and other characteristics have to be specified.
Value Here, the concrete value for the feature is given.
Unit In this field, the physical, or respectively the technical unit for the specified value is given.
Remark The remark field is designated to comments, remarks, etc., complementing the information specified before. For example, bracketed values show the original information presented in the suppliers’ data sheets.
The sensors for preventive and active safety functions under consideration in this paper are described subject to the following specifications.
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Value Unit Remark
Size
Height m
Width m
Depth m
Weight kg
Mounting
Others
Table 2 Mechanical parameters
Size The size parameter specifies the height, the width and the depth of the sensor.
Weight As the name says, the weight of the sensor is given here.
Mounting The mounting field is, more or less free text information to describe the integration of the sensor in the vehicle.
Others Any other mechanical complements, specifications or comments are described here.
Value Unit Remark
Thermal operating environment
Operating temperature
° C Limits
Temperature for storage
° C Limits
Mechanical
…
Table 3 Operating environment parameters
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Thermal operating
environment Both parameters, the operating temperature and the temperature for storage give limits for the temperature constraints related to the sensor operating, respectively the sensor being stored switched-off. Within these limits the sensor operates, respectively may be stored, as specified by the key parameters.
Mechanical Here, mechanical constraints required from the sensor to perform within the limitations given in the key parameters table are specified.
Value Unit Remark
Power consumption W
Voltage V
Data interfaces
…
Control interfaces
…
Table 4 Interface parameters
Power consumption The power consumption parameter specifies the electrical power consumed by the sensor.
Voltage As the name says, the voltage the sensor may be conducted with is given here.
Data interfaces The data interfaces parameters specify properties or standards for the data exchange protocol used by the sensor to transfer its measurement data and the processing outcome, respectively.
Control interfaces This field specifies the control interfaces of the sensor.
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2.1 LIDAR / RADAR To describe the different LIDAR / RADAR sensors under consideration in this document, the following key parameters are used to map the information provided from the sensor suppliers:
Value Unit Remark
Frequency For LIDAR sensors, the wavelength of the emitted light is given..
Waveform
Scan mechanism
Resolution
Horizontal performance
Field of view
Beam width
Accuracy
Separation Two closed objects resolution
Resolution
Vertical performance
Field of view
Beam width
Accuracy
Resolution
Ranging and detection
Coverage
Accuracy
Separation Two closed objects resolution
Resolution Versus type of target
Measuring of relative speed
Coverage
Accuracy
Separation Two closed objects resolution
Resolution
Handling of stationary objects
Measuring of relative acceleration
Coverage m/s²
Accuracy m/s²
Resolution m/s²
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Acquisition delay
Update rate
Maximum number of targets tracked
Table 5 Key parameters for LIDAR / RADAR sensors
Frequency The frequency parameter specifies the frequency of the radiated energy, for example the frequency of the emitted radio waves. For LIDAR sensors in general, the not the frequency but the wavelength of the emitted light is given.
Waveform …specifies which waveform is used for the emitted electromagnetic radiation. Examples are continuous waves as well as pulsed waves, continuous but modulated waves, etc.
Scan mechanism Here, the scan mechanism of the LIDAR / RADAR is explained, if the respective sensor uses any.
Horizontal performance This group of parameters describes the field of view, the beam width, the (angular) accuracy and the resolution of the detection in horizontal direction.
Vertical performance Same as for horizontal performance parameters group, but in vertical direction.
Ranging and detection These parameters specify the performance of the described sensor as regards to its ranging and detection capability. Key parameters are the coverage, meaning the distance spectrum in which objects can be detected, the accuracy of the range measurements, the separation of two closed objects (that means, how close may to objects be compared to each other so that the LIDAR / RADAR sensor still detects them as two objects) and, finally, the resolution.
Measuring of relative speed
Similar to the parameters specifying the ranging and detection performance of the sensor, here the coverage, the accuracy, the separation and the resolution of the relative speed measuring functionality of the LIDAR / RADAR is given. The handling of stationary objects tries to describe, how stationary objects are treated during the sensor processing, e. g. wether they are simply ignored, or not. For example, ‘YES’ means, the LIDAR / RADAR sensor in question is able to detect them, and vice versa.
Measuring of relative acceleration
Same for the relative acceleration. But: in any case, the relative acceleration is determined via calculation (corresponding objects in two or more consecutive measurements are tracked, and then the relative acceleration is calculated), and not measured directly as opposed to the relative speed, at least for Doppler-LIDARs / RADARs.
Acquisition delay The acquisition delay parameter specifies how long the acquisition of one measuring takes.
Update rate Here, the update rate is given, that means the number of measurements per second is specified in the update rate.
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Maximum number of targets tracked
The maximum number of targets the LIDAR / RADAR sensor may track at the same time is given in maximum number of targets tracked parameter.
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2.1.1 Bosch In the field of LIDAR / RADAR sensors, Bosch offers the following long range RADAR sensor.
For further information, please get in touch with
Uwe Beutnagel-Buchner
E-mail: [email protected]
Postfach 10 60 50
70049 Stuttgart, Germany
Tel.: +49 711 811 3 74 68
Fax.: +49 711 811 3 64 68
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2.1.1.1 Bosch ‘Long Range RADAR Sensor’ The Bosch ‘Long Range RADAR Sensor’ operates based on standard 77 GHz frequency modulated continuous wave (FMCW-RADAR) technology.
Value Unit Remark
Size
Height 0.073 m
Width 0.070 m
Depth 0.060 m
Weight < 0.3 kg
Mounting
Others
Table 6 Mechanical parameters of the Bosch 'Long Range RADAR Sensor'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 90 ° C Limits (100 ° for short-time)
Temperature for storage
° C Limits
Mechanical
…
Table 7 Operating environment parameters of the Bosch 'Long Range RADAR Sensor'
Value Unit Remark
Power consumption < 10 W (< 39 W with lens heating on)
Voltage V
Data interfaces
…
Control interfaces
…
Table 8 Interface parameters of the Bosch 'Long Range RADAR Sensor'
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Value Unit Remark
Frequency 77 GHz
Waveform Continuous wave Frequence modulated
Scan mechanism None
Resolution 4 beams
Horizontal performance
Field of view ± 8 °
Beam width ?
Accuracy 0.5 °
Separation ? ° Two closed object resolution
Resolution 0.25 °
Vertical performance
Field of view ± 1.5°
Beam width ± 1.5°
Accuracy
Resolution
Ranging and detection
Coverage 2 to 120 m
Accuracy 5 % (but with a maximum accuracy of 0.5 m)
Separation 5 m Two closed objects resolution
Resolution 0.05 m
Measuring of relative speed
Coverage ± 50 m / s
Accuracy 5 % (but with a maximum accuracy of 0.4 m / s)
Separation 1 m / s
Resolution 0.1 m / s
Handling of stationary objects
Yes
Measuring of relative acceleration
Coverage m / s²
Accuracy m / s²
Resolution m / s²
Aquisition delay 0.1 s
Update rate 10 Hz
Maximum number of 32
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targets tracked
Table 9 Key parameters of the Bosch 'Long Range RADAR Sensor'
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2.1.2 Continental TEMIC Continental TEMIC provides both, RADAR and LIDAR sensors for preventive and active safety functions, as well.
For further information please get in touch with
Horst Kornemann
Manager Institutional Projects
E-mail: [email protected]
Continental Automotive Systems
Gürickestraße 7
60488 Frankfurt am Main, Germany
Tel.: +49 (0) 69 7603 5994
Fax.: +49 (0) 69 7603 3902
Mobile: +49 (0) 170 35 15 080
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2.1.2.1 Continental Temic ‘Adaptive Cruise Control RADAR System ARS 200’
Value Unit Remark
Size
Height 0.132 m
Width 0.132 m
Depth 0.050 m
Weight ? kg
Mounting
Others
Table 10 Mechanical parameters for the Continental 'ARS 200'
Value Unit Remark
Thermal operating environment
Operating temperatures
-40 to 85 ° C Limits
Temperature for storage
-40 to 95 ° C Limits
Mechanical
…
Table 11 Operating parameters for the Continental 'ARS 200'
Value Unit Remark
Power consumption < 7.5 W
Voltage ? V
Data interfaces CAN (high-speed CAN)
…
Control interfaces CAN (high-speed CAN)
…
Table 12 Interface parameters for the Continental 'ARS 200'
Value Unit Remark
Frequency 77 GHz
Waveform Pulsed
Scan mechanism Yes
Resolution 3 beams
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Horizontal performance
Field of view ± 5.1 °
Beam width 3.4 °
Accuracy 0.25 °
Separation 6.8 °
Resolution 3.4 °
Vertical performance
Field of view ± 1.7 °
Beam width 3.4 °
Accuracy None
Resolution None
Ranging and detection
Coverage 1 to 150 m
Accuracy ± 1 m
Separation 7.5 m
Resolution 3.75 m Versus type of target
Measuring of relative speed
Coverage -24.7 to 73.6 m / s (-89 to 265 km / h)
Accuracy 0.2 m / s (0.7 km / h)
Separation 1.53 m / s (5.52 km / h)
Resolution 0.76 m / s (2.76 km / h)
Measuring of relative acceleration
Coverage -20 to 20 m / s²
Accuracy 0.1 m / s²
Resolution ? m / s²
Handling of stationary objects
Yes (Same as for moving objects)
Aquisition delay 0.25 s
Update rate 20 Hz (Update time of 50 ms)
Maximum number of targets tracked
20
Table 13 Key parameters for the Continental 'ARS 200'
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2.1.2.2 Continental Temic ‘Adaptive Cruise Control RADAR System ARS 300’
Value Unit Remark
Size
Height 0.070 m
Width 0.103 m
Depth 0.050 m
Weight ? kg
Mounting
Others
Table 14 Mechanical parameters for the Continental 'ARS 300'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
-40 to 95 ° C Limits
Mechanical None
…
Table 15 Operating environment parameters for the Continental 'ARS 300'
Value Unit Remark
Power consumption < 6.0 W
Voltage V
Data interfaces CAN (others on request)
…
Control interfaces CAN (others on request)
…
Table 16 Interface parameters for the Continental 'ARS 300'
Value Unit Remark
Wave length 77 GHz
Waveform Pulsed
Scan mechanism Yes
Resolution 17 beams
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Horizontal performance
Field of view ± 9 °
Beam width 2 °
Accuracy 0.1 °
Separation 3 °
Resolution 1 °
Vertical performance
Field of view ± 2.1 °
Beam width 4.2 °
Accuracy None
Resolution None
Ranging and detection
Coverage 0.25 to 170 m
Accuracy ± 0.25 m
Separation 2 m
Resolution 1 m
Measuring of relative speed
Coverage -24.7 to 73.6 m / s (-89 to 265 km / h)
Accuracy 0.2 m / s (0.7 km / h)
Separation 1.53 m / s (5.52 km / h)
Resolution 0.76 m / s (2.76 km / h)
Handling of stationary objects
Yes (Same as for moving objects)
Measuring of relative acceleration
Coverage -20 to 20 m / s²
Accuracy 0.07 m / s²
Resolution ? m / s²
Aquisition delay 0.2
Update rate 20 Hz (Update time of 50 ms)
Maximum number of targets tracked
40
Table 17 Key parameters for the Continental 'ARS 300'
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2.1.2.3 Continental Temic side looking short range RADAR ‘SLR 100’
Value Unit Remark
Size
Height 0.070 m
Width 0.105 m
Depth 0.021 m
Weight ? kg
Mounting
Others
Table 18 Mechanical parameters for the Continental 'SLR 100'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
-40 to 95 ° C Limits
Mechanical None
…
Table 19 Operating environment parameters for the Continental 'SLR 100'
Value Unit Remark
Power consumption < 3.0 W
Voltage ? V
Data interfaces CAN (others on request)
…
Control interfaces CAN (others on request)
…
Table 20 Interface parameters for the Continental 'SLR 100'
Value Unit Remark
Wave length 24 GHz
Waveform Pulsed
Scan mechanism None
Resolution 2 beams
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Horizontal performance
Field of view 120 °
Beam width 80 °
Accuracy 2 to 10 °
Separation None °
Resolution 60 °
Vertical performance
Field of view 15 °
Beam width 15 °
Accuracy None
Resolution None
Ranging and detection
Coverage 0.2 to 30 m
Accuracy 0.05 m
Separation 0.2 m
Resolution 0.1 m
Measuring of relative speed
Coverage -35 to 35 m / s (-127 to 127 km / h)
Accuracy 1 m / s (5 km / h)
Separation None m / s
Resolution None m / s
Handling of stationary objects
Yes (Same as for moving objects)
Measuring of relative acceleration
Coverage None m / s²
Accuracy None m / s²
Resolution None m / s²
Aquisition delay 0.12
Update rate 25 to 50 Hz
Maximum number of targets tracked
16
Table 21 Key parameters for the Continental 'SLR 100'
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2.1.2.4 Continental Temic cosing velocity detecting short range LIDAR ‘CID 100’
Value Unit Remark
Size
Height m
Width m
Depth m
Weight 0.200 kg
Mounting
Others
Table 22 Mechanical parameters for the Continental 'CID 100'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
-40 to 105 ° C Limits
Mechanical None
…
Table 23 Operating environment parameters for the Continental 'CID 100'
Value Unit Remark
Power consumption W
Voltage 12 V (with a minimum of 8.5 V, and a maximum of 24 V)
Data interfaces
…
Control interfaces
…
Table 24 Interface parameters for the Continental 'CID 100'
Value Unit Remark
Wave length 905 nm
Waveform Pulsed
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Scan mechanism None
Resolution 3 beams (depenent on the application)
Horizontal performance
Field of view 36 °
Beam width 12 °
Accuracy ?
Separation ?
Resolution ?
Vertical performance
Field of view 8 °
Beam width ?
Accuracy ?
Resolution ?
Ranging and detection
Coverage 10 m
Accuracy ± 0.1 m
Separation ?
Resolution ?
Measuring of relative speed
Coverage 1 to 56 m / s (5 to 200 km / h)
Accuracy ? m / s
Separation ? m / s
Resolution ? m / s
Handling of stationary objects
No
Measuring of relative acceleration
Coverage ? m / s²
Accuracy ? m / s²
Resolution ? m / s²
Aquisition delay ?
Update rate ? Hz
Maximum number of targets tracked
More than one (Multi …)
Table 25 Key parameters for the Continental 'CID 100'
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2.1.2.5 Continental Temic short range LIDAR ‘SIS 200’
Value Unit Remark
Size
Height 0.088 m
Width 0.072 m
Depth 0.057 m
Weight 0.400 kg
Mounting
Others
Table 26 Mechanical parameters for the Continental 'SIS 200'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
-40 to 105 ° C Limits
Mechanical
…
Table 27 Operating environment parameters for the Continental 'SIS 200'
Value Unit Remark
Power consumption W
Voltage 12 V (with a minimum of 8.5 V, and a maximum of 24 V)
Data interfaces
…
Control interfaces
…
Table 28 Interface parameters for the Continental 'SIS 200'
Value Unit Remark
Wave length 905 nM
Waveform Pulse
Scan mechanism YES
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Resolution 30 beams
Horizontal performance
Field of view ± 15 °
Beam width 1 °
Accuracy ? °
Separation ?
Resolution 0.01 ° (resolution of beam movement)
Vertical performance
Field of view 3 to 6.5 °
Beam width 3 to 6.5 °
Accuracy -
Resolution None
Ranging and detection
Coverage 0.5 to 50 m
Accuracy ? m
Separation ?
Resolution ?
Measuring of relative speed
Coverage -60 to 60 m / s
Accuracy 0.1 to 0.8 m / s
Separation ? m / s
Resolution ? m / s
Handling of stationary objects
Yes
Measuring of relative acceleration
Coverage ? m / s²
Accuracy 0.25 m / s²
Resolution ? m / s²
Aquisition delay ?
Update rate 26 Hz
Maximum number of targets tracked
? (multi target detection)
Table 29 Key parameters for the Continental 'SIS 200'
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2.1.3 DENSO DENSO provides both, LIDAR and RADAR sensors for preventive and active safety functions, as well.
For further information, please get in touch with
Tomoji Suzuki
Manager, Technical Research Department
E-mail: [email protected]
DENSO AUTOMOTIVE Deutschland GmbH
Freisinger Str. 21, 85386 Eching, Germany
Tel.: +49 (0) 8165 944 233
Fax.: +49 (0) 8165 944 858
Mobile: +49 (0) 174 333 5972
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2.1.3.1 DENSO ‘LIDAR Sensor’ Value Unit Remark
Size
Height 0.060 m
Width 0.116 m
Depth 0.065 m
Weight 0.350 kg
Mounting Behind the front grill or under the bumper.
Others
Table 30 Mechanical parameters for the DENSO 'LIDAR Sensor'
Value Unit Remark
Thermal operating environment
Operating temperature
-30 to 70 ° C Limits
Temperature for storage
-40 to 85 ° C Limits
Mechanical
…
Table 31 Operating environment parameters for the DENSO 'LIDAR Sensor'
Value Unit Remark
Power consumption 5 W
Voltage 12 V
Data interfaces CAN
…
Control interfaces CAN
…
Table 32 Interface parameters for the DENSO 'LIDAR Sensor'
Value Unit Remark
Wave length 870 nm For LIDAR sensors, the frequency is given in terms of the wavelength of the light emitted.
Waveform Pulsed
Scan mechanism Mechanical rotating mirror
(2D scanning laser)
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Resolution
Horizontal performance
Field of view ± 18.0 °
Beam width 0.1 °
Accuracy ?
Separation ?
Resolution ? °
Vertical performance
Field of view 4 °
Beam width 1.57 °
Accuracy ?
Resolution ? °
Ranging and detection
Coverage 0 to 130 m ± 20 m
Accuracy ± 0.5 m
Separation ? m
Resolution 0.075 m
Measuring of relative speed
Coverage 51 m / s
Accuracy ? m / s
Separation ? m
Resolution ? m / s
Handling of stationary objects
?
Measuring of relative accel.
Coverage 6.35 m / s²
Accuracy ? m / s²
Resolution ? m / s²
Acquisition delay ? s (Moving average for the last four measurings is used)
Update rate 10 Hz
Maximum number of targets tracked
4
Table 33 Key parameters for the DENSO 'LIDAR Sensor'
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2.1.3.2 DENSO ‘RADAR Sensor’ The DENSO ‘RADAR Sensor’ operates, as the one from Bosch (see above), based on 77 GHz RADAR technology.
Value Unit Remark
Size
Height 0.085 m
Width 0.147 m
Depth 0.074 m
Weight 0.495 kg
Mounting
Others
Table 34 Mechanical parameters for the DENSO 'RADAR Sensor'
Value Unit Remark
Thermal operating environment
Operating temperature
-30 to 70 ° C Limits
Temperature for storage
-40 to 85 ° C Limits
Mechanical None
…
Table 35 Operating environment parameters for the DENSO 'RADAR Sensor'
Value Unit Remark
Power consumption 7 W
Voltage 12 V
Data interfaces CAN
…
Control interfaces CAN
…
Table 36 Interface parameters for the DENSO 'RADAR Sensor'
Value Unit Remark
Frequency 77 GHz
Waveform Continuous wave (triangular frequence modulation)
Scan mechanism Electronical (with digital beam forming)
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Resolution 4 °
Horizontal performance
Field of view ±10 °
Beam width 20 °
Accuracy 0.25 °
Resolution 0.5 °
Vertical performance
Field of view 4 °
Beam width 4 °
Accuracy
Resolution None
Ranging and detection
Coverage 5 to 180 m
Accuracy ± 0.5 %
Separation ?
Resolution 0.7 m
Measuring of relative speed
Coverage -55.5 +27.8 m / s
Accuracy ? m / s
Separation ? m / s
Resolution 0.63 m / s
Handling of stationary objects
?
Measuring of relative accel.
Coverage 6.35 m / s²
Accuracy ? m / s²
Resolution ? m / s²
Acquisition delay 0.1 s
Update rate 10 Hz
Maximum number of targets tracked
4
Table 37 Key parameters for the DENSO 'RADAR Sensor'
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2.1.4 DELPHI For further information, please get in touch with
Lali Ghosh
E-mail: [email protected]
DELPHI Delco Electronics Europe GmbH
Customer Technology Center
Vorm Eichholz 1
42119 Wuppertal, Germany
Mobile: +49 (0) 170 999 4814
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2.1.4.1 DELPHI ‘Long Range RADAR Sensor’
Value Unit Remark
Size
Height 0.138 m
Width 0.073 m
Depth 0.096 m
Weight ? kg
Mounting
Others
Table 38 Mechanical parameters for the DELPHI 'Long Range RADAR Sensor'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
° C Limits
Mechanical
Table 39 Operating environment parameters for the DELPHI 'Long Range RADAR Sensor'
Value Unit Remark
Power consumption W
Voltage V
Data interfaces
…
Control interfaces
…
Table 40 Interface parameters for the DELPHI 'Long Range RADAR Sensor'
Value Unit Remark
Frequency 76 GHz
Waveform ?
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Scan mechanism Mechanical
Resolution
Angle of detection
Horizontal performance
Field of view ?
Beam width ?
Accuracy ± 0.5 °
Resolution ?
Vertical performance
Field of view ?
Beam width ?
Accuracy ?
Resolution ?
Ranging and detection
Coverage 1 to 150 m
Accuracy ?
Resolution < 0.5 m Versus type of target
Measuring of relative speed
Coverage -63.9 to 31.9 m / s (-230 to 115 km / h)
Accuracy < 0.6 m / s (< 2 km / h)
Resolution ?
Handling of stationary objects
?
Measuring of relative acceleration
Coverage ? m / s²
Accuracy ? m / s²
Resolution ? m / s²
Acquisition delay ?
Update rate 10 Hz
Maximum number of targets tracked
?
Table 41 Key parameters for the DELPHI 'Long Range RADAR Sensor'
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2.1.4.2 DELPHI ‘Short Range RADAR Sensor’ Value Unit Remark
Size
Height ? m
Width ? m
Depth ? m
Weight ? kg
Mounting
Others
Table 42 Mechanical parameters for the DELPHI 'Long Range RADAR Sensor'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
? ° C Limits
Mechanical
Table 43 Operating environment parameters for the DELPHI 'Long Range RADAR Sensor'
Value Unit Remark
Power consumption W
Voltage V
Data interfaces
…
Control interfaces
…
Table 44 Interface parameters for the DELPHI 'Long Range RADAR Sensor'
Value Unit Remark
Frequency 24 GHz
Waveform ?
Scan mechanism None
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Resolution
Angle of detection
Horizontal performance
Field of view ?
Beam width ?
Accuracy ± 0.5 °
Resolution ?
Vertical performance
Field of view ?
Beam width ?
Accuracy ?
Resolution ?
Ranging and detection
Coverage 0 to 6 m
Accuracy ?
Resolution 0.22 m Versus type of target
Measuring of relative speed
Coverage ± 8.8 m / s
Accuracy ? m / s
Resolution ?
Handling of stationary objects
?
Acquisition delay ?
Update rate 120 ms
Maximum number of targets tracked
?
Table 45 Key parameters for the DELPHI 'Long Range RADAR Sensor'
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2.1.5 Hella For further information, please get in touch with
Christian Böhlau
Grundlagen- und Prozessentwicklung (GE-ADS)
E-mail: [email protected]
Hella KGaA Hück & Co.
Beckumer Straße 130
59552 Lippstadt, Germany
Tel.: +49 (0) 2941 38 2827
Fax.: +49 (0) 2941 38 8074
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2.1.5.1 Hella ‘Adaptive Cruise Control (ACC) B’ (LIDAR sensor) Hella provides, among others, the ACC ‘Adaptive Cruise Control (ACC) B’ system - based on a LIDAR sensor which is strongly adapted to satisfy the needs of the mentioned ACC function.
For a more detailed technical specification see the tables below.
Value Unit Remark
Size
Height 0.065 m
Width 0.104 m
Depth 0.104 m
Weight 0.430 kg
Mounting
Others
Table 46 Mechanical parameters for the Hella 'Adaptive Cruise Control (ACC) B'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
-40 to 105 ° C Limits
Mechanical
Table 47 Operating environment parameters for the Hella 'Adaptive Cruise Control (ACC) B'
Value Unit Remark
Power consumption 3 W
Voltage 9 to 16 V
Data interfaces CAN 500 kBit / s
…
Control interfaces
…
Table 48 Interface parameters for the Hella 'Adaptive Cruise Control (ACC) B'
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Value Unit Remark
Frequency 905 GHz
Waveform Pulsed (Ultra-short-pulse, eye-safe LIDAR)
Scan mechanism None (Multi beam LIDAR)
Resolution
Angle of detection
Horizontal performance
Field of view 16 °
Beam width 1 °
Accuracy ± 0.5 °
Resolution 1
Vertical performance
Field of view 3 °
Beam width 3 °
Accuracy None
Resolution None
Ranging and detection
Coverage 200 m
Accuracy 1 %
Resolution 0.1 m
Measuring of relative speed
Coverage ± 50 m / s
Accuracy 0.5 m / s
Resolution 0.028 m / s
Handling of stationary objects
Yes
Acquisition delay 60 ms
Update rate 8 Hz (120 ms update time)
Maximum number of targets tracked
25
Table 49 Key parameters for the Hella 'Adaptive Cruise Control (ACC) B'
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2.1.5.2 Hella ‘24 GHz Short Range RADAR Sensor’ Value Unit Remark
Size
Height 0.089 m
Width 0.105 m (Without connector and mounting points’)
Depth 0.027 m
Weight 0.24 kg
Mounting 1) The sensors are mounted by three mounting points directly to the bumper. The sensors are not visible from outside because they are located between the vehicle body and the bumper.
2) It is possible to mount the sensors with an extra bracket to the vehicle body, too.
Others
Table 50 Mechanical parameters of the Hella ’24 GHz Short Range RADAR Sensor’
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 70 ° C (Customer specification)
Temperature for storage
-40 to 90 ° C (Customer specification)
Mechanical None
…
Table 51 Operating environment parameters of the Hella '24 GHz short range RADAR Sensor'
Value Unit Remark
Power consumption 3.5 W (…per sensor, master and slave)
Voltage 9 to 15 V
Data interfaces CAN
…
Control interfaces CAN
…
Table 52 Interface parameters of the Hella '24 GHz Short Range RADAR Sensor'
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Value Unit Remark
Frequency 24 to 24.250 GHz
Waveform Continuous wave Frequence modulated
Scan mechanism None
Resolution 1 beam
Horizontal performance
Field of view ± 50 to ± 70 °
Beam width 120 °
Accuracy 1 ° (Typically better than 1°)
Separation None ° Two closed object resolution
Resolution None °
Vertical performance
Field of view 13 °
Beam width °
Accuracy ?
Resolution ?
Ranging and detection
Coverage 0.75 to 50 m (Up to 120 m, depending on the target)
Accuracy 2 %
Separation 1.80 m Two closed objects resolution
Resolution 1.80 m
Measuring of relative speed
Coverage 0 to 70 m / s
Accuracy 0.14 m / s
Separation 0.28 m / s
Resolution 0.28 m / s
Handling of stationary objects
(Stationary objects are eliminated)
Measuring of relative acceleration
Coverage m / s²
Accuracy m / s²
Resolution m / s²
Aquisition delay 0.320 s
Update rate 31.25 Hz
Maximum number of targets tracked
16
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Table 53 Key parameters of the Hella '24 GHz Short Range RADAR Sensor'
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2.1.6 IBEO In cooperation with HELLA, IBEO developed a LIDAR sensor which is strongly adapted to the needs of the Preventive Safety Community, and satisfies ‘application-independent’ requirements of the automotive sector.
For further information, please get in touch with
Ulrich Lages
Managing Director
E-mail: [email protected]
IBEO Automobile Sensor GmbH
Fahrenkrön 125
22179 Hamburg, Germany
Tel.: +49 (0) 40 64587 170 or +49 (0) 40 64587 190
Fax.: +49 (0) 40 64587 109
Mobile: +49 (0) 172 417 3855
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2.1.6.1 IBEO ‘ALASCA’ The IBEO ‘ALASCA’ was developed with the goal of reliable object detection and tracking all around the vehicle, independent of the final application. Even so the requirements which have been kept in mind during the development of this LIDAR sensor were taken from the following automotive applications, especially in terms of features as detection range, field of view, pitching angle compensation and insensitivity to environmental conditions, for example:
• Automatic Emergency Braking,
• Stop & Go,
• PreCrash,
• Parking Assistance, and
• ‘Application-independent’ pedestrian detection.
Additionally, the ‘ALASCA’ sensor provides a high resoluted LIDAR sensing of the environment at both, high angular accuracy and at a high detection range.
The pitching angle of the vehicle is compensated scanning in four planes at the same time, and due to its ‘double echo capability’ (see the technical specification below), which means in each line of sight two echoes per measuring can be detected, IBEO’s ‘ALASCA’ comes up with a better insensitivity to environmental conditions than other LIDAR sensors.
In detail, the specification of the ‘ALASCA’ looks as follows:
Value Unit Remark
Size
Height 0.150 m
Width 0.095 m
Depth 0.090
0.130
m
m
(only the sensor head)
(for the whole sensor housing)
Weight 1,3 kg (without mounting and integration tube)
Mounting For the IBEO ‘ALASCA’ LIDAR sensor, several mounting possibilites are offered:
3) In the frontal area, one sensor in the middle, under the bumper or in the bumper. Then, a specific infrared-transparent plastic coverage for the window in the bumber is needed (available in many colours today)
4) In the frontal area, but two sensors in the corners, under the bumper or in the bumper. Again, a specific infrared-transparent plastic coverage for the window in the bumber is needed (available in many colours today)
Others Up to three ALASCA sensors can be connected by one IBEO ‘Fusion Unit’ to achieve a 360° field of view all around the vehicle.
Table 54 Mechanical parameters for the IBEO 'ALASCA'
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Value Unit Remark
Thermal operating environment
Operating temperature
-20 to +70 ° C (Limits of the A-sample)
Temperature for storage
-20 to +85 ° C (Limits of the A-sample)
Mechanical None
…
Table 55 Operating environment parameters for the IBEO 'ALASCA'
Value Unit Remark
Power consumption 12 W
Voltage 12 V
Data interfaces
For object and application information (for example ‘Automatic Emergency Braking’)
CAN
For raw data and object as well as application information (for example ‘Automatic Emergency Braking’)
Ethernet
Control interfaces
For parameter setting (online and offline) and calibration parameters
CAN
For parameter setting (online and offline) and calibration parameters
Ethernet
Table 56 Interface parameters for the IBEO 'ALASCA'
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Value Unit Remark
Frequency 905 nm
Waveform Pulsed (eyesafe LIDAR)
Scan mechanism Constant rotation (rotation of 360°; non-sweeping)
Resolution 1 cm
Horizontal performance
Field of view 240 ° (may be limited by the integration under design constraints)
Beam width < 0.25 °
Accuracy +/-0.0625 °
Separation --- (not existing as a stand alone criterium for object seperation -depending on range)
Resolution 0.25 … 1 ° (depending on the choosen update rate, respectively the scanning frequency)
Vertical performance
Field of view 3.2 ° (in the driving direction for the compensation of the pitching angle; four planes measured at the same time)
Beam width < 0.8 °
Accuracy +/-0.1 °
Resolution 0.8 °
Ranging and detection (double echo capability, that means two distances can be measured per shot and channel)
Coverage 0.3 … 80 m
Accuracy +/-5 cm (in the whole coverage range)
Separation 0.5 … 1 m (depending on the distance and the viewing angle of the echo)
Resolution 1 cm
Measuring of relative speed
Coverage -250 … +250 km/h
Accuracy +/-1 … +/-3.6 km/h (depending on the object type)
Separation <2.5 km/h
Resolution 0.5 km/h
Handling of stationary objects
YES
Acquisition delay 75 … 300 ms (depending on the choosen update rate, respectively the scanning
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frequency)
Update rate 10 … 40 Hz
Maximum number of targets tracked
25 (multi target detection)
Table 57 Key parameters for the IBEO 'ALASCA'
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2.1.7 RoadEye (for the ‘DenseTraffic’ project) As an outcome of the ‘DenseTraffic’ project, RoadEye provides its ’76 GHz RADAR Sensor’ as cost and performance effective, forward looking RADAR sensor.
RoadEye’s ’76 GHz RADAR Sensor’ development was supported by the European Commission through the 5th framework program, under the ‘DenseTraffic’ project, as already mentioned above.
The ‘DenseTraffic’ consortium included ‘UMS’ from France, ‘EADS Microwave Factory’ (Germany), ‘ERA’ from England, ‘Groeneveld Groep’ from the Netherlands and finally ‘RoadEye FLR GP’ (Israel).
For further information, please get in touch with
Claudio Hartzstein
General Manager
E-mail: [email protected]
RoadEye FLR G.P.
PO Box 6362
Karmiel 20101, Israel
Tel.: +972 4 988 2220
Fax.: +972 4 988 3179
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2.1.7.1 RoadEye ‘Forward looking RADAR (FLR) sensor’ As the ‘Forward looking RADAR (FLR) sensor’ Roadeye offers for preventive safety applications was, more or less, the outcome of a EC-funded project, the documentation and the specification is quite comprehensive. For even more details, we refer to the project ‘DenseTraffic’.
“RoadEye’s ‘Forward looking RADAR sensor (FLR)’ is a multiple beam (one transmit, and seven receive beams) sensor based on microwave monolithic integrated circuit (MMIC, see glossary in appendix B) for more detailed information; annotation of the author) technology for the radio frequency transceiver, and thyxomolded magnesium for the antenna.
The transceiver transmits a linear frequency modulated continuous waveform, here by means of a Direct Digital Signal (DDS) generator. The use of a DDS permits the generation of multiple waveforms with a great degree of flexibility: for example frequency modulated continuous wave and a ranging Doppler-RADAR at different range resolutions become possible at the same time.
Due to its wide angular field of view, RoadEye’s ‘Forward looking RADAR sensor (FLR) allows an excellent performance even when tracking objects in sharp curves and in ‘cut-in’-scenarios. The frequency modulated continuous waveforms at wide bandwidth permit the tracking of objects up to very short ranges.
At low speeds, static objects are not longer neglected; at higher speeds, static targets may be separated from moving objects using the relative speed information of the ranging Doppler-RADAR functionality (so called range-Doppler mode; annotation of the author). Based on all that, a ‘Stop & Go’ functionality was successfully implemented’ with RoadEye’s RADAR sensor presented here.”
The horizontal resolution of the RADAR sensor is achieved using multiple beams: one ‘illuminator beam’, having a horizontal beam width of 12° and intentionally increased sidelobes to illuminate the scene up to ± 20° , a left, center and right beam covering long distance areas (having a horizontal beam width of 4° each), two ‘squinted beams’ (‘LL’ on the left and ‘RR’ on the right hand side), having a horizontal beam width of 12° each covering ‘wide angle’ areas, and finally, left- and right-side ‘guard beams’ intended for side lobe cancelling.
One of the advantages of RoadEye’s ’76 GHz RADAR Sensor’ is the shallow antenna, and as a consequence, its quite small casing. The antenna, which includes 5 apertures is produced in thyxomolded magnesium technology which is able to reproduce the fine mechanical details necessary for radio frequency manipulation at 76GHz. In addition, this technology is low cost in mass production, too.
In detail, the ‘Forward looking RADAR (FLR) sensor’ from RoadEye provides the following features:
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Value Unit Remark
Size
Height 0.085 m
Width 0.155 m
Depth 0.074 m
Weight 0.900 kg
Mounting
Others
Table 58 Mechanical parameters for the RoadEye '76 GHz RADAR Sensor'
Value Unit Remark Thermal operating environment
Operating temperature -40 to 85 ° C Limits
Temperature for storage -55 to 120 ° C Limits
Mechanical None
Table 59 Operating environment parameters for the RoadEye '76 GHz RADAR Sensor'
Value Unit Remark
Power consumption W
Voltage 12 V (for trucks 24 V)
Data interfaces CAN
Bandwith 0.5 Mb / s
…
Control interfaces CAN
…
Table 60 Interface parameters for the RoadEye '76 GHz RADAR Sensor'
Finally, let’s have a close look to the summary of Roadey’s ’76
GHz RADAR Sensor’ key parameters, specifying its overall
benefits:
Value Unit Remark
Frequency 76 to 77 GHz Waveform Continuous wave (linear frequence modulation,
waveform adapted to the scenario)
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Linearity < 0.5 % (DDS generated)
Scan mechanism None
Resolution Several beams (see the description of the sensing principle for more details)
Horizontal performance Field of view ± 18 ° Beam width of the illuminator 12 ° (see the description of sensing
principle for more details) Beam width of the left, center and right beams
4 ° (see the description of sensing principle for more details)
Beam width of the left and the right squinted beams
12 °
(see the description of sensing principle for more details)
Accuracy ± 0.5 ° (within ± 10 °)
Separation > 4 ° (target separation mainly based on range and velocity)
Resolution > 4 °
Vertical performance Field of view 4 ° Beam width 4 ° Accuracy ? Resolution ?
Ranging and detection Coverage 2 to 150 m (limited by processing) Accuracy < 2 % Separation 1.5 to 9 m Depending on waveform and rangeResolution 0.5 to 3 m Depending on waveform and range
Measuring of relative speed
Coverage ± 50 m/s Range rate Accuracy 0.5 m/s Separation 1.5 m/s Two closed objects resolution Resolution 0.5 m/s
Handling of stationary objects
Yes (see the description of sensing principle for more details)
Measuring of relative acceleration
None
Coverage m / s² Accuracy m / s² Resolution m / s²
Acquisition delay 100 ms (for a strong target)
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Update rate 20 Hz Maximum number of targets tracked 20 (software adjustable)
Table 61 Key parameters for the RoadEye '76 GHz RADAR Sensor'
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2.1.8 TRW Automotive For further information, please get in touch with
Alastair Buchanan
E-mail: [email protected]
TRW Conekt
Stratford Road
Solihull B90 4GW, Great Britain
Tel.: +44 (0)121 627 4146
Fax.: +44 (0)121 627 4243
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2.1.8.1 TRW Automotive long range RADAR sensor ‘AC 10’ Value Unit Remark
Size
Height ? m
Width ? m
Depth ? m
Weight ? kg
Mounting
Others
Table 62 Mechanical parameters for the TRW Automotive 'AC 10'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
? ° C Limits
Mechanical
…
Table 63 Operating environment parameters for the TRW Automotive 'AC 10'
Value Unit Remark
Power consumption ? W
Voltage ? V
Data interfaces
…
Control interfaces
…
Table 64 Interface parameters for the TRW Automotive 'AC 10'
Value Unit Remark
Frequency 76 GHz
Waveform Continuous wave Frequency shift technology
Scan mechanism None
Scan resolution 1 beam
Horizontal performance
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Field of view ± 6 °
Beam width ± 6 °
Accuracy 0.3 ° (0.1° in centre line of the beam)
Separation 0 ° Two obstacles at the same angle, but at different ranges and velocities may be discriminated.
Resolution ° (floating point number’s resolution)
Vertical performance
Field of view ± 2.5 °
Beam width ± 2.5 °
Accuracy °
Resolution °
Ranging and detection
Coverage 200 m
Accuracy ± 5 %
Separation 0 m Two obstacles at the same range, but at different angles and velocities may be discriminated.
Resolution m (floating point number’s resolution)
Measuring of relative speed
Coverage ± 50 m/s
Accuracy 0.025 m/s
Separation 0.025 m/s Closed objects discrimination
Resolution 0.025 m/s
Handling of stationary objects
YES
Measuring of relative acceleration
Coverage m / s² (dependent on application)
Accuracy m / s² (dependent on application)
Resolution m / s² (dependent on application)
Acquisition delay s (dependent on application)
Update rate s (dependent on application)
Maximum number of targets tracked
20 (dependent on application)
Table 65 Key parameters for the TRW Automotive 'AC 10'
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2.1.9 Valeo For further information, please get in touch with
Joachim Mathes
Branch Director Research & Development
E-mail: [email protected]
Laiernstrasse 12
74321 Bietigheim-Bissingen, Germany
Tel.: +49 (0) 7142 916 1114
Fax.: +49 (0) 7142 916 4114
Mobile: +49 (0) 173 389 6592
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2.1.9.1 Valeo ‘Multiple Beam RADAR’ Value Unit Remark
Size
Height 0.120 m
Width 0.069 m
Depth 0.035 m
Weight 0.330 kg
Mounting
Others
Table 66 Mechanical parameters for the Valeo 'Multiple Beam RADAR'
Value Unit Remark
Thermal operating environment
Operating temperature
? ° C Limits
Temperature for storage
? ° C Limits
Mechanical None
…
Table 67 Operating environment parameters for the Valeo 'Multiple Beam RADAR'
Value Unit Remark
Power consumption ? W
Voltage ? V
Data interfaces
…
Control interfaces
…
Table 68 Interface parameters for the Valeo 'Multiple Beam RADAR'
Value Unit Remark
Frequency 24 GHz
Waveform Continuous wave
Scan mechanism Electronically scanning
(electronic phase array)
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Resolution 7 beams
Angle of detection
?
Horizontal performance
Field of view 150 °
Beam width ?
Accuracy ?
Resolution ?
Vertical performance
Field of view ?
Beam width ?
Accuracy ?
Resolution ?
Ranging and detection
Coverage 0.5 to 60 m Dependent on the detected object
Accuracy ?
Resolution ? Versus type of target
Measuring of relative speed
Coverage 0 to 69.4 m / s (0 to 250 km / h)
Accuracy ?
Resolution ?
Handling of stationary objects
?
Acquisition delay
Update rate 20 to 100 Hz (Update time from 10 to 50 ms)
Maximum number of targets tracked
more than 20
Table 69 Key parameters for the Valeo 'Multiple Beam RADAR'
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2.2 Vision Devices For vision devices, the following key parameters are of interest:
Value Unit Remark
Spectral sensitivity nm
Resolution
Pixels
Number of lines
Size of chip Length x Width
Optics
Field of view
Zoom
Focal length m
Sensitivity Bandwidth of the vision device
Dynamic range
intra-scene
inter-scene
Accuracy
Resolution
Acquisition delay s For vision devices, the acquisition delay is the integration time.
Update rate Hz For vision devices, the update rate is synonymous to the frame rate.
Table 70 Key parameters for vision devices
Spectral sensitivity The spectral sensitivity parameter specifies the frequency spectrum the respective vision device, or to be more precise, the apperture of the vision device (e. g. the chip) is sensitiv to.
Resolution Here, the resolution of the vision device is given. Either the number of pixels in both, horizontal or vertical direction, or at least the number of lines (of pixels) is given.
Size of chip Specifies the size of the chip used.
Optics In the optics parameters group, the lenses, etc. of the vision device is described. Key parameters of interest for it are the field of view, the zoom and the focal length.
Sensitivity […]
Dynamic range […]
Acquisition delay The acquisition delay parameter specifies, how long the acquisition of one measuring takes.
Update rate Here, the update rate is given, that means the number of measurings per second is specified in the update rate.
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2.2.1 Bosch Bosch offers, in the field of vision devices, a camera module.
For further information, please get in touch with
Uwe Beutnagel-Buchner
E-mail: [email protected]
Postfach 10 60 50
70049 Stuttgart, Germany
Tel.: +49 711 811 3 74 68
Fax.: +49 711 811 3 64 68
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2.2.1.1 Bosch ‘Camera Module’ Value Unit Remark
Size
Height ? m
Width ? m
Depth ? m
Weight ? kg
Mounting
Others
Table 71 Mechanical parameters for the Bosch 'Camera Module'
Value Unit Remark
Thermal operating environment
Operating temperature
? ° C Limits
Temperature for storage
? ° C Limits
Mechanical
…
Table 72 Operating environment parameters for the Bosch 'Camera Module'
Value Unit Remark
Power consumption ? W
Voltage ? V
Data interfaces
…
Control interfaces
…
Table 73 Interface parameters for the Bosch 'Camera Module'
Value Unit Remark
Spectral sensitivity nm
Resolution
Pixels 640 x 400
Number of lines
Size of chip ? Length x Width
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Optics
Horizontal field of view
± 22.5 °
Vertical field of view
± 12.5 °
Zoom
Focal length m
Sensitivity Bandwidth of the vision device
Dynamic range
intra-scene ?
inter-scene ?
Accuracy ?
Resolution ?
Acquisition delay s For vision devices, the acquisition delay is the integration time.
Update rate Hz For vision devices, the update rate is synonymous to the frame rate.
Table 74 Key parameters for the Bosch 'Camera Module'
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2.2.2 Continental TEMIC For further information please get in touch with
Horst Kornemann
Manager Institutional Projects
E-mail: [email protected]
Continental Automotive Systems
Gürickestraße 7
60488 Frankfurt am Main, Germany
Tel.: +49 (0) 69 7603 5994
Fax.: +49 (0) 69 7603 3902
Mobile: +49 (0) 170 35 15 080
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2.2.2.1 ‘LWCS 100’ The vision device ‘LWCS 100’ was designed for and supports applications such as ‘blind spot detection’ and ‘lane change support’. It provides the following performance:
Value Unit Remark
Size
Height ? m
Width ? m
Depth ? m
Weight ? kg
Mounting
Others
Table 75 Mechanical parameters for the Continental TEMIC 'LWCS 100'
Value Unit Remark
Thermal operating environment
Operating temperature
? ° C Limits
Temperature for storage
? ° C Limits
Mechanical None
…
Table 76 Operating environment parameters for the Continental TEMIC 'LWCS 100'
Value Unit Remark
Power consumption ? W
Voltage ? V
Data interfaces ?
…
Control interfaces ?
…
Table 77 Interface parameters for the Continental TEMIC 'LWCS 100'
Value Unit Remark
Spectral sensitivity ? nm
Resolution
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Pixels 640 x 480
Number of lines
Size of chip Length x Width
Optics
Field of view 45 x 33 °
Zoom ?
Focal length ? m
Sensitivity Bandwidth of the vision device
Dynamic range
intra-scene ?
inter-scene ? dB
Accuracy ?
Resolution ?
Acquisition delay ? s For vision devices, the acquisition delay is the integration time.
Update rate 25 Hz For vision devices, the update rate is synonymous to the frame rate.
Table 78 Key parameters for the Continental TEMIC 'LWCS 100'
2.2.2.2 ‘BSCD 100’ Continental TEMIC’s vision device ‘LWCS 100’ supports ‘lane departure warning’ as well as ‘lane keeping support’ and meets the following specification:
Value Unit Remark
Size
Height ? m
Width ? m
Depth ? m
Weight ? kg
Mounting
Others
Table 79 Mechanical parameters for the Continental TEMIC 'BSCD 100'
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Value Unit Remark
Thermal operating environment
Operating temperature
? ° C Limits
Temperature for storage
? ° C Limits
Mechanical None
…
Table 80 Operating environment parameters for the Continental TEMIC 'BSCD 100'
Value Unit Remark
Power consumption ? W
Voltage ? V
Data interfaces ?
…
Control interfaces ?
…
Table 81 Interface parameters for the Continental TEMIC 'BSCD 100'
Value Unit Remark
Spectral sensitivity ? nm
Resolution
Pixels 640 x 480
Number of lines
Size of chip Length x Width
Optics
Field of view 72 x 54 °
Zoom ?
Focal length ? m
Sensitivity Bandwidth of the vision device
Dynamic range
intra-scene ?
inter-scene ? dB
Accuracy ?
Resolution ?
Acquisition delay ? s For vision devices, the acquisition
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delay is the integration time.
Update rate 24 Hz For vision devices, the update rate is synonymous to the frame rate.
Table 82 Key parameters for the Continental TEMIC 'BSCD 100'
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2.2.3 DENSO For further information, please get in touch with
Tomoji Suzuki
Manager, Technical Research Department
E-mail: [email protected]
DENSO AUTOMOTIVE Deutschland GmbH
Freisinger Str. 21, 85386 Eching, Germany
Tel.: +49 (0) 8165 944 233
Fax.: +49 (0) 8165 944 858
Mobile: +49 (0) 174 333 5972
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2.2.3.1 DENSO ‘Vision sensor’ The DENSO ‘Vision Sensor’ is based on standard CMOS-technology.
Value Unit Remark
Size
Height 0.063 m
Width 0.084 m
Depth 0.029 m
Weight 0.150 kg
Mounting
Others
Table 83 Mechanical parameters for the DENSO 'Vision Sensor'
Value Unit Remark
Thermal operating environment
Operating temperature
-20 to 50 ° C Limits
Temperature for storage
-40 to 85 ° C Limits
Mechanical None
…
Table 84 Operating environment parameters for the DENSO 'Vision Sensor'
Value Unit Remark
Power consumption W
Voltage V
Data interfaces CAN
…
Control interfaces CAN
…
Table 85 Interface parameters for the DENSO 'Vision Sensor'
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Value Unit Remark
Spectral sensitivity 400 to 800 nm (visible spectrum)
Resolution
Pixels 352 x 288 (CIF)
Number of lines
Size of chip Length x Width
Optics
Field of view ± 22 ° (horizontal field of view)
Zoom
Focal length m
Sensitivity Bandwidth of the vision device
Dynamic range
intra-scene ?
inter-scene 90 dB
Accuracy ?
Resolution ?
Acquisition delay ? s For vision devices, the acquisition delay is the integration time.
Update rate 10 Hz For vision devices, the update rate is synonymous to the frame rate.
Table 86 Key parameters for the DENSO 'Vision Sensor'
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2.2.4 Hella For further information, please get in touch with
Christian Böhlau
Grundlagen- und Prozessentwicklung (GE-ADS)
E-mail: [email protected]
Hella KGaA Hück & Co.
Beckumer Straße 130
59552 Lippstadt, Germany
Tel.: +49 (0) 2941 38 2827
Fax.: +49 (0) 2941 38 8074
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2.2.4.1 Hella ‘Camera module’ Value Unit Remark
Size
Height 0.040 m
Width 0.035 m
Depth 0.033 m
Weight 0.040 kg (Camera module only, 0.115 kg including carrier and cable)
Mounting
Others
Table 87 Mechanical parameters for the Hella 'Camera Module'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 to 85 ° C Limits
Temperature for storage
-40 to 105 ° C Limits
Mechanical
…
Table 88 Operating environment parameters for the Hella 'Camera Module'
Value Unit Remark
Power consumption 1.8 W (Typically)
Voltage 10 to 16 V (Typically)
Data interfaces LVDS
…
Control interfaces CAN
…
Table 89 Interface parameters for the Hella 'Camera Module'
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Value Unit Remark
Spectral sensitivity 450 to 950 nm
Resolution
Pixels 820 x 480 (at 12 bit color depth)
Number of lines
Size of chip (1/3 ’’ chip) Length x Width
Optics
Horizontal field of view
45 °
Vertical field of view
20 ° (down to 14 ° due to cut off by the carrier)
Zoom None
Focal length 0.055 to 0.060 m
Sensitivity 3 Lux (1 Lux for gray level images)
Bandwidth of the vision device
Dynamic range
intra-scene 110 dB
inter-scene ?
Accuracy ?
Resolution ?
Acquisition delay ? s For vision devices, the acquisition delay is the integration time.
Update rate 25 to 30 Hz For vision devices, the update rate is synonymous to the frame rate.
Table 90 Key parameters for the Hella 'Camera Module'
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2.2.5 Siemens VDO In the field of vision devices, Siemens VDO offers one of the above mentioned systems consisting of a modified camera module, to provide the ability of ranging.
For further information, please get in touch with
Ludwig Ertl
Video Sensor Systems
E-mail: [email protected]
SiemensVDO Automotive AG
Osterhofener Straße 19
93055 Regensburg
Tel.: +49 (0) 941 790 4462
Fax.: +49 (0) 941 790 5714
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2.2.5.1 Siemens VDO ‘CMOS High Dynamic Range Camera’ The Siemens VDO ‘CMOS High Dynamic Range Camera’ represents, as the name says, a CMOS technology-based range camera.
The sensing principle is easy to see:
Value Unit Remark
Size
Height 27 mm
Width 36 mm
Depth 23 mm Optics not considered
Weight 100 g
Mounting
Others
Table 91 Mechanical parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'
Value Unit Remark
Thermal operating environment
Operating temperature
-40 … +105 ° C Limits
Temperature for storage
125 ° C Limits
Mechanical
…
Table 92 Operating environment parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'
Value Unit Remark
Power consumption 0.500 W
Voltage 7 V
Data interfaces LVDS
…
Control interfaces LVDS
…
Table 93 Interface parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'
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Value Unit Remark
Spectral sensitivity 400 … 1000 nm
Resolution
Pixels 750 x 400 (high fill-factor)
Number of lines
Size of chip Length x Width
Optics
Field of view 25 … 130 °
Zoom None
Focal length 0.001 to 0.016 m
Sensitivity
Dynamic range
intra-scene 120 dB
inter-scene 180 dB
Accuracy < 1 LSB
Resolution 10 Bit
Illuminator
Wave length nm
Acquisition delay 0.005 … 50 mS For vision devices, the acquisition delay is the integration time.
Update rate 50 Hz For vision devices, the update rate is synonymous to the frame rate.
Table 94 Key parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'
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2.2.6 SMaL For further information, please get in touch with
Michael Kayat
Director of Sales Automotive & Security
E-mail: [email protected]
10 Wilson Road
Cambridge, MA 02138, USA
Tel.: +1 617 715 6652
Fax.: +1 617 661 7601
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2.2.6.1 SMaL ‘IM 103’ Value Unit Remark
Size Automotive camera module packaging depends on customer requirements
Height m
Width m
Depth m
Weight kg
Mounting
Others
Table 95 Mechanical parameters for the SMaL ‘IM 103’
Value Unit Remark
Thermal operating environment
Operating temperature
-40C to +85C ° C Limits
Temperature for storage
+125C ° C Limits
Mechanical
…
Table 96 Operating environment parameters for the SMaL ‘IM103’
Value Unit Remark
Power consumption 0.015 W Very low power consumption
Voltage 3.3 V
Data interfaces IEEE 1394,
LVDS,
12 bit NTSC
Control interfaces I2C
…
Table 97 Interface parameters for the SMaL ‘IM103’
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Value Unit Remark
Spectral sensitivity 400 to 1100 nm (Spectral curve is sensitive over visible and near infra-red wavelengths)
Resolution
Pixels 640x480
850x480
(Size can be extended for particular applications, from QVGA, SVGA to XVGA)
Number of lines 480 (Size can be extended)
Size of chip Length x Width
Optics
Field of view 15° to over 90° (Depends on the application)
Zoom (Depends on the application)
Focal length m (Depends on the application)
Sensitivity 1 nW/cm² (550nm)
3 nW/cm²
(950nm)
Bandwidth of the vision device
Dynamic range
intra-scene 120 dB (Autobrite® adaptive and programmable wide dynamic range)
inter-scene 120 dB (Autobrite® adaptive and programmable wide dynamic range)
Accuracy
Resolution
Acquisition delay 0.033 to 1 s For vision devices, the acquisition delay is the integration time.
Update rate 1 to 60 Hz For vision devices, the update rate is synonymous to the frame rate.
Table 98 Key parameters for the SMaL ‘IM103’
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References
PReVENT documents and deliverables
[prevann: 04] PReVENT - Technical Annex.
[prosotas: 04] T. Strobel, A. Servel; ProFusion – Compendium on Sensors.
[prosotasdf: 04] T. Strobel, A. Servel, C. Coue, T. Tatschke; ProFusion – Compendium on Sensors.