L9 EGs

SAE J3016

• real time functions required to operate vehicle in traffic excluding strategic functions

• lateral and longitudinal motion control

• monitoring driving environment

• object and event response execution

• maneuver planning

• enhancing conspicuity

response by user to perform DDT or achieve minimal risk condition after system failure

Operating conditions under which a driving automation system or feature is designed to function

condition to which vehicle has to be brought after DDT fallback to reduce risk of crash

• S-Class / Tesla

  • driver activity detection

  • visual and audible prompts

  • vehicle slows down

  • hazard lights

  • parking brake

  • emergency call

  • unlock car

• DRIVE PILOT

  • different warning prompts

  • vehicle brakes to standstill at lane edge

• Future - Continental Cruising Chauffeur

  • Prompts

  • Vehicle slows down

  • change lane to shoulder

    
    

• fail safe hardware

• fail safe environment perception

• detection of vehicle degradation

• enhancing vehicle conspicuity

• minimal risk maneuver strategy

• minimal risk condition

• simultaneously plan emergency path and main trajectory

• trajectory selection block

• independent perception system

• no self-activation

• descrete waypoints

• interpolation of path

• fusioned object list

• emergency trajectory planning

  • velocity adaption to environment

• driving corridor monitoring

path with temporal data

• requirements:

  • independent from sensor modules (fail safe)

  • surround view

  • low-compute

• Implementation:

  • Radar (front and rear)

  • Ultrasonic (360)

• metrics

  • comfort

  • accuracy

  • collision avoidance

  • stability

• test cases

  • static initial state

  • dynamic initial state

  • static obstacles

  • dynamic obstacles

• Ackermann Emergency Path

  • 5 Phases

  • various initial states

  • various curvatures

• Software-in-the-Loop

• Real world test

• increase economic feasibility

• energy efficient

• increase comfort and efficiency (e.g. automated valet)

• support AD functions into existing traffic

  • minor technical requirements

  • minor risk

• valet services

  • automated parking

  • charging

  • washing

• Group/cargo shuttles

• public road traffic