Lane Management System Team 1 Adam Pruim - Project Manager Curtis Notarantonio - Security/Safety Engineer Jake Heisey - Domain Expert/Customer

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1 Lane Management System Team 1 Adam Pruim - Project Manager Curtis Notarantonio - Security/Safety Engineer Jake Heisey - Domain Expert/Customer Liaison Qiuning Ren - Project Facilitator Matt Chebowski - Artifacts Manager/Web Master

2 Research Qiuning Ren One example system of our project is Tesla s Autopilot System. Common features: The first common feature with our project is lane sensing feature, the vehicle could identify the lane by sensors and radar, and report the position of the vehicle. The second common feature is a camera sensing feature, it captures images on the side of vehicle. The third common feature is keep-in-lane feature, the system could keep the vehicle in lane, and when the vehicle leaves a lane, it could adjust the position of the vehicle, and also send warnings to the driver. Different features: The first different feature with our project is a image processing feature, our project needs to using camera to capture images and send it to the image processing, then identifies the lane marker in the image. The Tesla Autopilot using camera to capture the images and displays it on the digital dashboard to show the real-time vision to the driver. The second different feature is lane markings identify feature, many of the report shows that Tesla Autopilot failed to work well when there is no lane markings on the side of the road. This is a problem we need to figure out on our project. The third feature is speed estimation feature, our project need to determine the speed, steering angle and road curvature, but Tesla Autopilot could adjust the speed of the vehicle depending on the environment around the vehicle. Questions: 1. Is LMS a semi-autonomous system or an autopilot system? 2. When LMS is taking over the control from the driver, should the driver still need to keep their hands on the wheel? 3. Is LMS system also detects other environment on the road? Like the position and speed of other vehicles on the road. 4. How to adjust if there is some block on the lane? 5. How to process the image and identify the lane marker as a real-time information? The system needs time to do identify the lane marker and adjust the vehicle, how long of it? Safety requirements: 1. The system needs to adjust the vehicle in a correct way if there is an accidental incident happens to project the driver. 2. The image processing needs to process the image without any fault. 3. The system must work well at darkness Security requirements: 1. The system must work well even in the abnormal situation, like no lane markings, the road is curving, etc. 2. The Supervisory Control Systems need to control all the other subsystems without any mistakes. So it needs a hardware or another software to detect it. 3. Could the driver and LMS system control the vehicle at the same time without User Interface system?

3 Jacob Heisey Project Checkpoint 1 Example System: Toyota Lane Keeping Assist Features in common with our project: Vehicle detects leaving lane based on position of vehicle markings System issues a warning to the driver when leaving lane Lane markings detected using a camera Feature enablement is based on speed of the vehicle Features different from our project: Toyota appears to use no sensors for lane detection only the camera System functionality is conditional to weather and road conditions Integrates with Radar Cruise Control system Project Description Questions: What speed thresholds allow features of this system to be enabled? How would the set of sensors work to provide accuracy of road curvature and vehicle steering? What is the time period for which these sensors would determine these factors? What range of time would be considered safe between the time a warning is issued and LKS is activated? What is the benefit of using both a camera and a set of sensors versus just a camera, as Toyota uses in their LMS? Safety Requirement Questions: What role would certain weather conditions and/or road conditions play in the functionality of this system? How does the system account for another vehicle leaving their lane? How does the system distinguish between no road markings and road markings being covered by another vehicle or object? What is the proper amount of force the system should output in steering assist? Security Requirement Questions/Points: Path prediction subsystem software must have no possible exploits to attack or system could become fatal How can we ensure that this system is 100% safe from any potential cyber threats? What other security threats could live with this system besides cybersecurity?

4 Curtis Notarantonio Project: Lane Management System 10/11/16 Toyota Lane Management System Features that are common with my project: Lane Detection: This feature is similar to the lane sensing system as it will detect the white or yellow lines on the road, and be able to tell where they are relative to the cars position [1]. Lane Departure Alerts: Send audio and visual alerts if the driver departs from the lane [2]. Lane Keeping Assist: When the car is drifting out of the sensed lane, the car will apply a small, continuous amount of counter steering force in order to keep the car inside of the lane [1]. Features that are not common with my project: Radar Cruise Control: The Toyota Lane Keeping system will only activate when the radar cruise control is also activated [1]. Lane Departure Warning counter steering force: For the lane departure warning system, the Toyota feature will apply a single, small amount of counter force on the steering wheel to warn the driver that they are departing from the lane [2]. Lane Departure without blinker: The Toyota Lane Departure Warning System will only be activated if the car leaves the lane without turning on a blinker in that direction [2]. Questions about my project: Which features are only available between a certain speed threshold? Are the four scenarios mentioned the only specific scenarios we need our system to cover? What are the differences in functionality between the lane keeping system and the lane centering system? If a blinker is used while departing a lane, will the lane departure warnings still go off? Is there any way the vehicle can sense that a curvature in the lane is approaching? Safety Requirements: How loud/noticeable will the lane departure warning signals be? Different when playing music? For the lane keeping system, should there be less torque applied to the wheel when the vehicle is moving at faster speeds in order to prevent a turn-over? What is the largest angle that the vehicle can depart from a lane in order for the lane keeping system to still function?

5 Security Requirements: How close to the lane before the warning signals appear? What is the largest radius of curvature in relation to speed that the lane keeping system will be able to handle? What is the distance threshold that the lane centering system will use to keep the vehicle centered? References: [1] Lane Keeping Assist. (n.d.). Retrieved October 12, 2016, from ve/lka.html [2] Lane Departure Alert (LDA). (n.d.). Retrieved October 12, 2016, from ve/lda.html Matthew Chebowski Example System: SAFELANE Common Features: 1. SAFELANE utilizes cameras for image processing to identify where the lane markings are. 2. SAFELANE detects obstacles in adjacent lanes in the case that the vehicle needs to switch lanes. 3. SAFELANE will take corrective action if the driver appears to be unintentionally leaving their current lane. Differing Features: 1. SAFELANE uses GPS to predict curvature in the roads in addition to the camera identifying the lane markings. 2. SAFELANE assesses the reliability of the current situation and will not take corrective actions in environments considered unreliable. 3. SAFELANE should work on vehicles of all sizes, including semi-trucks. Questions: 1. What type of hardware and software platform is this running on?

6 2. Are there any design considerations that should be made for additional features to be easily implemented in the future? 3. Are there any times where the entire system will become disabled? What are these situations and how should it notify the driver? 4. Should this system work on vehicles of all sizes, including semi-trucks? 5. Should this system account for situations such as pulling a trailer? 6. How will software updates be pushed to this system? Safety Requirements: 1. How will this system work with dirt roads, snow covered roads, and roads in construction zones where old line markings are often scattered and do not accurately outline the road? 2. How is an intentional lane change differentiated between an unintentional lane changes? 3. The vehicle should provide a warning message immediately before correcting the vehicle trajectory. 4. The vehicle should notify the user if they system is disabled due to environmental conditions. 5. How will the system know if the vehicle is pulling a trailer? Security Requirements: 1. No sensitive data such as routes that the vehicle has taken should be stored. 2. The system should verify that the cameras and sensors connected are authorized. 3. Software updates can only be made while the vehicle is in park. The driver will be prompted to accept or postpone the update for a short period of time which will allow them to verify the update with the manufacturer. This would reduce the chances of the vehicle being compromised in any way. Adam Pruim CSE 435 October 11, 2016 Lane Departure Warning System for Vehicle Active Safety Perception Platform Similarities Establishes the boundaries created by lanes on roadways. Provides feedback to drivers using that information. Creates a Region of Interest between the two lanes using mathematical models. Doesn t provide feedback when turn signal is on.

7 Handles curvature of road and lanes. Differences Takes no corrective action. Does not integrate with other systems. Is not active at low speeds. Does not use GPS data. Questions What weather conditions do we need to account for? What happens when there is an obstruction blocking part of the lane? Where would be the most effective spot to attach the camera? How do we deal with roads that have little or no lane paint? How do we take control from the Driver in a way that doesn t cause them to panic? What warnings should we provide to the driver when corrective action might be taken? Safety System should not overcompensate when reacting to leaving a lane. System should operate correctly in all conditions or know when it has to little data to operate correctly. System should not prevent driver from changing lanes normally. Security Only our system should be able to interact with steering and not be vulnerable to outside events. Should not be able to be fed false data from outside the system. Should not compromise any system that it is integrated with.

Collision Avoidance based on Camera and Radar Fusion. Jitendra Shah interactive Summer School 4-6 July, 2012

Collision Avoidance based on Camera and Radar Fusion Jitendra Shah interactive Summer School 4-6 July, 2012 Agenda Motivation Perception requirements for collision avoidance Situation classification and