ARTICULATED PEDESTRIAN TARGET SPECIFICATIONS

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1 ARTICULATED PEDESTRIAN TARGET SPECIFICATIONS Articulated Pedestrian Target Specifications Version 1.0

2 Document history Version Modified by Date Description / Modification 0.1 Thomas Wimmer (4a) Martin Fritz (4a) 0.2 ACEA-Group (SG Art. Dummy) Martin Fritz (4a) Draft Specifications Input from Spec- Workshop in Sindelfingen Frank Baumann Consideration of Feedback of SG Dummy 0.3 Frank Baumann Consideration of Feedback of SG Dummy and Testing at VENLO Frank Baumann Consideration of Feedback of SG Dummy members Frank Baumann Consideration of Feedback of Radar Expert Telco ACEA-Group (SG Art. Dummy) Martin Fritz (4a) Thomas Wimmer (4a) Martin Fritz (4a) Workshop - Sindelfingen Including movement data s for ankle and knee, RCS-boundaries from Bosch and Conti Frank Baumann Editorial changes, RCS measurements added to Annex Frank Baumann Statistical evaluation of RCS of real pedestrians by Bosch added to Annex 1.0 Thomas Wimmer (4a) Martin Fritz (4a) Speed characteristic of ankle and knee Changing Arm posture to harmonize with static Dummy Articulated Pedestrian Target Specifications Version 1.0 1

3 ARTICULATED PEDESTRIAN TARGET CONTENT 1 Introduction General Information Definitions 3 2 Pedestrian Target Pedestrian Target Dimensions Visible and Infrared Properties Radar Properties Radar Cross Section (RCS) Doppler Effect of Articulation Articulation Mounting and Guidance System Pedestrian Target Weight and Collision Stability 12 Appendix 14 A1 Measurement of the IR reflectivity 14 A2 Measurement of Radar Reflectivity 16 A3 Example Measurements of RCS 19 A4 Example Measurements of Micro Doppler 21 Articulated Pedestrian Target Specifications Version 1.0 2

4 1 INTRODUCTION 1.1 GENERAL INFORMATION Based on the vfss-protocol (V1.1 from ) for the static dummy and the outcome of the ACEA-Project Articulating Dummy as well as the pre-studies from 4activeSystems the following specification defines an articulated pedestrian target. The articulation adds additional characteristics of a moving pedestrian and therefore is providing an improved image of a human pedestrian compared to a non-articulated dummy. The actual protocol only the crossing sceneries are validated. An update for longitudinal sceneries is planned on a later stage. 1.2 DEFINITIONS VUT PT Vehicle under test Pedestrian target 2 PEDESTRIAN TARGET The PT must be able to represent the human attributes in relation to the sensors used in the vehicle. The required sensor-relevant PT attributes for a system test are determined by the vehicle manufacturer and have to be implemented in the manner specified in this document. The requirements relate, insofar not specified otherwise, to the PT including a guiding rod. The PT has to be detectable by following automotive sensors technologies: RADAR, Video, Laser, PMD, IRbased system. The PT consists of two articulated legs, two static arms, torso and an interfacecenter-tube either from lower side (platform) or from upper side (test rig). 2.1 PEDESTRIAN TARGET DIMENSIONS The shape of the adult PT refers to the contours with the 50 % RAMSIS Bodybuilder (Child PT - RAMSIS 7YO Bodybuilder) based on the RAMSIS version to a permitted tolerance of ± 2 cm. The body shape has to be implemented according to the CAD files The face is looking in the walking direction. The PT has to be fixed in upright position. The dimensional accuracy and stability of the PT can be verified in an easy manner may be with help of a suitable tool or template. Articulated Pedestrian Target Specifications Version 1.0 3

5 The reference point for the lateral position of the dummy is the HIP Point (see red circle in figure 1-1, 1-2, 2). The same dummy posture (picture 1-1, 1-2, 2) is used for left-hand and right-hand driving regions, as well for near- and farside test scenarios. After a collision the correctness of the PT posture and dimension has to be checked. The most relevant PT parameters are defined in the table below and are requested during the testing phase (wind, acceleration). Additionally to the values mentioned in the tables, a lateral (relative to moving direction of PT) oscillation has to be prevented: sideward tolerances +/- 5. Segment Unit Dim. Tol. Body height (+shoes) mm 1800 ± 20 HIP Point height mm 923 ± 20 Shoulder width mm 500 ± 20 Shoulder height mm 1500 ± 20 Head width mm 170 ± 10 Head height mm 260 ± 10 Torso depth mm 235 ± 10 Ground Clearance mm 20 ± 5 Torso angle deg 85 ± 2 R Upper arm angle deg 60 ± 2 L Upper arm angle deg 110 ± 2 Tube in driving dir. deg 5 ± 2 Figure 1-1: dimensions Adult Segment Unit Dim. Tol. Body height (+shoes) mm 1154 ± 20 HIP Point height mm 607 ± 20 Shoulder width mm 298 ± 20 Shoulder height mm 920 ± 20 Head width mm 150 ± 10 Head height mm 250 ± 10 Torso depth mm 139 ± 10 Ground Clearance mm 20 ± 5 Torso angle deg 78 ± 2 R Upper arm angle deg 50 ± 2 R Upper arm angle deg 112 ± 2 Tube in driving dir. deg 5 ± 2 Figure 1-2: dimensions Child Articulated Pedestrian Target Specifications Version 1.0 4

6 Figure 2: Angle of tube for far and near side sceneries Tube is leaning in driving Articulated Pedestrian Target Specifications Version 1.0 5

2.2 VISIBLE AND INFRARED PROPERTIES The PT shall be look like clothed with a long-sleeved t-shirt and trousers in different colors: t-shirt in black and jeans in blue.

The IR reflectivity from 850 to 910 nm wavelength of clothes and the skin must be within the following range of 40% to 60%.

7 2.2 VISIBLE AND INFRARED PROPERTIES The PT shall be look like clothed with a long-sleeved t-shirt and trousers in different colors: t-shirt in black and jeans in blue. The clothing has to be made from tear-proofed and water-resistant material. Skin surface parts have to be finished with a non-reflective flesh-colored texture. The IR reflectivity from 850 to 910 nm wavelength of clothes and the skin must be within the following range of 40% to 60%. The IR reflectivity from 850 to 910 nm wavelength of the head hairs must be within the following range of 20% to 60%. At the selection of the clothes it has to be ensured, that the IR reflectivity measured with the 45 probe must not differ for more than 20% from the reflectivity measured with the 90 probe. The visual and infrared properties are defined below: Figure 3: Visual and Infrared Properties Articulated Pedestrian Target Specifications Version 1.0 6

8 The colour of stiffening ropes must be light grey and low optical reflective. To provide robust behavior of the outer cover the textile should have following characteristic: Area weight: < 300 g/m² Water resistance (AATCC 127): > 600 mm strength (ASTM D5034): > 350 lbs light fastness (AATCC 169): > 6000 h wear resistance ASTM (D3884): > 500 cycles 2.3 RADAR PROPERTIES The radar reflectivity characteristics of the pedestrian targets should be equivalent to a human being pedestrian of the same size RADAR CROSS SECTION (RCS) The radar cross section of a pedestrian depends on the observation angle and typically varies significantly. Theoretically there is no RCS variation with the distance. However due to the field of view of the radar sensor and the implemented free space loss compensation the measured RCS significantly varies over distance and in near distances the pedestrian is not scanned over its complete height. Therefore, in this document we refer to RCS as the measured RCS by radar sensor with its specific parameter set, and it does not correspond to the physical RCS. The RCS is also influenced by geometrical effects (i.e. multi path with constructive and destructive interferences). Therefore during the development of pedestrian dummies it must be taken into account that the RCS will be reviewed not only static but by a description of the RCS by closing on the PT. (see example of the RCS distribution at 76GHz of real pedestrian in Annex A3). If the PT does not provide a sufficient RCS and it has to be equipped with additional reflectors, they have to be distributed throughout the whole body. On the other hand, in case the RCS of the PT is too high, absorption material has to be distributed homogeneously over the whole body. It must be insured that the RCS value is homogeneously distributed over the whole body of the PT. This allows achieving the effect of decreasing RCS at a shorter distance by only partial coverage. A more precise definition must be made individually for each frequency and sensor variant. The radar cross section of pedestrian targets (adult and child) should stay within a defined range. Depicted in figure 4 are example RCS boundaries for measurements (performed as described in section 4.4 using scenario 1) with a commercial available 77 GHz sensor 1. If other sensors are used 1 Measurements performed with Continental ARS 300/301 radar sensor Articulated Pedestrian Target Specifications Version 1.0 7

9 or the mounting position of the sensor is different, slightly other RCS values may be obtained. In that case an additional verification/adaption of the boundaries (figure 4) may be necessary for validation of the PT. The boundaries of the average RCS-curves are independent from the orientation around the vertical axes. Figure 4: Pedestrian target RCS boundaries for measurements at 77GHz DOPPLER EFFECT OF ARTICULATION Radar sensor technology may be able to measure and detect the relative velocities of moving legs of pedestrians. This characteristic of pedestrians will be referenced as micro-doppler in the specifications (example of the distribution of relative velocities of a crossing pedestrian measured by radar is provided in Annex A4). In order to ensure a micro-doppler effect comparable to human beings the articulation of the legs must provide the characteristics of chapter 2.4. The specified leg-movement (knee + ankle) is evaluated by video analysis. Additionally a homogenous distribution 2 of the RCS over the whole dummy height shall be ensured. Humanlike RCS-distribution shall be checked under static conditions (parts: lower legs, 2 A methodology to evaluate the homogenous distribution of RSC is currently under development of Uni Linz and will be introduced at a later stage. Articulated Pedestrian Target Specifications Version 1.0 8

10 upper legs, feet, arms, torso and head). 2.4 ARTICULATION Only legs articulation is requested by the dummy, since leg movement is always available at crossing pedestrian whereas arm movement seems to be subordinated. Arm movement is necessarily not a characteristic of human while walking/running. In order to provide robustness and cost efficiency of the PT an articulation of hips only is preferred in order to simulate human like leg movement. The hips are driven by electric motors. The articulation of the legs is defined by the velocities of knee and ankle. The velocities of PTs of the size described in chapter 2.1 must stay within the bandwidth depicted in figure 5 for an adult and child PT. Articulated Pedestrian Target Specifications Version 1.0 9

11 Figure 5: Specification of knee and ankle velocity (1 - dark blue/green, 2 - medium blue/green, 3 - light blue/green) Articulated Pedestrian Target Specifications Version

In order to support repeatable articulation pattern at each test run the same articulation posture shall be ensured at the reference point (RP).

At the reference point the legs must have a posture TSw as shown Figure 6 and 7. The posture of the legs at the reference point shall be recorded by video and checked after testing.

12 In order to support repeatable articulation pattern at each test run the same articulation posture shall be ensured at the reference point (RP). The RP is defined for nearside and farside crossing scenarios at a lateral offset of 2m (hip point of PT) to the middle of the driving lane (see Figure 6). At the reference point the legs must have a posture TSw as shown Figure 6 and 7. The posture of the legs at the reference point shall be recorded by video and checked after testing. The torso shall be within +/- 10% of the target velocity when the reference point is passed. Posture at RP Figure 6: Reference point for articulation (near-side and far-side scenarios) Figure 7: Pedestrian walking phases and posture at reference point (RP) TSw Articulated Pedestrian Target Specifications Version

13 The Torso and H-Point has to have a constant speed motion with low swinging. Leg movement has to have reached steady state conditions latest at a lateral offset of 3.0 m (nearside scenario, 5 kph) 4.5 m (farside scenario, 8kph) between dummy and the middle of the lane. Articulation of the feet must be in a plane parallel to the plane defined by the dummy movement and the vertical (z) axis. Tolerance requirement: +-1. Leg movement shall start simultaneously with the lateral movement of the dummy. The dummy shall start from an offset of 4.0 m in nearside, 5kph scenario 6.0 m in farside, 8kph scenario in order to be able to reach steady state leg movement at the specified lateral offsets. 2.5 MOUNTING AND GUIDANCE SYSTEM All visible parts of the PT mounting and guidance system must be coloured in grey. In case of a uniform background the color shade of the background can be used. It must be ensured that the PT Mounting is not influencing radar return. Radar absorbing material shall be used at the PT mounting to ensure that the PT mounting provide no radar reflections. Any supporting ropes, tubes for fixing the dummies position must be designed not to interfere with the pedestrian emergency braking system The distance between bottom edge of the PT and road surface has to be less than 25 mm. Exact and reproducible positioning of the PT has to be guaranteed (± 3cm hit point). The movement parameters of the PT has to be supplied to the vehicle Vehicle speed up to 60 km/h and PT speed up to 20 km/h must be supported. An active unlocking system is required to release the PT immediately before impact to prevent/reduce severely damage by the collision. 2.6 PEDESTRIAN TARGET WEIGHT AND COLLISION STABILITY The PT must not have any hard impact points to prevent damage of the VUT. The PT has to be designed for a maximum collision velocitiy v VEH_COLL = 60 kph. Articulated Pedestrian Target Specifications Version

14 Max PT weight: adult: 7 kg child: 4 kg The PT shall be coated with a closed textile outer cover. At repetition of tests after previous collisions the target must not show any changes in its shape and the functionality of the articulations. There must be a possibility to check and correct the body posture and angel of legs and arms in an easy and practical way corresponding to the defined tolerances e.g. with the help of a tool with a reference shape. Articulated Pedestrian Target Specifications Version

APPENDIX A1 MEASUREMENT OF THE IR REFLECTIVITY The measurement of the IR reflectivity must be carried out using a measuring device according to the following specification.

Ocean Optics, wavelength range 350 1000 nm, in combination with Reflexionssonde QR600-7-VIS125BX Picture 12: Jaz Spectrometer Calibration: Before the start of the measurement the device must be

15 APPENDIX A1 MEASUREMENT OF THE IR REFLECTIVITY The measurement of the IR reflectivity must be carried out using a measuring device according to the following specification. IR Reflectivity measurement device: Spectrometer for wavelength range 800 nm 900 nm eg: Jaz mobiles Miniaturspektrometer von Fa. Ocean Optics, wavelength range nm, in combination with Reflexionssonde QR600-7-VIS125BX Picture 12: Jaz Spectrometer Calibration: Before the start of the measurement the device must be calibrated with a reflection standard, material spectralon, reflectance 99%. The calibration has to be verified by reflectance standards with reflectivity of 50%, 20%. Example of reflection standards: Labsphere Reflexionsstandards SRS , SRS , SRS , 99% 75% 50% 20% 2% Picture 13: Reflexion Standards Articulated Pedestrian Target Specifications Version

Measurement setup: The measurement of the target must be conducted with a special attachment which ensures a defined distance between probe and target as defined in

Picture 14: Measurement Probe 90, Measurement Probe 45 Entire test setup with Jaz-Spectrometer, reflectance probe, 90 measuring attachment and reflection standards:

16 Measurement setup: The measurement of the target must be conducted with a special attachment which ensures a defined distance between probe and target as defined in the following figure. Picture 14: Measurement Probe 90, Measurement Probe 45 Entire test setup with Jaz-Spectrometer, reflectance probe, 90 measuring attachment and reflection standards: Picture 15: Complete Measurement Setup The measurement shall be performed at three different points of the measuring object and shall be recorded. The resulting IR reflectivity value corresponds to the average of the three reflectivity measurements. Articulated Pedestrian Target Specifications Version

17 A2 MEASUREMENT OF RADAR REFLECTIVITY The measurement of the radar reflectivity must be carried out using a measurement setup according to the following specification. Recommended Measurement Setup A reference measurement with a corner reflector (calibrated 10 dbsm) before and after measurements is recommended. Sensor - vertical distance to ground as sensor application height 500 mm +/- 150mm - horizontal alignment +/-1 deg to center line - vertical alignment +/-1 deg to center line - 77 GHz Sensor: Bosch MRR-SGU Continental ARS300/ARS301/ARS400 series Car - angular driving deviation < 2 deg (driving direction) - positioning accuracy longitudinal/lateral < 50 mm Pedestrian Target - positioning accuracy longitudinal/lateral < 10 mm - angular orientation deviation < 3 deg (moving direction) Articulated Pedestrian Target Specifications Version

Test Environment - no additional objects/buildings in the observation area - proving ground surface completely covered with tarmac or concrete - ground conditions: flat, dry street - no metallic or

18 Test Environment - no additional objects/buildings in the observation area - proving ground surface completely covered with tarmac or concrete - ground conditions: flat, dry street - no metallic or other strong radar-reflecting parts in-ground or surrounding area - reference measurement with 40 m distance - corner reflector mounting height: 1m Free space PT Sensor Figure A1: Test Environment Articulated Pedestrian Target Specifications Version

moving direction Measurement Scenario Scenario 1 - static PT with moving

approaching speed 10 kph, no abrupt deceleration - measurement angles 90,

approaches - low pass filtering using a sliding average window (+/-2.

19 moving direction Measurement Scenario Scenario 1 - static PT with moving vehicle - initial distance 40 m to 4m - max. approaching speed 10 kph, no abrupt deceleration - measurement angles 90, 270 deg (static PT facing direction relative to vehicle) - averaging 5 approaches - low pass filtering using a sliding average window (+/-2.5m) 90 deg ept 270 deg radar centerline (radar boresight) Articulated Pedestrian Target Specifications Version

A3 EXAMPLE MEASUREMENTS OF RCS Figure A2: Example RCS of pedestrians at 76GHz Figure A3 is providing an example of a statistical evaluation of RCS

Figure A3: Statistical evaluation of RCS measurements of real pedestrians 3 Additional RCS measurements, evaluation methodologies and RCS-measurements of

20 A3 EXAMPLE MEASUREMENTS OF RCS Figure A2: Example RCS of pedestrians at 76GHz Figure A3 is providing an example of a statistical evaluation of RCS measurements of human pedestrians. The standard deviations (sigma) of RCS measurements are depicted. Figure A3: Statistical evaluation of RCS measurements of real pedestrians 3 Additional RCS measurements, evaluation methodologies and RCS-measurements of real pedestrians are presented in: 3 Measurements and statistical evaluation performed by Bosch Articulated Pedestrian Target Specifications Version

21 RCS (dbsm) RCS (db) Figure A4 provides an example of a comparison of a real human versus ACEA/4a articulated adult dummy using the evaluation methodology of Annex A RCS Measurements of Real Pedestrian vs. Adult Articulated Dummy Range (m) lower boundary RCS upper boundary RCS Bosch Dummy Sensor 1 Bosch Dummy Sensor 2 Bosch, Human1, left Bosch, Human1, right Bosch, Human2, left Figure A4: Example RCS of Articulated Adult Dummy versus real Human being (example of Bosch measurements Figure A5 provides an example of RCS measurements of the ACEA/4A articulated adult dummy using the evaluation methodology of Annex A2. RCS evaluations of different sensor suppliers and mounting positons are depicted Example RCS Measurements of Adult Articulated Pedestrian Dummy Continental Average Curve Daimler Average Curve Bosch Average Curve Variant1 Bosch Average Curve Variant 2 Denso Average Curve lower boundary RCS Range (m) upper boundary RCS Figure A5: Example RCS Evaluation of ACEA/4a Articulated Adult Dummy Articulated Pedestrian Target Specifications Version

A4 EXAMPLE MEASUREMENTS OF MICRO DOPPLER Figure A6: Example of micro doppler 4 (distribution of relative velocities) for a pedestrian with a crossing speed of 5 kph 4

22 A4 EXAMPLE MEASUREMENTS OF MICRO DOPPLER Figure A6: Example of micro doppler 4 (distribution of relative velocities) for a pedestrian with a crossing speed of 5 kph 4 Measurements performed with commercial available 77GHz radar sensor (Continental ARS Gen4); one complete crossing scene. Articulated Pedestrian Target Specifications Version

23 ABOUT ACEA ACEA s members are BMW Group, DAF Trucks, Daimler, Fiat Chrysler Automobiles, Ford of Europe, Hyundai Motor Europe, Iveco, Jaguar Land Rover, Opel Group, PSA Peugeot Citroën, Renault Group, Toyota Motor Europe, Volkswagen Group, Volvo Cars, Volvo Group. More information can be found on ABOUT THE EU AUTOMOBILE INDUSTRY Some 12.1 million people - or 5.6% of the EU employed population - work in the sector. The 3.1 million jobs in automotive manufacturing represent 10.4% of EU's manufacturing employment. Motor vehicles account for 396 billion in tax contribution in the EU15. The sector is also a key driver of knowledge and innovation, representing Europe's largest private contributor to R&D, with 41.5 billion invested annually. European Automobile Manufacturers' Association ACEA Avenue des Nerviens 85 B-1040 Brussels T M F

CATS Deliverable 3.2: CATS report target specifications

Integrated Vehicle Safety Automotive Campus 30 5708 JZ Helmond P.O. Box 756 5700 AT Helmond The Netherlands TNO 2016 R10925 CATS Deliverable 3.2: CATS report target specifications www.tno.nl T +31 88 866