Contents
EXECUTIVE SUMMARY 10
1. INTRODUCTION 11
2. BACKGROUND 12
2.1. Technology 12
2.2. Market Penetration 12
3. METHOD 13
3.1. Subject Vehicles 13
3.1.1. Sensor and Alert Warning Indicator Locations 14
3.2. Test Plan 20
3.2.1. Straight-Lane Tests 20
3.2.2. Dynamic Maneuver Tests 21
3.2.3. Guard Rail Detection Tests 24
3.3. Test Instrumentation 26
4. RESULTS 27
4.1. Straight-Lane Test Results 28
4.1.1. "Same Speed" Straight-Lane Test Results 28
4.1.2. "Mixed-Speed" Straight-Lane Test Results 30
4.2. Dynamic Maneuver Tests 35
4.2.1. Test-1 Results - The "Converging/Diverging" Maneuver 35
4.2.2. Test-2 Results - The Cross Behind Maneuver 37
4.2.3. Test-3 Results - The POV Makes a Pass Maneuver 40
4.2.4. Test-4 Results - The Run-Up Maneuver 41
4.2.5. Test-5 Results - The SV Brakes Maneuver 42
4.2.6. Test-6 Results - POV and SOV Pass by 44
4.2.7. Test-7 Results - Single POV Detection With SV Opposite Turn Signal Applied 45
4.2.8. Guard Rail Detection 47
5. DISCUSSION AND CONCLUSIONS 48
REFERENCES 52
APPENDIX A. RT AND RT RANGE 53
APPENDIX B. HEITZ BRAKE CONTROL MACHINE 54
APPENDIX C. STRAIGHT-LANE TESTS DATA SUMMARIES 56
APPENDIX D. DYNAMIC LANE TESTS - INDIVIDUAL VEHICLE DATA 63
D.1. DYNAMIC LANE TEST 1 - CONVERGE/DIVERGE - SUMMARY TABLES 63
D.2. DYNAMIC LANE TEST 2 - CROSS BEHIND - SUMMARY TABLES 66
D.3. DYNAMIC LANE TEST 3 - POV MAKES A PASS - SUMMARY TABLES 70
D.4. DYNAMIC LANE TEST 4 - RUN-UP - SUMMARY TABLES 72
D.5. DYNAMIC LANE TEST 5 - SV BRAKES - SUMMARY TABLES 73
D.6. DYNAMIC LANE TEST 6 - POV AND SOV PASS BY - SUMMARY TABLES 76
D.7. DYNAMIC LANE TEST 7 - OPPOSITE TURN SIGNAL - SUMMARY TABLES 79
APPENDIX E. GUARD RAIL DETECTION TEST DATA 81
APPENDIX F. VIDEO NOTES FOR SAMPLE STRAIGHT-LANE AND DYNAMIC LANE TESTS 84
F.1. STRAIGHT-LANE TESTS 84
F.2. DYNAMIC LANE TESTS 84
Table 2.1. Average BSM Market Costs 12
Table 3.1. Length and Width of Test Vehicles 13
Table 3.2. Overview of Test Vehicles 14
Table 4.1. Summary Data for Graph of POV Following Distance for Figure 4-4 32
Table 4.2. Summary Data for Graph of POV Following Distance for Figure 4-5 33
Table 4.3. Left and Right Side Blinking Frequencies 40
Table 5.1. Summary of Test Scenario Evaluation 51
Figure 3-1. Volvo Left BSM Sensor (Camera) Mounted Beneath Mirror (Viewed From Behind the Vehicle) 15
Figure 3-2. Volvo Right BSM Sensor (Camera) Mounted Beneath Mirror 15
Figure 3-3. Photograph of Volvo Left Side "Lighted" Alert Indicator on Inside of Front Door Frame 16
Figure 3-4. Buick BSM Sensor Proximity 16
Figure 3-5. Buick Left BSM Sensor Behind Rear Bumper Wrap-Around 17
Figure 3-6. Buick Right BSM Sensor Behind Rear Bumper Wrap-Around 17
Figure 3-7. Photographic Image of the Buick Lucerne Warning Icon on the Right Side Mirror 18
Figure 3-8. Mercedes BSM Sensor Proximity 18
Figure 3-9. Mercedes Left BSM Sensor Behind Rear Bumper Wrap-Around 19
Figure 3-10. Photograph of the Warning Indicator Integrated Into the Right Mirror of the Mercedes 19
Figure 3-11. Three Lane Straight -Lane Test 20
Figure 3-12. Two Lane Straight -Lane Test 20
Figure 3-13. Test- 1 - Converge and Diverge 22
Figure 3-14. Test- 2 - Cross Behind 22
Figure 3-15. Test- 3 - POV Makes a Pass 23
Figure 3-16. Test -4 - Run Up 23
Figure 3-17. Test -5 - SV Brakes 23
Figure 3-18. Test -6 - POV and SOV Pass by 24
Figure 3-19. Guard Rail Detection Test 25
Figure 4-1. Lane Diagrams Showing Free-Spacing Between Vehicles 27
Figure 4-2. Mirror Vantage Point Measurement 27
Figure 4-3. BSM Straight-Lane "Same-Speed" - Test No.9 - Left Side Test With Left Turn Signal Applied -Matching Speeds of 20 mph and POV in Next Lane 30
Figure 4-4. Graph of POV Following Distance at BSM Alert Onset for Mixed Speed Tests 31
Figure 4-5. Graph of POV Following Distance at BSM Alert Extinction for Mixed Speed Tests 32
Figure 4-6. BSM Straight-Lane - Test No.9 - Right Side Test With No Turn Signal Applied - SV at 20 mph With POV Driving by in the Next Lane at 35 mph 34
Figure 4-7. BSM Straight-Lane - Test No.9 - Right Side Test With Right Turn Signal Applied - SV at 20 mph With POV Driving by Quickly in the Next Lane at 75 mph 35
Figure 4-8. BSM Converging-Diverging Left Side - Test No. 1 With Left Turn Signal Applied 37
Figure 4-9. BSM Cross-Behind Left Side - Test No. 2 With Left Turn Signal Applied 39
Figure 4-10. BSM POV Makes a Pass - Test No. 3 - SV With No Turn Signal Applied 41
Figure 4-11. BSM POV Run-Up (Same Lane) - Test No. 4 With Alternate Left and Right Turn Signal Applications 42
Figure 4-12. SV Brakes Left Side - Test No. 5 With Left Turn Signal Applied 43
Figure 4-13. BSM Multiple POV's With Range-Monitoring POV on Left Side of SV - Test No. 6 With Left Turn Signal Applied 45
Figure 4-14. Single POV With Opposite Turn Signal Applied - Test No. 7 - POV on Right Side of SV, but With SV Left Turn Signal Applied 47
Table C. 1. 35/20 mph - Summary Table 56
Table C. 2. 55/20 mph - Summary Table 56
Table C. 3. 75/20 mph - Summary Table 57
Table C. 4. 55/35 mph - Summary Table 57
Table C. 5. 75/35 mph - Summary Table 58
Table C. 6. 75/55 mph - Summary Table 58
Table C. 7. Number of BSM Alerts During Straight-Lane Testing - Subject Vehicle-Volvo S80 59
Table C. 8. Number of BSM Alerts During Straight-Lane Testing - Subject Vehicle-Buick Lucerne 59
Table C. 9. Number of BSM Alerts During Straight-Lane Testing - Subject Vehicle-Mercedes E-Class 60
Table C. 10. Straight-Lane Test 9 - Four Ranges of Same-Speed Tests 61
Table C. 11. Comparison of BSM Alert Activation Onset Points for Six Mixed Speed Straight-Lane Tests 62
Table D.1 a. Test 1 - Volvo Summary 63
Table D.1 b. Test 1 - Buick Summary 64
Table D.1 c. Test 1 - Mercedes Summary 64
Table D.1 d. BSM Converging-Diverging - Test No. 1 Summary 65
Table D.2 a. Cross Behind Test Results Summary for Volvo BSM 66
Table D.2 b. Cross Behind Test Results Summary for Buick BSM 67
Table D.2 c. Cross Behind Test Results Summary for Mercedes BSM 68
Table D.2 d. BSM Cross Behind - Test No. 2 Summary 69
Table D.3 a. Test 3 - Volvo Summary 70
Table D.3 b. Test 3 - Buick Summary 70
Table D.3 c. Test 3 - Mercedes Summary 71
Table D.3 d. BSM POV Makes A Pass - Test No. 3 Summary 71
Table D.4 a. Test 4 - Volvo Summary 72
Table D.4 b. Test 4 - Buick Summary 72
Table D.4 c. Test 4 - Mercedes Summary 72
Table D.4 d. BSM Run-Up - Test No. 4 Summary 72
Table D.5 a. Test 5 - Volvo Summary 73
Table D.5 b. Test 5 - Buick Summary 73
Table D.5 c. Test 5 - Mercedes Summary 74
Table D.5 d. BSM "SV Brakes" Maneuver - TestNo. 5 Summary 75
Table D.6 a. Test 6 - Volvo Summary 76
Table D.6 b. Test 6 - Buick Summary 76
Table D.6 c. Test 6 - Mercedes Summary 77
Table D.6 d. BSM "POV and SOV Pass by" - Test No. 6 Summary 78
Table D.7 a. Test 7 - Volvo Summary 79
Table D.7 b. Test 7 - Buick Summary 79
Table D.7 c. Test 7 - Mercedes Summary 80
Table D.7 d. BSM "OppositeTurn Signal" Maneuver - Test No. 7 Summary 80
Table E. 1. Volvo S80 - BSM Guard Rail Detection Test 81
Table E. 2. Buick CXL - BSM Guard Rail Detection Test 82
Table E. 3. Mercedes E-350 - BSM Guard Rail Detection Test 83
Figure B.1. Brake Controller Components Installed in the Mercedes E350 55