Preventive and Active Safety Applications Integrated Project Contract number FP6-507075 eSafety for road and air

transport

Subproject

ProFusion

Deliverable type Deliverable name

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Sensor Data Sheets - State-ofthe-art of Sensors and Sensor Data Fusion for Automotive Preventive Safety Applications

Version number Lead contractor Confidentiality status Due date of deliverable Actual submission date File name

1.0 FORWISS, University of Passau Public 31.05.2004 19.07.2004 <PR-13400-IPD-040531-v10- Sensor_Data_Sheets>

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Authors
Tobias Strobel, FORWISS, University of Passau Alain Servel, PSA PEUGEOT CITROEN

Project Co-ordinator
Peter Konhuser DaimlerChrysler AG Research and Technology Information and Communication 096/T729 - RIC/T 70546 Stuttgart / Germany Phone Fax Mobile E-mail +49 711 17 41512 +49 711 17 41242 +49 160 8630458 [email protected]

Copyright: PReVENT Consortium 2004 Copyright on template: Irion Management Consulting GmbH 2004

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Revision chart and history log

Version 0.1 0.2 0.3 0.4 0.5 0.6 1.0 Date 22-03-2004 05-04-2004 22-04-2004 30-04-2004 16-05-2004 21-06-2004 19-07-2004 Reason First draft version of the Compendium on Sensors Preliminary scheme for the representation of the information fixed Draft version publicised in advance of the sensor workshop Preliminary roadmaps inserted, to be written out Section on the state-of-the-art of sensor data fusion included Draft version publicised in advance of the final workshop Final draft.

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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 1.1 1.2 2 2.1 Introduction.............................................................................1 Purpose of the document ....................................................1 Overview .............................................................................1 Sensors for preventive and active safety functions ................2 LIDAR / RADAR ..................................................................1 2.1.1 2.1.2 2.1.3 2.1.4 2.1.5 2.1.6 2.1.7 2.1.8 2.1.9 2.2 2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.2.6 Bosch..........................................................................1 Continental TEMIC .....................................................1 DENSO.......................................................................1 DELPHI.......................................................................1 Hella ...........................................................................1 IBEO ...........................................................................1 RoadEye (for the DenseTraffic project) ....................1 TRW Automotive ........................................................1 Valeo ..........................................................................1 Bosch..........................................................................1 Continental TEMIC .....................................................1 DENSO.......................................................................1 Hella ...........................................................................1 Siemens VDO.............................................................1 SMaL ..........................................................................1

Vision Devices.....................................................................1

References......................................................................................1

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Technical Abstract

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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 preproduction 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 Bhlau 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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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
Table 1 Scheme

Unit

Remark

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. Here, the concrete value for the feature is given. In this field, the physical, or respectively the technical unit for the specified value is given. 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.

Value Unit Remark

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Value Size Height Width Depth Weight Mounting Others

Unit

Remark

m m m kg

Table 2 Mechanical parameters

Size Weight Mounting Others

The size parameter specifies the height, the width and the depth of the sensor. As the name says, the weight of the sensor is given here. The mounting field is, more or less free text information to describe the integration of the sensor in the vehicle. Any other mechanical complements, specifications or comments are described here.

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

C C

Limits Limits

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 switchedoff. Within these limits the sensor operates, respectively may be stored, as specified by the key parameters. Here, mechanical constraints required from the sensor to perform within the limitations given in the key parameters table are specified.

Mechanical

Value Power consumption Voltage Data interfaces Control interfaces

Unit W V

Remark

Table 4 Interface parameters

Power consumption Voltage Data interfaces

The power consumption parameter specifies the electrical power consumed by the sensor. As the name says, the voltage the sensor may be conducted with is given here. 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. This field specifies the control interfaces of the sensor.

Control interfaces

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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 Frequency Waveform Scan mechanism Resolution Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution m/s m/s m/s Two closed objects resolution Two closed objects resolution Versus type of target Two closed objects resolution Unit Remark For LIDAR sensors, the wavelength of the emitted light is given..

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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. specifies which waveform is used for the emitted electromagnetic radiation. Examples are continuous waves as well as pulsed waves, continuous but modulated waves, etc. Here, the scan mechanism of the LIDAR / RADAR is explained, if the respective sensor uses any. This group of parameters describes the field of view, the beam width, the (angular) accuracy and the resolution of the detection in horizontal direction. Same as for horizontal performance parameters group, but in vertical direction. 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. 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.

Waveform

Scan mechanism Horizontal performance

Vertical performance Ranging and detection

Measuring of relative speed

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 Update rate The acquisition delay parameter specifies how long the acquisition of one measuring takes. 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 (FMCWRADAR) technology. Value Size Height Width Depth Weight Mounting Others
Table 6 Mechanical parameters of the Bosch 'Long Range RADAR Sensor'

Unit

Remark

0.073 m 0.070 m 0.060 m < 0.3 kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 90 C C

Limits (100 for short-time) Limits

Table 7 Operating environment parameters of the Bosch 'Long Range RADAR Sensor'

Value Power consumption Voltage Data interfaces Control interfaces

Unit < 10 W V

Remark (< 39 W with lens heating on)

Table 8 Interface parameters of the Bosch 'Long Range RADAR Sensor'

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Value Frequency Waveform Scan mechanism Resolution Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Aquisition delay Update rate Maximum number of 1.5 1.5

Unit 77 GHz Continuous wave None 4 beams 8 ? 0.5 ? 0.25

Remark

Frequence modulated

Two closed object resolution

2 to 120 m 5 % 5 m 0.05 m (but with a maximum accuracy of 0.5 m) Two closed objects resolution

50 m / s 5 % 1 m/s 0.1 m / s Yes (but with a maximum accuracy of 0.4 m / s)

m / s m / s m / s 0.1 s 10 Hz 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 Grickestrae 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 Size Height Width Depth Weight Mounting Others
Table 10 Mechanical parameters for the Continental 'ARS 200'

Unit

Remark

0.132 m 0.132 m 0.050 m ? kg

Value Thermal operating environment Operating temperatures Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -40 to 95 C

Limits Limits

Table 11 Operating parameters for the Continental 'ARS 200'

Value Power consumption Voltage Data interfaces Control interfaces CAN

Unit < 7.5 W ? V CAN

Remark

(high-speed CAN)

(high-speed CAN)

Table 12 Interface parameters for the Continental 'ARS 200'

Value Frequency Waveform Scan mechanism Resolution

Unit 77 GHz Pulsed Yes 3 beams

Remark

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Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Measuring of relative acceleration Coverage Accuracy Resolution Handling of stationary objects Aquisition delay Update rate Maximum number of targets tracked -20 to 20 m / s 0.1 m / s ? m / s Yes 0.25 s 20 Hz 20
Table 13 Key parameters for the Continental 'ARS 200'

5.1 3.4 0.25 6.8 3.4 1.7 3.4 None None

1 to 150 m 1 m 7.5 m 3.75 m Versus type of target

-24.7 to 73.6 m / s 0.2 m / s 1.53 m / s 0.76 m / s

(-89 to 265 km / h) (0.7 km / h) (5.52 km / h) (2.76 km / h)

(Same as for moving objects)

(Update time of 50 ms)

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2.1.2.2 Continental Temic Adaptive Cruise Control RADAR System ARS 300
Value Size Height Width Depth Weight Mounting Others
Table 14 Mechanical parameters for the Continental 'ARS 300'

Unit

Remark

0.070 m 0.103 m 0.050 m ? kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -40 to 95 C None

Limits Limits

Table 15 Operating environment parameters for the Continental 'ARS 300'

Value Power consumption Voltage Data interfaces Control interfaces CAN CAN

Unit < 6.0 W V

Remark

(others on request)

(others on request)

Table 16 Interface parameters for the Continental 'ARS 300'

Value Wave length Waveform Scan mechanism Resolution

Unit 77 GHz Pulsed Yes 17 beams

Remark

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Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Aquisition delay Update rate Maximum number of targets tracked -20 to 20 m / s 0.07 m / s ? m / s 0.2 20 Hz 40
Table 17 Key parameters for the Continental 'ARS 300'

9 2 0.1 3 1 2.1 4.2 None None

0.25 to 170 m 0.25 m 2 m 1 m

-24.7 to 73.6 m / s 0.2 m / s 1.53 m / s 0.76 m / s Yes

(-89 to 265 km / h) (0.7 km / h) (5.52 km / h) (2.76 km / h) (Same as for moving objects)

(Update time of 50 ms)

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2.1.2.3 Continental Temic side looking short range RADAR SLR 100
Value Size Height Width Depth Weight Mounting Others
Table 18 Mechanical parameters for the Continental 'SLR 100'

Unit

Remark

0.070 m 0.105 m 0.021 m ? kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -40 to 95 C None

Limits Limits

Table 19 Operating environment parameters for the Continental 'SLR 100'

Value Power consumption Voltage Data interfaces Control interfaces CAN

Unit < 3.0 W ? V CAN

Remark

(others on request)

(others on request)

Table 20 Interface parameters for the Continental 'SLR 100'

Value Wave length Waveform Scan mechanism Resolution

Unit 24 GHz Pulsed None 2 beams

Remark

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Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Aquisition delay Update rate Maximum number of targets tracked None m / s None m / s None m / s 0.12 25 to 50 Hz 16 -35 to 35 m / s 1 m/s None m / s None m / s Yes (Same as for moving objects) (-127 to 127 km / h) (5 km / h) 0.2 to 30 m 0.05 m 0.2 m 0.1 m 15 15 None None 120 80 2 to 10 None 60

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 Size Height Width Depth Weight Mounting Others
Table 22 Mechanical parameters for the Continental 'CID 100'

Unit

Remark

m m m 0.200 kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -40 to 105 C None

Limits Limits

Table 23 Operating environment parameters for the Continental 'CID 100'

Value Power consumption Voltage Data interfaces Control interfaces

Unit W 12 V

Remark

(with a minimum of 8.5 V, and a maximum of 24 V)

Table 24 Interface parameters for the Continental 'CID 100'

Value Wave length Waveform

Unit 905 nm Pulsed

Remark

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Scan mechanism Resolution Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Aquisition delay Update rate Maximum number of targets tracked

None 3 beams (depenent on the application)

36 12 ? ? ?

8 ? ? ?

10 m 0.1 m ? ?

1 to 56 m / s ? m/s ? m/s ? m/s No

(5 to 200 km / h)

? m / s ? m / s ? m / s ? ? Hz 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 Size Height Width Depth Weight Mounting Others
Table 26 Mechanical parameters for the Continental 'SIS 200'

Unit

Remark

0.088 m 0.072 m 0.057 m 0.400 kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -40 to 105 C

Limits Limits

Table 27 Operating environment parameters for the Continental 'SIS 200'

Value Power consumption Voltage Data interfaces Control interfaces

Unit W 12 V

Remark

(with a minimum of 8.5 V, and a maximum of 24 V)

Table 28 Interface parameters for the Continental 'SIS 200'

Value Wave length Waveform Scan mechanism

Unit 905 nM Pulse YES

Remark

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Resolution Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Aquisition delay Update rate Maximum number of targets tracked

30 beams 15 1 ? ? 0.01 (resolution of beam movement)

3 to 6.5 3 to 6.5 None

0.5 to 50 m ? m ? ?

-60 to 60 m / s 0.1 to 0.8 m / s ? m/s ? m/s Yes

? m / s 0.25 m / s ? m / s ? 26 Hz ? (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 Size Height Width Depth Weight Mounting Others
Table 30 Mechanical parameters for the DENSO 'LIDAR Sensor'

Unit

Remark

0.060 m 0.116 m 0.065 m 0.350 kg Behind the front grill or under the bumper.

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-30 to 70 C -40 to 85 C

Limits Limits

Table 31 Operating environment parameters for the DENSO 'LIDAR Sensor'

Value Power consumption Voltage Data interfaces Control interfaces CAN

Unit 5 W 12 V CAN

Remark

Table 32 Interface parameters for the DENSO 'LIDAR Sensor'

Value Wave length

Unit 870 nm

Remark For LIDAR sensors, the frequency is given in terms of the wavelength of the light emitted.

Waveform Scan mechanism

Pulsed Mechanical rotating mirror (2D scanning laser)

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Resolution Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative accel. Coverage Accuracy Resolution Acquisition delay Update rate Maximum number of targets tracked 6.35 m / s ? m / s ? m / s ? s 10 Hz 4
Table 33 Key parameters for the DENSO 'LIDAR Sensor'

18.0 0.1 ? ? ?

4 1.57 ? ? 20 m

0 to 130 m 0.5 m ? m 0.075 m

51 m / s ? m/s ? m ? m/s ?

(Moving average for the last four measurings is used)

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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 Size Height Width Depth Weight Mounting Others
Table 34 Mechanical parameters for the DENSO 'RADAR Sensor'

Unit

Remark

0.085 m 0.147 m 0.074 m 0.495 kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-30 to 70 C -40 to 85 C None

Limits Limits

Table 35 Operating environment parameters for the DENSO 'RADAR Sensor'

Value Power consumption Voltage Data interfaces Control interfaces CAN

Unit 7 W 12 V CAN

Remark

Table 36 Interface parameters for the DENSO 'RADAR Sensor'

Value Frequency Waveform Scan mechanism

Unit 77 GHz Continuous wave Electronical

Remark

(triangular frequence modulation) (with digital beam forming)

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Resolution Horizontal performance Field of view Beam width Accuracy Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative accel. Coverage Accuracy Resolution Acquisition delay Update rate Maximum number targets tracked of

4 10 20 0.25 0.5

4 4 None

5 to 180 m 0.5 % ? 0.7 m

-55.5 +27.8 m / s ? m/s ? m/s 0.63 m / s ?

6.35 m / s ? m / s ? m / s 0.1 s 10 Hz 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 Size Height Width Depth Weight Mounting Others
Table 38 Mechanical parameters for the DELPHI 'Long Range RADAR Sensor'

Unit

Remark

0.138 m 0.073 m 0.096 m ? kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C C

Limits Limits

Table 39 Operating environment parameters for the DELPHI 'Long Range RADAR Sensor'

Value Power consumption Voltage Data interfaces Control interfaces

Unit W V

Remark

Table 40 Interface parameters for the DELPHI 'Long Range RADAR Sensor'

Value Frequency Waveform

Unit 76 GHz ?

Remark

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Scan mechanism Resolution Angle of detection Horizontal performance Field of view Beam width Accuracy Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Resolution Measuring of relative speed Coverage Accuracy Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Acquisition delay Update rate Maximum number of targets tracked

Mechanical

? ? 0.5 ?

? ? ? ?

1 to 150 m ? < 0.5 m Versus type of target

-63.9 to 31.9 m / s < 0.6 m / s ? ?

(-230 to 115 km / h) (< 2 km / h)

? m / s ? m / s ? m / s ? 10 Hz ?
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 Size Height Width Depth Weight Mounting Others
Table 42 Mechanical parameters for the DELPHI 'Long Range RADAR Sensor'

Unit

Remark

? m ? m ? m ? kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C ? C

Limits Limits

Table 43 Operating environment parameters for the DELPHI 'Long Range RADAR Sensor'

Value Power consumption Voltage Data interfaces Control interfaces

Unit W V

Remark

Table 44 Interface parameters for the DELPHI 'Long Range RADAR Sensor'

Value Frequency Waveform Scan mechanism

Unit 24 GHz ? None

Remark

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Resolution Angle of detection Horizontal performance Field of view Beam width Accuracy Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Resolution Measuring of relative speed Coverage Accuracy Resolution Handling of stationary objects Acquisition delay Update rate Maximum number of targets tracked 8.8 m / s ? m/s ? ? ? 120 ms ?
Table 45 Key parameters for the DELPHI 'Long Range RADAR Sensor'

? ? 0.5 ?

? ? ? ?

0 to 6 m ? 0.22 m Versus type of target

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2.1.5

Hella
For further information, please get in touch with Christian Bhlau Grundlagen- und Prozessentwicklung (GE-ADS) E-mail: [email protected] Hella KGaA Hck & Co. Beckumer Strae 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 Size Height Width Depth Weight Mounting Others
Table 46 Mechanical parameters for the Hella 'Adaptive Cruise Control (ACC) B'

Unit

Remark

0.065 m 0.104 m 0.104 m 0.430 kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -40 to 105 C

Limits Limits

Table 47 Operating environment parameters for the Hella 'Adaptive Cruise Control (ACC) B'

Value Power consumption Voltage Data interfaces Control interfaces

Unit 3 W 9 to 16 V CAN

Remark

500 kBit / s

Table 48 Interface parameters for the Hella 'Adaptive Cruise Control (ACC) B'

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Value Frequency Waveform Scan mechanism Resolution Angle of detection Horizontal performance Field of view Beam width Accuracy Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Resolution Measuring of relative speed Coverage Accuracy Resolution Handling of stationary objects Acquisition delay Update rate Maximum number of targets tracked

Unit 905 GHz Pulsed None

Remark

(Ultra-short-pulse, eye-safe LIDAR) (Multi beam LIDAR)

16 1 0.5 1

3 3 None None

200 m 1 % 0.1 m

50 m / s 0.5 m / s 0.028 m / s Yes 60 ms 8 Hz 25

Table 49 Key parameters for the Hella 'Adaptive Cruise Control (ACC) B'

(120 ms update time)

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2.1.5.2 Hella 24 GHz Short Range RADAR Sensor

Value Size Height Width Depth Weight Mounting 0.089 m 0.105 m 0.027 m 0.24 kg 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

Unit

Remark

(Without connector and mounting points)

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 70 C -40 to 90 C None

(Customer specification) (Customer specification)

Table 51 Operating environment parameters of the Hella '24 GHz short range RADAR Sensor'

Value Power consumption Voltage Data interfaces Control interfaces CAN

Unit 3.5 W 9 to 15 V CAN

Remark (per sensor, master and slave)

Table 52 Interface parameters of the Hella '24 GHz Short Range RADAR Sensor'

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Value Frequency Waveform Scan mechanism Resolution Horizontal performance Field of view Beam width Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Aquisition delay Update rate Maximum number of targets tracked ? ?

Unit 24 to 24.250 GHz Continuous wave None 1 beam 50 to 70 120 1 None None

Remark

Frequence modulated

(Typically better than 1) Two closed object resolution

13

0.75 to 50 m 2 % 1.80 m 1.80 m

(Up to 120 m, depending on the target) Two closed objects resolution

0 to 70 m / s 0.14 m / s 0.28 m / s 0.28 m / s (Stationary objects are eliminated)

m / s m / s m / s 0.320 s 31.25 Hz 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 Fahrenkrn 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, IBEOs 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 Size Height Width Depth 0.150 m 0.095 m 0.090 m 0.130 m Weight Mounting 1,3 kg (only the sensor head) (for the whole sensor housing) (without mounting and integration tube) Unit Remark

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 infraredtransparent 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 infraredtransparent 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 Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-20 to +70 C -20 to +85 C None

(Limits of the A-sample) (Limits of the A-sample)

Table 55 Operating environment parameters for the IBEO 'ALASCA'

Value Power consumption Voltage Data interfaces For object and application information (for example Automatic Emergency Braking) For raw data and object as well as application information (for example Automatic Emergency Braking) Control interfaces For parameter setting (online and offline) and calibration parameters For parameter setting (online and offline) and calibration parameters CAN CAN

Unit 12 W 12 V

Remark

Ethernet

Ethernet

Table 56 Interface parameters for the IBEO 'ALASCA'

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Value Frequency Waveform Scan mechanism Resolution Horizontal performance Field of view Beam width Accuracy Separation

Unit 905 nm Pulsed Constant rotation 1 cm

Remark

(eyesafe LIDAR) (rotation of 360; non-sweeping)

240 < 0.25 +/-0.0625 ---

(may be limited by the integration under design constraints)

(not existing as a stand alone criterium for object seperation depending on range) (depending on the choosen update rate, respectively the scanning frequency)

Resolution

0.25 1

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 Accuracy Resolution Ranging and detection

< 0.8 +/-0.1 0.8 (double echo capability, that means two distances can be measured per shot and channel) 0.3 80 m +/-5 cm 0.5 1 m 1 cm (in the whole coverage range) (depending on the distance and the viewing angle of the echo)

Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Acquisition delay

-250 +250 km/h +/-1 +/-3.6 km/h <2.5 km/h 0.5 km/h YES 75 300 ms (depending on the choosen update rate, respectively the scanning (depending on the object type)

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frequency) Update rate Maximum number of targets tracked 10 40 Hz 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. RoadEyes 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. RoadEyes 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, RoadEyes 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 RoadEyes 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 RoadEyes 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 Size Height Width Depth Weight Mounting Others

Unit

Remark

0.085 m 0.155 m 0.074 m 0.900 kg

Table 58 Mechanical parameters for the RoadEye '76 GHz RADAR Sensor'

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -55 to 120 C None

Limits Limits

Table 59 Operating environment parameters for the RoadEye '76 GHz RADAR Sensor'

Value Power consumption Voltage Data interfaces Bandwith Control interfaces CAN 12 CAN 0.5

Unit W V

Remark

(for trucks 24 V)

Mb / s

Table 60 Interface parameters for the RoadEye '76 GHz RADAR Sensor'

Finally, lets have a close look to the summary of Roadeys 76 GHz RADAR Sensor key parameters, specifying its overall benefits: Value Frequency Waveform Unit 76 to 77 GHz Continuous wave Remark (linear frequence modulation, waveform adapted to the scenario)

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Linearity Scan mechanism Resolution Horizontal performance Field of view Beam width of the illuminator Beam width of the left, center and right beams Beam width of the left and the right squinted beams Accuracy Separation Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Acquisition delay

< 0.5 % None Several beams

(DDS generated) (see the description of the sensing principle for more details)

18 12 (see the description of sensing principle for more details) (see the description of sensing principle for more details) (see the description of sensing principle for more details)

12 0.5 >4 >4 4 4 ? ? 2 to 150 m <2 % 1.5 to 9 m 0.5 to 3 m

(within 10 ) (target separation mainly based on range and velocity)

(limited by processing) Depending on waveform and range Depending on waveform and range

50 m/s 0.5 m/s 1.5 m/s 0.5 m/s Yes None m / s m / s m / s 100 ms

Range rate Two closed objects resolution (see the description of sensing principle for more details)

(for a strong target)

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Update rate Maximum number of targets tracked

20 Hz 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 Size Height Width Depth Weight Mounting Others
Table 62 Mechanical parameters for the TRW Automotive 'AC 10'

Unit

Remark

? m ? m ? m ? kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C ? C

Limits Limits

Table 63 Operating environment parameters for the TRW Automotive 'AC 10'

Value Power consumption Voltage Data interfaces Control interfaces

Unit ? W ? V

Remark

Table 64 Interface parameters for the TRW Automotive 'AC 10'

Value Frequency Waveform Scan mechanism Scan resolution Horizontal performance

Unit 76 GHz Continuous wave None 1 beam

Remark

Frequency shift technology

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Field of view Beam width Accuracy Separation

6 6 0.3 0 (0.1 in centre line of the beam) Two obstacles at the same angle, but at different ranges and velocities may be discriminated. (floating point numbers resolution)

Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Separation

2.5 2.5

200 m 5 % 0 m Two obstacles at the same range, but at different angles and velocities may be discriminated. (floating point numbers resolution)

Resolution Measuring of relative speed Coverage Accuracy Separation Resolution Handling of stationary objects Measuring of relative acceleration Coverage Accuracy Resolution Acquisition delay Update rate Maximum number of targets tracked 20

50 m/s 0.025 m/s 0.025 m/s 0.025 m/s YES Closed objects discrimination

m / s m / s m / s s s

(dependent on application) (dependent on application) (dependent on application) (dependent on application) (dependent on application) (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 Size Height Width Depth Weight Mounting Others
Table 66 Mechanical parameters for the Valeo 'Multiple Beam RADAR'

Unit

Remark

0.120 m 0.069 m 0.035 m 0.330 kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

? C ? C None

Limits Limits

Table 67 Operating environment parameters for the Valeo 'Multiple Beam RADAR'

Value Power consumption Voltage Data interfaces Control interfaces

Unit ? W ? V

Remark

Table 68 Interface parameters for the Valeo 'Multiple Beam RADAR'

Value Frequency Waveform Scan mechanism

Unit 24 GHz Continuous wave Electronically scanning

Remark

(electronic phase array)

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Resolution Angle of detection Horizontal performance Field of view Beam width Accuracy Resolution Vertical performance Field of view Beam width Accuracy Resolution Ranging and detection Coverage Accuracy Resolution Measuring of relative speed Coverage Accuracy Resolution Handling of stationary objects Acquisition delay Update rate Maximum number of targets tracked

7 beams ?

150 ? ? ?

? ? ? ?

0.5 to 60 m ? ?

Dependent on the detected object Versus type of target

0 to 69.4 m / s ? ? ?

(0 to 250 km / h)

20 to 100 Hz more than 20

(Update time from 10 to 50 ms)

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 Spectral sensitivity Resolution Pixels Number of lines Size of chip Optics Field of view Zoom Focal length Sensitivity Dynamic range intra-scene inter-scene Accuracy Resolution Acquisition delay Update rate s Hz For vision devices, the acquisition delay is the integration time. For vision devices, the update rate is synonymous to the frame rate. m Bandwidth of the vision device Length x Width Unit nm Remark

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. 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. Specifies the size of the chip used. 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. [] [] The acquisition delay parameter specifies, how long the acquisition of one measuring takes. Here, the update rate is given, that means the number of measurings per second is specified in the update rate.

Resolution

Size of chip Optics

Sensitivity Dynamic range Acquisition delay 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 Size Height Width Depth Weight Mounting Others
Table 71 Mechanical parameters for the Bosch 'Camera Module'

Unit

Remark

? m ? m ? m ? kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

? C ? C

Limits Limits

Table 72 Operating environment parameters for the Bosch 'Camera Module'

Value Power consumption Voltage Data interfaces Control interfaces

Unit ? W ? V

Remark

Table 73 Interface parameters for the Bosch 'Camera Module'

Value Spectral sensitivity Resolution Pixels Number of lines Size of chip ? 640 x 400

Unit nm

Remark

Length x Width

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Optics Horizontal field of view Vertical field of view Zoom Focal length Sensitivity Dynamic range intra-scene inter-scene Accuracy Resolution Acquisition delay Update rate ? ? ? ? s Hz For vision devices, the acquisition delay is the integration time. For vision devices, the update rate is synonymous to the frame rate. m Bandwidth of the vision device 22.5 12.5

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 Grickestrae 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 Size Height Width Depth Weight Mounting Others
Table 75 Mechanical parameters for the Continental TEMIC 'LWCS 100'

Unit

Remark

? m ? m ? m ? kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

? C ? C None

Limits Limits

Table 76 Operating environment parameters for the Continental TEMIC 'LWCS 100'

Value Power consumption Voltage Data interfaces Control interfaces ?

Unit ? W ? V ?

Remark

Table 77 Interface parameters for the Continental TEMIC 'LWCS 100'

Value Spectral sensitivity Resolution

Unit ? nm

Remark

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Pixels Number of lines Size of chip Optics Field of view Zoom Focal length Sensitivity Dynamic range intra-scene inter-scene Accuracy Resolution Acquisition delay Update rate

640 x 480

Length x Width

45 x 33 ? ? m Bandwidth of the vision device

? ? dB ? ? ? s 25 Hz For vision devices, the acquisition delay is the integration time. 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 TEMICs vision device LWCS 100 supports lane departure warning as well as lane keeping support and meets the following specification: Value Size Height Width Depth Weight Mounting Others
Table 79 Mechanical parameters for the Continental TEMIC 'BSCD 100'

Unit

Remark

? m ? m ? m ? kg

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Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

? C ? C None

Limits Limits

Table 80 Operating environment parameters for the Continental TEMIC 'BSCD 100'

Value Power consumption Voltage Data interfaces Control interfaces ?

Unit ? W ? V ?

Remark

Table 81 Interface parameters for the Continental TEMIC 'BSCD 100'

Value Spectral sensitivity Resolution Pixels Number of lines Size of chip Optics Field of view Zoom Focal length Sensitivity Dynamic range intra-scene inter-scene Accuracy Resolution Acquisition delay ? 640 x 480

Unit ? nm

Remark

Length x Width

72 x 54 ? ? m Bandwidth of the vision device

? dB ? ? ? 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 CMOStechnology. Value Size Height Width Depth Weight Mounting Others
Table 83 Mechanical parameters for the DENSO 'Vision Sensor'

Unit

Remark

0.063 m 0.084 m 0.029 m 0.150 kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-20 to 50 C -40 to 85 C None

Limits Limits

Table 84 Operating environment parameters for the DENSO 'Vision Sensor'

Value Power consumption Voltage Data interfaces Control interfaces CAN CAN

Unit W V

Remark

Table 85 Interface parameters for the DENSO 'Vision Sensor'

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Value Spectral sensitivity Resolution Pixels Number of lines Size of chip Optics Field of view Zoom Focal length Sensitivity Dynamic range intra-scene inter-scene Accuracy Resolution Acquisition delay Update rate ? 352 x 288

Unit 400 to 800 nm

Remark (visible spectrum)

(CIF)

Length x Width

22 m

(horizontal field of view)

Bandwidth of the vision device

90 dB ? ? ? s 10 Hz For vision devices, the acquisition delay is the integration time. 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 Bhlau Grundlagen- und Prozessentwicklung (GE-ADS) E-mail: [email protected] Hella KGaA Hck & Co. Beckumer Strae 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 Size Height Width Depth Weight Mounting Others
Table 87 Mechanical parameters for the Hella 'Camera Module'

Unit

Remark

0.040 m 0.035 m 0.033 m 0.040 kg (Camera module only, 0.115 kg including carrier and cable)

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 to 85 C -40 to 105 C

Limits Limits

Table 88 Operating environment parameters for the Hella 'Camera Module'

Value Power consumption Voltage Data interfaces Control interfaces CAN

Unit 1.8 W 10 to 16 V LVDS

Remark (Typically) (Typically)

Table 89 Interface parameters for the Hella 'Camera Module'

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Value Spectral sensitivity Resolution Pixels Number of lines Size of chip Optics Horizontal field of view Vertical field of view Zoom Focal length Sensitivity Dynamic range intra-scene inter-scene Accuracy Resolution Acquisition delay Update rate (1/3 chip) 820 x 480

Unit 450 to 950 nm

Remark

(at 12 bit color depth)

Length x Width

45 20 None 0.055 to 0.060 m 3 Lux (1 Lux for gray level images) Bandwidth of the vision device (down to 14 due to cut off by the carrier)

110 dB ? ? ? ? s 25 to 30 Hz For vision devices, the acquisition delay is the integration time. 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 Strae 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 Size Height Width Depth Weight Mounting Others
Table 91 Mechanical parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'

Unit

Remark

27 mm 36 mm 23 mm 100 g Optics not considered

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40 +105 C 125 C

Limits Limits

Table 92 Operating environment parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'

Value Power consumption Voltage Data interfaces Control interfaces LVDS

Unit 0.500 W 7 V LVDS

Remark

Table 93 Interface parameters for the Siemens VDO 'CMOS High Dynamic Range Camera'

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Value Spectral sensitivity Resolution Pixels Number of lines Size of chip Optics Field of view Zoom Focal length Sensitivity Dynamic range intra-scene inter-scene Accuracy Resolution Illuminator Wave length 750 x 400

Unit 400 1000 nm

Remark

(high fill-factor)

Length x Width

25 130 None 0.001 to 0.016 m

120 dB 180 dB < 1 LSB 10 Bit

nm

Acquisition delay Update rate

0.005 50 mS 50 Hz

For vision devices, the acquisition delay is the integration time. 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 Size Unit Remark Automotive camera module packaging depends on customer requirements Height Width Depth Weight Mounting Others
Table 95 Mechanical parameters for the SMaL IM 103

m m m kg

Value Thermal operating environment Operating temperature Temperature for storage Mechanical

Unit

Remark

-40C to +85C C +125C C

Limits Limits

Table 96 Operating environment parameters for the SMaL IM103

Value Power consumption Voltage Data interfaces

Unit 0.015 W 3.3 V IEEE 1394, LVDS, 12 bit NTSC

Remark Very low power consumption

Control interfaces

I2C

Table 97 Interface parameters for the SMaL IM103

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Value Spectral sensitivity

Unit 400 to 1100 nm

Remark (Spectral curve is sensitive over visible and near infra-red wavelengths)

Resolution Pixels 640x480 850x480 Number of lines Size of chip Optics Field of view Zoom Focal length Sensitivity 1 nW/cm (550nm) 3 nW/cm (950nm) Dynamic range intra-scene 120 dB (Autobrite programmable range) (Autobrite programmable range) adaptive and wide dynamic adaptive and wide dynamic m 15 to over 90 (Depends on the application) (Depends on the application) (Depends on the application) Bandwidth of the vision device 480 (Size can be extended for particular applications, from QVGA, SVGA to XVGA) (Size can be extended) Length x Width

inter-scene

120 dB

Accuracy Resolution Acquisition delay Update rate 0.033 to 1 s 1 to 60 Hz For vision devices, the acquisition delay is the integration time. 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] [prosotas: 04] [prosotasdf: 04] PReVENT - Technical Annex. T. Strobel, A. Servel; ProFusion Compendium on Sensors. T. Strobel, A. Servel, C. Coue, T. Tatschke; ProFusion Compendium on Sensors.

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