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eSafety  EU Commission PReVENT Subprojects:
Print edition Print edition

13th World Congress & Exhibition on Intelligent Transport Systems and Services


ExCel London, United Kingdom

8 - 12 October 2006
www.itsworldcongress.org

 

As a leading country in ITS deployment, the United Kingdom looked forward to hosting the ITS World Congress and Exhibition 2006.
The wide range of programme topics enabled participants to benefit from the worldwide experts and professionals present in London. The programme included showcases and demonstration projects, as well as 'technical visits' and tours to projects of interest to the ITS community.

The ITS world congress was one of the last opportunity for dissemination of the Phase 1 subprojects and their results. The objective was to show most of the results in terms of innovative demonstrations and new concepts.

 

The dissemination efforts were divided in three parts:

 

Special Sessions

 

The PReVENT consortium organised four special sessions on different complementary aspect of this large initiative:

  • Safe cars of the future : First Test results of PReVENT applications (Only PReVENT)
  • Towards a Common Architecture and integration of ADAS (with ISP contributions)
  • R&D Activities on sensor data fusion for safety applications (Fusion Forum)
  • MAPS&ADAS and the ADASIS Forum pave the way toward the implementation of the ADAS Horizon (ADASIS Forum)

SS4 (EC) Main PReVENT session: Safe cars of the future: First test results from IP PReVENT

 

Date: Monday 9 October, 09.00-10.30

Room: Northside Room 13

Coordinator of the session: Dr. Maxime Flament (ERTICO), [email protected] Tel: +32-2-4000735

 

Session Description

The Integrated Project PReVENT is a European automotive industry activity, co-funded by the European Commission to contribute to road safety by developing and demonstrating preventive and active safety applications and technologies.  Preventive and active safety makes use of sensor data, communication, map and positioning technologies in order to provide solutions to help the drivers to maintain a safe speed and keep a safe distance, drive within the lane and overtake, safely pass intersections, and mitigate the severity of a collision for the passengers and any vulnerable road users.

 

The objective of the special session was to provide an overview of the different demonstrators developed in PReVENT. The first results of the testing of the applications implemented will be presented with a focus on different test scenarios and the lessons learned from the tests.

 

Invited moderator: Fabrizio Minarini, EC DG INFSO, Belgium

 

Proposed contributions:

  • Maxime Flament on behalf of Matthias Schulze, DaimlerChrysler: Contribution of PReVENT to the safe cars of the future
    Download
  • Lali Ghosh, DELPHI: Perceptions through sensor fusion platform: the concept and lessons learned
  • Uwe Kaiser Dieckhoff, BOSCH: All-around-safety a priority road-map for next integrations in vehicles - first preliminary results from APALACI and LATERALSAFE subprojects
    Download
  • Giancarlo Alessandretti, CRF: Vulnerable Road users and Collision Mitigation: Lessons learned
    Download
  • Magnus Rilbe, Manager Intelligent Vehicle Technologies, VOLVO Technology: Priorities, integration and preliminary results of PReVENT applications in commercial vehicles
    Download
  • Jean-Marc Blosseville, INRETS: PReVENT live testing: How to evaluate PReVENT applications?
    Download


 

SS18 on PREVENT architecture and integration: Towards a Common Architecture for integrated safety functions

Date: Monday 9 October, 16.00-17.30

Room: Northside Room 12

Coordinators of the session:

Dr. Angelos Amditis, Senior Researcher, Head of I-SENSE Group, Institute of Communications and Computer Systems - ICCS, Greece

[email protected] Tel: +30 (210) 7722398

Dr. Maxime Flament, Project and Development Manager, ERTICO-ITS Europe

[email protected] tel:+32-2-4000735

 

Session Description

The PReVENT vision is to integrate a number of safety functions in order to create a safety belt around the vehicle. In order to do so, a common understanding of the architecture behind the integrated approach is needed. In the framework of the integrated projects PReVENT, GST, AIDE and the EASIS project, the European vehicle industry is setting the basic notions for the implementation of integrated safety systems.

 

This special session presented the work being done to harmonise the approach for in-vehicle safety architecture. This will be illustrated with three implementations of preventive safety systems in the PReVENT test vehicles. The presentations linked to other work being done in GST, AIDE and EASIS. The discussion was extended to integration in the vehicle architecture and how to interact with the driver.

 

The results presented during this session are direct inputs to the work being done in the INSAFES subproject. INSAFES’ objective is to demonstrate the integration of several PReVENT safety functions with a strong focus on the chain of information via the perception, decision and action layers. The subproject is also considering architecture and HMI issues in its implementation.

 

Moderator: Matthias Schulze, IP PReVENT coordinator, Senior Manager, DaimlerChrysler AG, Germany

 

Proposed contributions:

  • Vera Lauer, Manager Advanced E/E Concepts & Technologies, DaimlerChrysler, Germany: Towards a common European in-vehicle safety architecture
    Download
  • Henrik Lind, Project Coordinator Active Safety, Volvo Car Corporation, Sweden: Integration of multiple functions in a single preventive safety application platform
    Download
  • Andrea Saroldi, Head of surround sensing Group, Fiat Research Centre – CRF, Italy: Using multiple information sources for longitudinal driving support
    Download
  • Timo Kosch, Project Manager, BMW research and Technology GmbH, Germany: Detecting and informing about local dangers - how to combine the PREVENT WILLWARN system with the GST telematics platform
    Download
  • Trent Victor, Product Area Manager Driver Environment, Volvo Technology AB, Sweden: The role of an integrated and adaptive HMI in an integrated preventive safety environment: The AIDE and INSAFES case
    Download

SS39 Fusion Forum: R&D activities on sensor data fusion for preventive safety applications

Date: Tuesday 10 October 2006, 14.00 – 15.30

Room: Northside Room 15

 

Coordinator of the session:

Dr. Aris Polychronopoulos, Researcher, Institute of Communications and Computer Systems - ICCS, Greece

[email protected]

Tel: +30 (2107) 772-3865

Dr. Su-Birm Park, ProFusion2 Leader, Delphi Electronics and Safety, Germany

 

Session Description

Recent advances have led to an ‘agreement’ on the utilization of common sets of sensors for distinct safety applications and to sensor data fusion for the improvement of performance and robustness of the functions. This ‘agreement’ is adopted by ProFusion Sub-project, which develops a conceptual framework and algorithms to support the preventive safety functions of PReVENT project. The purpose of the session on one hand is to gather worldwide experts on sensor data fusion, both in the panel and in the audience, and investigate the path to promote the deployment of sensor data fusion in safety applications.

 

On the other hand, we will explain the R&D activities of ProFusion by presenting the proposed sensor data fusion framework and different architectures/benchmarks for testing and the various algorithmic approaches and activities.

 

Invited moderator:

Dr. Aris Polychronopoulos, Researcher, Institute of Communications and Computer Systems - ICCS, Greece

 

Proposed contributions:

  • Mrs. Irmgard Heiber, Scientific Officer, European Commission - DG INFSO (invited)
    Download
  • Dr. Su-Birm Park, ProFusion2 Leader, Delphi Electronics and Safety, Germany: Is there a possibility of a common data fusion interoperable framework?
    Download
  • Dr. Aris Polychronopoulos, Researcher, Institute of Communications and Computer Systems - ICCS, Greece: ProFusion2 research approaches
    Download
  • Dr.-Ing. Ulrich Kreßel, Research and Technology, REI/AI, DaimlerChrysler, Germany: OEM’s requirements for Sensor Data Fusion and ProFusion2 use cases
  • Dr.-Ing. Malte Ahrholdt, Human System Integration, Volvo Technology Corporation, Sweden: Swedish initiatives on sensor data fusion – IVSS/SEFS
    Download

 

SS8 MAPS&ADAS/ADASIS Forum: MAPS&ADAS and the ADASIS Forum pave the way toward the implementation of the ADAS Horizon concept

Date: Monday 9 October, 11.00-12.30

Room: Northside Room 12

 

Coordinator of the session: Vincent Blervaque (ERTICO), [email protected], Tel: +32 2 400 07 24

 

Session Description

Digital maps have large potential for road safety to enhance or enable preventive and active safety applications by extending driver horizon. As a predictive sensor called ADAS Horizon, the in-vehicle digital map is an important source of information providing look-ahead capability for ADAS applications and providing further information for on-board sensors to enhance environment perception.

 

This session reported on final results from the EC project MAPS&ADAS, part of PReVENT Integrated Project, including the test and validation of a standardised interface between ADAS applications and in-vehicle map database, implementation with ADAS applications and also the collection, certification and maintenance of safety content for ADAS digital maps.

 

Finally, the session opened the discussion on issues to enable short-term implementation and market introduction of the ADAS Horizon concept by means of the standardised interface and the role of the ADASIS Forum to support the automotive industry.

 

Invited moderator: Jan Loewenau, ADASIS Forum chairman, Research Manager, BMW Group Research and Technology, Germany

 

Proposed contributions:

  • Mr. Vincent Blervaque, Project and Development Manager, ERTICO-ITS Europe: The ADAS Horizon concept - Overview of MAPS&ADAS and ADASIS Forum activities
    Download
  • Mr. Stephen T’Siobbel, Project Manager Strategic Research, Tele Atlas, Belgium: How to ensure the provision of ADAS maps
    Download
  • Mr. Leo Beuk, Siemens VDO, : From test and validation results to implementation perspectives
  • Mr. Christian Ress, Research Engineer Telematics & Navigation, Ford Forschungszentrum Aachen GmbH, Germany: Prototype implementation of the ADAS Horizon by FORD within PReVENT IP
    Download
  • Mr. Michel Mittaz, Research Engineer, Bosch, Switzerland: Implementation of a map-based ADAS application, the Driver Warning System
    Download

 

Technical papers

Thirteen technical papers will be presented to the ITS World Congress. They are all listed below with a link to their abstract.

 

RESPONSE3: TS038 - Intelligent vehicles driver information II

Monday 9 October 16:00 - 17:30

 

Paper 1734 : The institutional context for Advanced Driver Assistance Systems: A code of practice for development, Adrian Burrows, Paul Kompfner, Sally Cotter, TRL, United Kingdom

 

The RESPONSE 3 project has developed an improved and agreed methodology that is presented in a Code of Practice for designing, developing and validating advanced driver support and active safety systems. This describes consensus in industry and public authorities for the requirements associated with two specific issues which represent obstacles to market introduction of Advanced Driver Assistance Systems (ADAS): the legal concept of ‘reasonable safety’ and the manufacturer’s ‘duty of care’. In addition to presenting the Code of Practice, the paper will draw on the outcome of consultation within the automotive sector and with public authorities, and consider the role of the Code of Practice within the framework of legal, institutional and standardisation issues associated with the market introduction of ADAS, and the role of authorities in supporting the introduction of ADAS as a way of contributing to casualty reduction targets.

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MAPS&ADAS: TS 54: Maps IV

Tuesday 10 October 2006 /  09:30 - 10:30

 

Paper 1343 : Enhanced digital maps for ADAS in Europe - Data Sourcing, S. T'Siobbel (TELE ATLAS)

 

This paper reports upon one of the main objectives of the MAPS&ADAS project, a sub-project of the Integrated Project (IP) Preventive Safety (PReVENT) funded by the European Commission, which aimied to develop, test and validate appropriate methods for gathering and maintaining ADAS content to be integrated into digital maps for in-vehicle safety application. Starting from the ADAS application requirements, a shortlist of the eight most relevant ADAS attributes to be included into digital maps was established and discussed with representatives from various public authorities in Europe via a Consultation Platform as it is clear that much of these attributes are ?managed? by authorities (*). Subsequently, the leading map makers in the project conducted a pan-European survey to establish an inventory of the availability the ADAS attributes and level of organisation of various (levels of) public authorities in Europe

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MAPS&ADASTS 67: Intelligent vehicle-map

Tuesday 10 October 2006 / 14:00 - 15:30

 

Paper 1340 : A map based Driver Warning System, K. Heinig (University of Hannover), W. Vogt (BLAUPUNKT), M. Mittaz (BOSCH) and C. Hecht (TRANSVER)

 

The horizontal PReVENT subproject MAPS&ADAS develops a map based Driver Warning System, consisting of an ADAS map, the Speed Limit Warning and the Hot Spot Warning Application. This application warns the driver in case he is approaching a certain location in the street network in a manner which has a potentially high risk of an accident in the next seconds. The hot spots are generated offline beforehand using police reports of accident and put into the ADAS map. During the drive the data is communicated form the ADAS map to the Warning Application via the ADAS-Interface. The Hot Spot Warning application compares the attributes of the hot spots with the variables of the current ride, like location, speed, time of day, weather, moisture and lighting conditions and calculates in a 1 Hz frequency the risk. If certain values are reached, a warning to the driver is issued. This application will be technically validated and the safety effects will be assessed, using the recently developed and…

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Paper 1534 : Electronic Horizon - supporting ADAS applications with predictive map data, C. Ress (FORD)

 

Since navigation systems are increasingly entering the vehicle the available map data may not only be used for routing purposes but also to support other in-vehicle sub-systems. The area of potential applications reaches from headlight control up to preventive safety and accident mitigating applications. Ford Research Centre Aachen has developed an information providing system that supports the vehicle with enhanced map data for the road ahead, the so-called "Electronic Horizon". The interface between the Electronic Horizon provider and the supported applications is based on the standard defined by the European ADASIS Forum. This paper gives an overview about the prototype system as well as the basics of the ADASIS standard.

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MAPS&ADASTS 68: Intelligent vehicle - HMI II

Tuesday 10 October 2006 /  14:00 - 15:30

 

Paper 1683 : MAPS&ADAS Validating the ADAS Interface using Active Cruise Control, J. Loewenau (BMW), L. Beuk (SIEMENS VDO) and S. Durekovic (NAVTEQ)

 

The MAPS&ADAS subproject within the EC PReVENT Integrated Project seeks to develop, test and validate appropriate methods in gathering, certifying and maintaining ADAS attributes to enable the provision of ADAS maps as well as a standardized interface from navigation systems or general positioning and map systems towards ADAS that make use of map data (e.g., for track preview purposes). This paper will show the results of the implementation and validation of the MAPS&ADAS interface for a precision navigation in ACC. Some improvements and additions to the protocol are described. The paper explains further how driver assistance systems, using ACC as an example, can take advantage of navigation data. The operational concept of the assistance function has to be designed according to the particular properties of this additional data source. Even with the quality of navigation data available today, BMW’s ACC system can be enhanced by dynamics, which adapt to the situation, providing even …

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MAPS&ADASInteractive Session 5: IT, standards and non-technical aspects

Wednesday 11 October 2006 /  14:00 - 18:00

 

Paper 1515 : MAPS&ADAS - real-time map information with a standardised interface for Advanced in-vehicle applications, J. Angenvoort (NAVIGON), K. Mezger (DC) and J. Loewenau (BMW)

 

This paper will show the final specification and test-results of the standardized MAPS&ADAS interface (ADASIS) for a precision navigation in ADAS applications. It describes the implementations of the interface as well as the benefits of the usage of such a standard. The paper will especially focus on the test scenarios, and interface transmission demonstrations. In addition, considerations regarding the realization of map based advanced in-vehicle applications are given.

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SASPENCETS 117 : Intelligent vehicle- speed control II

Wednesday 11 October 2006 /  16:00 - 17:30

 

Paper 1496 :  Development of HMI components for a driver assistance for safe speed and safe distance, Emeli Adell, András Várhelyi

 

A pre-screening procedure with a number of candidate Human-Machine-Interaction solutions (visual, auditory and haptic) for the concept of Safe Speed and Safe Distance was carried out. Two groups of 30 test persons participated in the two-phase test procedure. Eleven candidate visual displays for speed information ten alternatives for distance warning and twelve auditory warning sounds were screened by a standard procedure. Two alternatives of haptic feed-back via the accelerator pedal were tested in a mock-up driving seat. As a final task, the participants were asked to build their own “warning package” using alternatives of the different warning modes (visual/auditory/haptic). The activity resulted in three “warning packages” consisting of the combination of these various modes.

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LATERAL SAFETS 128 : Intelligent Vehicle - LDW

Thursday 12 October 2006 /  09:00 - 10:30

 

Paper 1228 : Sensor data fusion for lateral safe applications, Angelos Amditis, Nikolaos Floudas, Aris Polychronopoulos (ICCS), Dirk Bank  DaimlerChrysler), Bas van den Broek (TNO), Fred Oechsle(Robert Bosch GmbH)

 

This paper describes the algorithms that are being developed for the perception layer of the PReVENT subproject LATERAL SAFE. These algorithms aim at achieving a reliable representation of the objects and their kinematics, present at the lateral and rear field of the ego-vehicle. The work presented in this paper is within the fields of radar tracking, sensor network processing, image and stereo vision processing, and integration and fusion of sensor-level processed data. The perception layer of LATERAL SAFE is a distributed sensor-level fusion system that processes in a central level the tracks of four tracking systems: a rear looking long range radar, two lateral short range radar networks and a system of lateral and rear looking cameras.

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COMPOSEIS04 : ADAS - Driver assistance systems

Wednesday 11 October 2006 / 09:00 - 12:30

 

Paper 1329 : Reducing Accident Severity by Collision Mitigation Systems for Trucks, Esben Juul sörensen, Malte Ahrholdt, Anders Agnvall & Magnus Rilbe.

 

A collision mitigation (CM) application is being developed for a Volvo safety research truck and will be implemented with a complete interface to relevant truck control systems. The application is based on a high-performance sensor system using sensor data fusion. The sensor system monitors the surrounding environment to assess the collision risk. The CM application will warn the driver of an impending collision and reduce collision severity by automatically braking the truck if an accident is considered to be unavoidable. The driver warning will be implemented using an adaptive warning strategy, utilizing data from a driver state monitoring system. The in-vehicle integration and evaluation of the developed application will be carried out during 2006.

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ProFusion 2TS 103 : ADAS - e-Safety Europe

Wednesday 11 October 2006 / 14:00 - 15:30

 

Paper 1711 : ProFusion2 – Sensor Data Fusion for Multiple Active Safety Applications, S.-B. Park, T. Tatschke, A. Polychronopoulos, U. Scheunert, O. Aycard

 

The Preventive and Active Safety Applications project (PReVENT), contributes to the safety goals of the European Commission (EC). PReVENT addresses the function fields of Safe Speed and Safe Following, Lateral Support, Intersection Safety and Protection of Vulnerable Road Users and Collision Mitigation in order to cover the field of active safety. The majority of these functions are characterized by using perception strategies based on multi sensor platforms and multi-sensor data fusion. ProFusion as cross-functional activity has the responsibility to streamline the multi sensor data fusion in the functional field activities. This paper presents several aspects of the research work conducted in ProFusion2.

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SAFELANETS 128 : Intelligent Vehicle - LDW

Thrusday 12 October 2006 / 09:00 - 10:30

 

Paper 2180 : Development of a Lane Keeping Support system for heavy-trucks, Mauro Montiglio, Stefania Martini, Vincenzo Murdocco

 

Abstract: The FIAT Research Center has developed a haptical Lane Keeping Support system for heavy trucks, aimed to prevent unwanted lane departures. Unlike conventional systems which issue only acoustic warnings, this system intervenes by providing a tactile feedback to the driver, when the vehicle is unintentionally drifting out of the lane. The intervention, in the form of an active torque on the steering wheel, suggests the driver with the corrective steering action to undertake in order to bring back the vehicle towards the center of the lane. In this paper, both the underlying ideas for such a Lane Keeping Support system and road-test measurements will be presented and discussed.

The work has been carried out in the context of research project SAFELANE, within the EU project PReVENT.

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INSAFESInteractive Session 3 : PT -  Public transport transit

Tuesday 10 October 2006 /  14:00 - 17:30

 

Paper 1499 : Functional integration: Possibilities and Challenges - INSAFES project, A. Sjögren (Volvo Technology AB, Göteborg, Sweden), A. Amditis, A. Polychronopoulos (Institute of Communications and Computer Systems, Athens, Greece)

 

Abstract – Traditionally, vehicle safety has been divided into passive and active safety systems, where the passive safety systems of a vehicle reduce the effects of an accident once it has happened, and active safety systems help preventing accidents. Examples of traditionally passive safety systems are shock absorbing vehicle structures and safety belts, and of active safety systems, head lights, that help preventing accidents in darkness by improving the driver vision, or the ABS system that helps the driver to perform a more optimal braking manoeuvre.

Many modern safety systems can be sorted under the heading e-safety, meaning that they use sensors and electronics. In recent years systems that do not only react to in-vehicle signals (such as airbags being triggered by an accelerometer signal) but also react to the surrounding traffic, have been introduced. With knowledge about the surrounding traffic the strict boarder between active and passive safety systems is becoming less obvious. Passive safety measures can be calibrated or even activated before the actual accident. Similarly automatic emergency braking can be activated in order to mitigate the effect of a collision. Is this still a passive safety measure? The purpose is still to reduce the effects of an accident, but one can argue that it would have been possible to avoid the accident completely by initiating the braking earlier and then it would have been an active safety system. An integrated approach where active and passive safety systems work together and perhaps also cooperate with more comfort oriented systems has a potential to increase the systems’ efficiency.

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INTERSAFETS 69 : Intelligent vehicle - intersections II

Tuesday 10 October 2006 /  14:00 - 17:30

 

Paper 2104 : Intersection safety – Results from the PReVENT INTERSAFE project, Kay Fuerstenberg, IBEO

 

Accidents at intersections happen when drivers perform inappropriate manoeuvres. Advanced sensor systems will enable the development of Advanced Driver Assistance Systems (ADAS) which can estimate the potential for a collision at a junction. Based on this the driver can be assisted to avoid the accident. This objective can be achieved by sensors for detection of vehicles and all other objects present at the intersection as well as sensors for localisation of the host vehicle when approaching the intersection and being on the intersection. Within INTERSAFE the accurate localisation of the host vehicle is achieved by Laserscanners and video using individual feature-level maps of the intersection. Furthermore the Laserscanner system will be used to track and classify other road users and obstacles, providing additional data for the path prediction and risk assessment part of the application.

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PReVENT Exhibition

PReVENT will be present in the exhibition at the following places:

  • Main EC booth
  • EC car corner
  • 2 extra vehicle exhibits

PReVENT on EC Booth

The PReVENT consortium will exhibit the Volvo FH12 commercial vehicle on the EC booth. The truck is shared with AIDE, EASIS and GST, and will display different results across the different projects.

 

PC Demonstrations

  • ADAS Interface: NAVTEQ and NAVIGON have already confirmed their interest to present and demonstrate the ADAS Interface
  • Profusion simulation: A Profusion PC demonstration will show the advantage of different sensor data fusion algorithms
  • EASIS (SAFELANE use case) demo: EASIS demonstration platform will include SAFELANE as a reference application
  • GST PC demo: telematic application service provision
  • AIDE PC demo:  DVE modules visualised demos, Speech Interface, Nomadic devices gateway, HMI electronic evaluation tools.

PReVENT vehicles on EC car corner

Five experimantal cars were displayed on the EC car corner:

  • SEAT city car AIDE project
  • PReVENT - APALACI LATERAL SAFE CRF Fiat STILO
  • GST Renault (Megane break?)
  • DG TREN (demo WS/VIATIS) 1 Citroen C8 (length 4.72 , breadth 1.85, height: 1.75)
  • DG RTD (demo REACT) 1 Citroen C3 (length 3.85 width 1.70)

The CRF LATERAL SAFE / APALACI demo car showed the following functions

  • Lateral and rear monitory system
  • Lane change assistant
  • Lateral Collision warning
  • Collision mitigation
  • Pre-cash functionalities
  • Pre-Fire applications

PReVENT vehicles in exhibit

IP PReVENT exhibited on two extra spaces in the exhibition.

 

INSAFES VOLVO S80: The new Volvo S80 shown was equipped with novel HMI concepts for most of the applications developed within INSAFES. In the demonstration a projector and a screen in front of the vehicle was utilized to inform the driver about applicable scenarios. The activation of the HMI components in the car was synchronized with the scenarios displayed on the screen. Different HMI concepts for the following functions were demonstrated:

  • Lane departure warning
  • Collision warning
  • Rear end monitoring
  • Blind spot indication with lane change assist
  • Curve overspeed warning
  • All around monitoring

INTERSAFE VW Phaeton

The vehicle was exhibited at the main entrance for the Excel Conference Center. A poster showed the main INTERSAFE applications

  • Traffic Ligth Assistance
  • Left turn, turning/crossing assistance
  • Recognition of dangerous traffic scenarios in a intersection

 


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HORIZONTAL ACTIVITIES
RESPONSE 3
MAPS&ADAS
ProFusion1
ProFusion2
INSAFES
PReVAL
IP Exhibition
SAFE SPEED AND SAFE FOLLOWING
SASPENCE
WILLWARN
LATERAL SUPPORT
SAFELANE
LATERAL SAFE
INTERSECTION SAFETY
INTERSAFE
VULNERABLE ROAD USERS & COLLISION MITIGATION
APALACI
COMPOSE
UseRCams
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