Pedestrian acoustic warning system for electric vehicle - PBNv2 - H20202 Marie Curie ETN First Public Technical Course; 28th - 29th November 2018 ...
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Pedestrian acoustic warning system for electric vehicle
PBNv2 – H20202 Marie Curie ETN
First Public Technical Course; 28th – 29th November 2018
INSA - Lyon
PUBLIC INTERNAL CONFIDENTIAL SECRET
Quiet vehicle audible alert systems: current situation The recent rapid growth of very quiet Electric Vehicles and Hybrids has prompted new concerns about pedestrian safety. The solution proposed by vehicle manufacturers and legislators is to add synthetic vehicle sounds to EV’s (EC/EV 540/2014) The objective is simple to make quiet EV’s detectable by pedestrians through the use audible cues. But is this solution really that simple to implement, to everyone’s satisfaction?
Quiet vehicle audible alert systems: restrictions • Some fundamentals generally accepted: • Pedestrians and Vulnerable Road Users need to be aware of the presence of any vehicle which could pose a collision risk, in time to take avoidance action. • The impact on environmental noise pollution should be minimised • The synthetic alert sounds added to cars should not result in customer rejection of EV’s and HEV’s
eVADER - Consortium Members
eVADER was a 3 year project, which kicked-off in October 2011 and was finished in
December 2014 (Electric Vehicle Alert for Detection and Emergency Response)
The consortium members were:
Consortium Member Organisations Country Leaders of Work Packages Category
IDIADA Automotive Technology IDIADA Spain * WP7, * WP8, WP9 & WP10
LMS International NV LMS Belgium * WP11
R&D
ÖSTERREICHISCHES FORSCHUNGS- UND Centre
AIT Austria -
PRÜFZENTRUM ARSENAL
TOEGEPAST NATUURWETENSCHAPPELIJK ONDERZOEK TNO Netherlands WP3
Institut National des Sciences Appliquées INSA-Lyon France * WP2
Universities
Technische Universitaet Darmstadt TUD Germany * WP5
NISSAN Motor Manufacturing (UK) Nissan United Kingdom * WP6
Renault Renault France * WP1 OEM’s
PSA PSA France -
Continental Continental France * WP4 Tier-1’s
European Blind Union EBU France - End Users
eVADER technical direction - Concept eVADER proposed an ‘smart’ audible alert system, to find an optimum balance between pedestrian safety in the vicinity of EV’s and minimising environmental noise pollution, but also securing customer acceptance.
eVADER technical direction - Concept
The pedestrian alert sound was emitted by a Beamforming Loudspeaker Array
(directed towards the detected VRU – Vulnerable Road User)
The sound beam could optionally be rotated from one side of the vehicle to the other
side within ~0.5s if required.
Default condition Alert sound directed
broad beam at toward pedestrian at
lower sound level increased sound lev
el, dependant on
risk estimation
eVADER technical direction - Pedestrian
eVADER incorporates an Environmental Perception System (EPS) based on existing
ADAS [Advanced Driver Assistance Systems] able to detect any Vunerable Road
User (VRU)
The EPS will be coupled with a Location Based System (LBS) which will give GPS
position, time of day and a database of hotspots, critical areas and speed limits, to
support risk estimations when no VRU is detected.
Tracing pedestrians paths for Pedestrian detection by EPS came
better risk estimations ra system
eVADER – System Overview eVADER pedestrian risk estimation concept is divided into two main topics. • Risk based on location / time (LBS) • Risk based on pedestrian detection (EPS), risk estimator output = collision probability and time to collision.
Pedestrian detection & LBS system hardware
Stereo Vehicle
Eberspacher
Camera to CONTI
Flexcon
MFC310 CAN
Midget
Gateway
Front
Radar CONTI CAN
ARS351
CONTINENTAL
LBS
(Squarell GPS)
Can Bus Router & Vsound DSP Unit
Risk Estimator & Interaction Manager F2016-ETNVH-1
Stereo camera - Installation
Special windscreen used with masking profile to match Pedestrian Detection Camera
Windscreen masking
profile
T1018_full.avi T1033_full.avi T1032_full.avi T1034_full.aviMicrophone array design
Objective
eVADER system monitors street
ambient sound levels to allow for
compensation in the alert sound level
to help audibility.
Selected microphone
Knowles Sisonic microphone (MEMS):
Mic 1 Mic 2
Low cost
Robust, tolerant of environmental
conditions and vibration.
Mic 3 Mic 4eVADER psychoacoustics
eVADER explored the balance between good detectability of EV sounds, minimum
environmental noise annoyance and customer acceptance.
Three main aspects of vehicle sound were studied by eVADER
1: Detectability and the influence of three timbre parameters:
- Frequency content
- Frequency modulation
- Temporal modulation
2: Ability to judge vehicle speed / distance from a vehicle sounds only
3: Annoyance of warning soundseVADER psychoacoustics – 1. Detectability Experiment 1 11 stimuli (Diesel car, EV, EV+Alert sound). 8 repetitions for each stimuli (left-right or vice-versa). Background noise (69 dBA). Headphone presentation (Stax Lambda Pro). Task : Detect the car as soon as possible, identify the direction of the car (left/right). 112 participants (36 visually impaired, 86 sighted).
eVADER psychoacoustics – 1. Detectability
"Waiting-to-cross" scenario passing car (20 km/h)
- 30 m 30 m
Recording of a diesel and an electric vehicle
Synthesis of the 9 alert sounds
Binaural simulation of a moving sound source
Mixing with EV recordingeVADER psychoacoustics – 1. Detectability
88 trials for each participant : averaged response time was computed
14
12
Number of participants
10
8
6
4
2
0
10
12
14
16
18
20
22
24
26
28
30
0
2
4
6
8
Distance at detection
Key Finding:
No difference between Visually-Impaired and Sighted subjects.eVADER psychoacoustics – 1. Detectability Distance for detection Key Finding: Some alert sounds were as easy to detect as the diesel car F2016-ETNVH-1
eVADER psychoacoustics – 1. Detectability
78
76
74
Maximum of
dB(A)
72
A-weighted level 70
68
66
64
111 122 133 212 223 231 313 321 332 Electric Diesel
stimulus
distance to the pedestrian (m)
0
Low detectability
5
10
15
Detectability
20
25
30
111 122 133 212 223 231 313 321 332 EV Diesel
stimulus
Key finding: No relationship to sound leveleVADER psychoacoustics – 1. Detectability
Influence of timbre parameters:
Level Level Level 6
Factor Description
L1 L2 L3 4
2 F1
effe ct (m )
No. of
F2
F1 frequency 3 6 9 0
components F3
-2
Frequency Saw
F2 None Sine
tooth -4
mod.
-6
Temporal
F3 None Sine Chaotic 0 1 2 3 4
mod.
level
Key Finding:
Timbre parameters which aid detection
• small frequency range
• Temporal modulation
F2016-ETNVH-1eVADER psychoacoustics – 2. Speed / distance
Procedure for experiment 2
Same "waiting-to-cross" scenario - 30 m 30 m
Task:
Indicate when you think it is no longer safe to cross the road while this car is
approaching.
20 Stimuli :
Key Finding:
9 alert sounds - Visually Impaired participants were on a
2 speeds (20 km/h, 30 km/h). verage 0.5 sec quicker to respond to
Diesel car included. approaching car sounds
Background noise (64 dBA).
4 repetitions.
116 participants (39 Visually Impaired, 77 Sighted).eVADER psychoacoustics – 2. Speed / distance
Factors effect: Pitch, Modulation freq. & Vehicle speed
400
300
200
e ffe c t (m s )
100
0
-100
pitch
-200 mod. freq.
-300 speed
-400
low mid high
Key Findings:
- Speed effect as expected: People feel unsafe sooner for cars at
30 km/h compared to 20 km/h.
- No effect of modulation frequency.
- Surprising effect of pitch: higher pitch tended towards later
judgement of unsafe to cross.eVADER psychoacoustics – 3. Annoyance All sounds were as used in previous experiments Procedure: Sounds corresponded to a car passing in front of the listener at 20 km/h – with no background noise. Each sound presented twice, participants could listen to each sound as often as they wanted before moving on. Task: Listen to the sound then move the slider to indicate how unpleasant the sound was (scale: not at all unpleasant - to - extremely unpleasant) Key Findings: - The EV was judged the least unpleasant sound. - Four of the synthetic sounds judged as equally unpleasant as the diesel – all others were judged more unpleasant
eVADER psychoacoustics – 3. Annoyance
Factors effect:
Frequency modulation, Number of harmonics & Temporal modulation
More
Annoyance
Less
Annoyance
Key Findings:
- Temporal fluctuation increases unpleasantness
- Increasing number of harmonics tends to lower unpleasantnesseVADER psychoacoustics – 3. Annoyance Distance-to-detection chart, highlighting the synthetic sounds with lowest annoyance. Sound 313 – a good compromise between detectability and annoyance which is also 6dBA quieter than the diesel.
eVADER Beamforming loudspeaker array
A range of potential beamforming algorithms have been evaluated. The ‘sound power
minimization’ algorithm was chosen for eVADER as it provides narrow beams and
allows flexible real-time implementation.
System requirements:
- Minimise number of acoustic sources (6)
- Frequency range 300Hz to 1.2kHz
- SPL up to 90dBA at 1 metre
- Directivity only required in horizontal plane
- Beam steering nominally ±60 degrees
- Angular tracking speed ~300 deg/sec
- Non uniform loudspeaker arrayeVADER Beamforming loudspeaker array
Evaluation of beamforming system performance using FEM & BEM modelling techniques.
Influence of ambient temperature, humidity, ground reflections and beam scattering from
parked vehicles have been considered.
Simulation model for
Loudspeaker array
50mm
Speakers
Example: Beamforming Directivity performance
as a function of frequency for a 30 degree
Simulation result, 30 degree orientated alert orientated alert signal at distance of 20m from
signal spatial distribution at 600Hz the bumper loudspeaker array.eVADER Beamforming loudspeaker array
Bumper & loudspeaker test
system prepared by Technic
al University of Darmstadt –
using CAD data supplied by
NissaneVADER System integration into vehicle The eVADER pedestrian alert system was implemented into a Nissan LEAF vehicle for evaluation and testing. Systems for integration: • External microphones • EPS system, camera & radar • LBS system, GPS • Risk Estimator computer • Beamforming loudspeaker array • Beamforming controller and internal alert sound generator • Communications on dedicated eVADER CAN bus
eVADER System integration into vehicle
PCAN Pro
Router EVADER CAN BUS HS 500K
Stereo Vehicle Environmental Exterior sound
Eberspacher noise level database
Camera to CONTI
Flexcon
MFC310 CAN
Midget TNO 1-6
Gateway Exterior
Front speaker
CAN bus
Radar CONTI CAN BKSV beam-forming Line
data
ARS351 Sound algorithm library Out
Processing
CONTINENTAL
Interior
7-8
LBS
Speaker
(Squarell GPS) LMS Stereo Interior sound Nissan
Amps
speaker TFs database DSP V Sound
Speaker Array
Mic 1 AUX in Mic 2
LBS Environmental Ped.
algorithms noise level filtering
LEAF V Sound Risk
RP feedback estimation
V-CAN1
Driver Interaction
Mic behavior manager
Pre-Amps
Mic 3 Mic 4 TNO CraneboardAssessment : Warning sound detectability
Movement of jury memberAssessment : Detectability
Point Measurement SPL Loudness Loudness
of pedestrian point (dB(A)) (Phone) (Sone)
detection
1 1 62.0 70.1 8.1
2 2 48.5 59,3 3.8
3 3 58.5 67,0 6.5
4 4 46.9 57,6 3.4
5 5 57.2 65,9 6.0
6 6 45.3 57,1 3.3
6 4 33.2 44,4 1.4Assessment : Beam forming & detectability
Assessment: Polar plots of beam former
Assessment : In a real urban environment
Vehicle turning (Near – Pos 1)
Vehicle turning (Away) – Pos. 1)
Vehicle turning (Near) – Pos 2
Vehicle turning (Near) – Pos 2Assessment : In a real urban environment
Walking to backing vehicle (Near) Walking to backing vehicle (Away)
Waiting to cross (Near) Waiting to cross (Away)Assessment : Pass by test configuration
10 dB(A)
difference between risk
and non-risk areaAssessment : In a real urban environment
Questions about eVADER’s performance Global % VIP % Non-VIP %
Yes No Yes No Yes No
1)Do you feel that eVADER sound exceeds that of a typical
conventional internal combustion vehicle in similar 0 100 0 100 0 100
operating conditions?
2)Do you associate the eVADER sound with a vehicle? 54 46 60 40 50 50
3) Does eVADER inform you of the vehicle location in the
86 14 73 27 95 5
street?
4) Does eVADER’s sound inform pedestrians of the vehicle
75 25 67 33 82 18
motion (approaching, stationary, etc.)
5) What do you think about eVADER’s sound
characteristics? ( 5 = Very good / 1 = Poor ) 3.7 3.3 4.0
6) Do you find eVADER’s sound is acceptable for its
84 16 67 33 95 5
purpose?
7) Do you find eVADER’s sound detectable in ‘at risk’ traffic
70 30 40 60 91 9
situations with pedestrians?Conclusions The main objective of the eVADER project was to develop a next generation alert system solution which will resolve as much as possible the conflicting requirements of minimizing the impact of EV sounds on traffic noise pollution levels, whilst providing effective audible cues to alert pedestrians and other vulnerable road users of the presence of a nominally silent EV /HEV. The contribution of eVADER technology to the potential reduction of accidents caused by HEV /EV involving pedestrians has been assessed using basic considerations regarding the relative percentage of EV and the level of implementation of eVADER technology to these EV. The results show that the contribution of eVADER technology to the reduction of accidents involving HEV/EV and vulnerable road users is potentially high, with negligible impact on urban noise pollution.
eVADER - Acknowledgements This work has been part funded by the European Commission under the 7th Framework Programme as a collaborative project FP/-SST-2011-RTD-1 with Grant Agreement Number 285095. Thanks are due to all the consortium members for their contributions in order to materialise the ideas presented in this work on a real vehicle demonstrator: INSA-Lyon, TNO, LMS, AIT, Continental, Nissan NTCE, Renault, PSA, TUD, The European Blind Union, plus the support of B&K.
For further information:
Thank you! Email: jjgarcia@idiada.com
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