SAE J 3116-2017 Active Safety Pedestrian Test Mannequin Recommendation.pdf

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4、0 (outside USA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE values your input. To provide feedback on this Technical Report, please visit http:/standards.sae.org/J3116_201706 SURFACE VEHICLE RECOMMENDED PRACTICE J3116 JUN2017 Issued 2017-06 Active Safety Pe

5、destrian Test Mannequin Recommendation RATIONALE Improving pedestrian safety is one of the major goals for active safety systems. As more active safety systems, especially the automatic emergency braking systems, are introduced to the market, a standard surrogate pedestrian target is needed for auto

6、motive industries to test and evaluate the PCS systems. SAE International created an Active Safety Pedestrian Test Mannequin Task Force under the Active Safety Systems Standards Committee to study this topic and to recommend a mannequin standard. All members of the task force are from industry, gove

7、rnment, and academia and many members had experience in using and/or developing pedestrian mannequins and testing them. The task force gathered information of all mannequins known to the committee members and analyzed the state of the art features of these mannequins. The goal of the Pedestrian Test

8、 Mannequin Task Force is to develop standard specifications/requirements for pedestrian test mannequins (1 adult and 1 child) that are representative of real pedestrians to the sensors used in Forward Looking Pedestrian Detection systems and can be used for performance assessment of such in-vehicle

9、systems (including warning and/or braking) in real world test scenarios/conditions. This document is the result of committee study and recommendation. INTRODUCTION Improving pedestrian safety is one of the major goals for active safety systems. As more active safety systems, especially the automatic

10、 emergency braking systems, are introduced to the market, a standard surrogate pedestrian target is needed for automotive industries to test and evaluate the PCS (Pre-crash systems). SAE International created an Active Safety Pedestrian Test Mannequin Task Force under the Active Safety Systems Stand

11、ards Committee to study this topic and to recommend a mannequin standard for frontal pedestrian detection systems. All members of the task force are from industry, government, and academia and many members had experience in using and/or developing pedestrian mannequins and testing them. The task for

12、ce gathered information of all mannequins known to the committee members and analyzed the state of the art features of these mannequins 1, 2. This document is the result of committee study and recommendation. The task force reviewed a similar standard created by ISO 3 as a group including feedback f

13、rom members who are familiar with ISO activity. The task force understood that this ISO test mannequin standard was created based on European data and mannequin specification is for side view and front view. The SAE workgroup is for developing a target based on US specific data and US population. Th

14、is SAE mannequin specification is also for 360 views. SAE INTERNATIONAL J3116 JUN2017 Page 2 of 46 TABLE OF CONTENTS 1. SCOPE 4 2. REFERENCES 4 3. TERMS AND DEFINITIONS . 6 4. SYMBOLS AND ABBREVIATIONS 6 5. PEDESTRIAN TARGET SPECIFICATIONS 7 5.1 Viewing Angles 7 5.2 Pedestrian Size . 8 5.3 Postures

15、10 5.4 Articulation 10 5.5 Gaiting . 12 5.5.1 Gait Step and Cadence . 13 5.5.2 Extrema Joint Angles 14 5.5.3 Gait Planning . 14 5.6 Visual Characteristics of Head and Hands . 15 5.7 Clothing . 15 5.7.1 Clothing Material . 16 5.7.2 Clothing Color . 16 5.8 Infrared Reflection . 16 5.8.1 IR Reflectance

16、 of Pedestrian Mannequin Skin . 16 5.8.2 IR Reflectance of Clothing Fabric . 17 5.9 Pedestrian Radar Cross Section . 17 5.9.1 Background . 17 5.9.2 Pedestrian RCS Features at 76 to 78 GHz . 18 5.9.3 RCS Requirements of Pedestrian Mannequin in 76 to 78 GHz 21 5.10 Safety Considerations . 22 5.11 Vert

17、ical Support . 23 5.12 Durability and Maintainability 23 5.13 Environmental Conditions . 23 6. NOTES 23 6.1 Revision Indicator 23 APPENDIX A RCS OF PEDESTRIAN IN 77 to 78 GHz 24 APPENDIX B RCS CALIBRATION 43 APPENDIX C INFORMATIVE EXAMPLE OF GAITING 46 Figure 1 Vehicle detects the pedestrian body fr

18、om different angles when the pedestrian is crossing the road and along the road 7 Figure 2 Measured RCS data of a human subject (173 cm tall and weight 54.4 kg) at walking posture from 360 angles . 8 Figure 3 Mannequin body parts model 9 Figure 4 Effect of articulation to RCS of a human subject (173

19、 cm tall and weight 54.4 kg) at standing and walking posture from 360 angles . 10 Figure 5 Simulated 77 GHz scattering from different body parts 11 Figure 6 Eight stage human gait description . 12 Figure 7 Four stage human gait description used for mannequin articulation 13 Figure 8 Step size (m) an

20、d step frequency (steps/second) on vertical axes with respect to walking speed (m/s) on horizontal axis 13 Figure 9 Adult running step length (m) and step frequency (steps/second) versus running speed (m/s) 13 SAE INTERNATIONAL J3116 JUN2017 Page 3 of 46 Figure 10 Pivot points and fitted curve of on

21、e mannequin walking gait cycle . 14 Figure 11 Stick frames of mannequin legs in one cycle 15 Figure 12 The representation of upper/lower adult and upper/lower children clothing color from left to right 16 Figure 13 The numerical model simulated 77 GHz RCS patterns and distributions around 360 of azi

22、muth angles 19 Table 1 Mannequin characteristics versus PCS sensors 7 Table 2 Detailed fit-adult body dimensions 9 Table 3 The summary of gait parameters calculation for adult mannequin . 14 Table 4 Comparison of clothing color ranges according the brightness variations . 16 SAE INTERNATIONAL J3116

23、JUN2017 Page 4 of 46 1. SCOPE The goal of the Pedestrian Test Mannequin Task Force is to develop standard specifications/requirements for pedestrian test mannequins (1 adult and 1 child) that are representative of real pedestrians to the sensors used in Pedestrian Detection systems and can be used f

24、or performance assessment of such in-vehicle systems (including warning and/or braking) in real world test scenarios/conditions. This version of the document only includes the pedestrian mannequin for vision, Lidar, and/or 76 to 78 GHz radar based Pedestrian Pre-collision systems. 2. REFERENCES 1 Qi

25、ang Yi, Stanley Chien, Jason Brink, David Good, Chi-Chih Chen, Yaobin Chen, Lingxi Li, and Rini Sherony, “Mannequin Development for Pedestrian Pre-Collision System Evaluation,” 2014 Intelligent Transportation Systems Conference, Oct. 2014, Qingdao China. 2 http:/www.4activesystems.at/en. 3 ISO/DIS 1

26、9206-2, Road vehicles test devices for target vehicles, volnerable road users and other objects, for assessment of active safety functions Part 2: Requirements for pedestrian targets. 4 M. Yanagisawa, E. Swanson, and W.G. Najm, “Target Crashes and Safety Benefits Estimation Methodology for Pedestria

27、n Crash Avoidance/Mitigation Systems,” Washington, DC: National Highway Traffic Safety Administration, 2014. 5 MakeHuman Open source tool to make human characters, http:/www.makehuman.org/index.php. 6 CDC, http:/www.cdc.gov/nchs/data/nhsr/nhsr010.pdf. 7 Anthropometric Reference Data for Children and

28、 Adults: United States, 2011-2014. http:/www.cdc.gov/nchs/data/series/sr_03/sr03_039.pdf. 8 Open Design Lab at PSU, http:/openlab.psu.edu/tools/explorer.php. 9 2012 Anthropometric Survey of US Army Personnel: Methods and Summary Statics, http:/www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA611869. 10 Anthropom

29、etric Reference Data for Children and Adults: United States, 1988-1994, http:/www.cdc.gov/nchs/data/series/sr_11/sr11_249.pdf. 11 N036 ISO WD 19206-2, Active Safety Targets Pedestrian Targets, Rev. 2015-11-20. 12 Sherony, R., Tian, R., Chien, S., Fu, L., Chen, Y., and Takahashi, H., “Pedestrian/Bicy

30、clist Limb Motion Analysis from 110-Car TASI Video Data for Autonomous Emergency Braking Testing Surrogate Development,” Presentation at SAE International 2016 World Congress, Apr. 2016. 13 Sherony, R., Tian, R., Chien, S., Fu, L., Chen, Y., and Takahashi, H., “Pedestrian/Bicyclist Limb Motion Analy

31、sis from 110-Car TASI Video Data for Automatic Emergency Braking Testing Surrogate Development,” Presentation at SAE International 2016 World Congress, Apr. 2016. 14 Tommy Oberg, Alek Karsznia, and Kurt Oberg, “Joint Angle Parameters in Gait: Reference Data for Normal Subjects, 10-79 Years of Age,”

32、Journal of Rehabilitation Research and Development 31, no. 1 (Aug. 1994): 199-213. 15 Richard W. Bohannon, “Comfortable and Maximum Walking Speed Of Adults Aged 20-79 Years: Reference Values and Determinants,” Age and Ageing, 1997:26: pp. 15-19. 16 Stanley Chien, Libo Dong, Qiang Yi, Yaobin Chen, Ri

33、ni Sherony, and Hiroyuki Takahashi, “Joint Motion Pattern of Limb Moving Mannequins for Active Safety Vehicle Tests,” 2013 ESV Conference, Paper Number: 13-0219, Nagoya, Japan, Jun. 2013. SAE INTERNATIONAL J3116 JUN2017 Page 5 of 46 17 Tom F. Novacheck, “The Biomechanics of Running,” Gait and Postur

34、e 7 (1998): 77-95. http:/ 18 Libo Dong, Stanley Chien, Kai Yang, Yaobin Chen, David Good, and Rini Sherony, “Determination of Pedestrian Mannequin Clothing Color for the Evaluation of Image Recognition Performance of Pedestrian Pre-Collision Systems,” 2015 ESV Conference, Gothenburg Sweden, Jun. 201

35、5. 19 John A. Jacquez, John Huss, Wayne McKeehan, James M. Dimitroff, and Hans F. Kuppenheim, “Spectral Reflectance of Human Skin in the Region 0.72.6 ,” Journal of Applied Physiology 8, no. 3 (Nov. 1, 1955): 297-299, http:/jap.physiology.org/content/8/3/297.full-text.pdf+html. 20 Catherine C. Cooks

36、ey, Benjamin K. Tsai, and David W. Allen, “A Collection and Statistical Analysis of Skin Reflectance Signatures for Inherent Variability over the 250 nm to 2500 nm Spectral Range,” Proc. of SPIE Vol. 9082, 908206 2014, http:/www.nist.gov/customcf/get_pdf.cfm?pub_id=916057. 21 Terence Haran, and Stan

37、ley Chien, “Infrared Reflectivity of Pedestrian Mannequin for Autonomous Emergency Braking Testing,” 2016 IEEE ITSC Conference, Nov. 2016, Rio, Brazil. 22 Falconer, D.G., “Extrapolation of Near-field RCS Measurements to the Far Zone,“ IEEE Transactions on Antennas and Propagation 36, no.6 (Jun. 1988

38、): 822, 829. doi:10.1109/8.1184. 23 European Commission DG RTD Seventh Framework Pogramme Theme 7 TransportSST SST.2011.Rtd-1 GA No. 285106. 24 M. Chen, C.-C. Chen, S. Y.-P. Chien, and R. Sherony, “Artificial Skin for 76-77 GHz Radar Mannequins,” IEEE Trans. on Antennas and Propagation 62, no. 11 (N

39、ov. 2014): 5671-5679. 25 Euro NCAP AEB VRU Test Protocol v1.0.1, http:/ 26 D. Belgiovane, C.-C. Chen, M. Chen, S.Y.P. Chien, and R. Sherony, “77 GHz Radar Scattering Properties of Pedestrians”, IEEE Radar Conference, 735-738, May 2014. 27 M. Chen, C.-C. Chen, S. Y.-P. Chien, and R. Sherony, “Artific

40、ial Skin for 76-77 GHz Radar Mannequins,” IEEE Transactions on Antennas and Propagation 62, no. 11 (Nov. 2014): 5671-5679. 28 Falconer, D.G., “Extrapolation of Near-field RCS Measurements to the Far Zone,“ IEEE Transactions on Antennas and Propagation 36, no. 6 (Jun. 1988): 822, 829. doi: 10.1109/8.

41、1184. 29 B. R. Mahafza, Radar systems analysis and design using MATLAB. Chapman and Hall/CRC, 2000. 30 M. Chen, M. Kuloglu, and C.-C. Chen, “Numerical Study of Pedestrian RCS at 76-77 GHz,“ IEEE Antennas and Propagation Society International Symposium, July 2013. 31 “Human Skin Dielectric Property”

42、http:/r.it/tissprop/. 32 M. Chen, C.-C. Chen, S. Y.-P. Chien, R. Sherony, “Artificial Skin for 76-77 GHz Radar Mannequins,” IEEE Transactions on Antennas and Propagation 62, no. 11 (Nov. 2014): 5671-5679. US Patent 9,263,800. 33 B. R. Mahafza, Radar systems analysis and design using MATLAB. Chapman

43、and Hall/CRC, 2000. 34 Falconer, D.G., “Extrapolation of Near-field RCS Measurements to the Far Zone,“ IEEE Transactions on Antennas and Propagation 36, no. 6 (Jun. 1988): 822,829. doi: 10.1109/8.1184. SAE INTERNATIONAL J3116 JUN2017 Page 6 of 46 3. TERMS AND DEFINITIONS ACTIVE SAFETY SYSTEM: Active

44、 safety systems are vehicle safety systems that sense and monitor conditions inside and outside the vehicle, identify perceived present and potential dangers to the vehicle, occupants, and other roadway users, and then automatically react to help avoid or mitigate crashes via various methods includi

45、ng alerts, vehicle system adjustments, and active control of the vehicle motion subsystems (brakes, throttle, suspension, etc.).AEB: Automatic emergency braking (AEB) systems detect an impending forward crash with another vehicle in time to avoid or mitigate the crash. These systems first alert the

46、driver to take corrective action to avoid the crash. If the drivers response is not sufficient to avoid the crash, the AEB system may automatically apply the brakes to assist in preventing or reducing the severity of a crash (https:/www.safercar.gov/Vehicle-Shoppers/Safety-Technology/AEB/aeb). ANECH

47、OIC: Free from echo (like an anechoic chamber). ARTICULATION: Arm and leg rotation on a mannequin similar to a real walking human. CADENCE: The rate at which a person walks, expressed in steps per minute. CUBIC Spline Fitting: Gait planning method based on the function 32)( xdxcxbaxf iiiii . GAIT: T

48、he pattern of movement of the limbs during walking. INFRARED: Have a wavelength just greater than that of the red end of the visible light spectrum but less than that of microwaves. Infrared radiation has a wavelength from about 800 nm to 1 mm, and is emitted particularly by heated objects. Passive infrared systems can detect any heat emitted by warm objects. Active systems use an infrared light source built into the car to illuminate the road ahead with light that is invisibl