Specification for Forward Collision Warning (FCW)

Model Name: UMD-RN01

Version: V12

2020/9/21

Jimmy JW Chang
Contents
1 Scope......................................................................................................................................................4
2 Terms and definitions ............................................................................................................................4
3 Reference ...............................................................................................................................................4
4 General description ................................................................................................................................5
4.1 System introduction .......................................................................................................................5
4.2 System diagram .............................................................................................................................5
4.3 Hardware Block Diagram ..............................................................................................................6
4.3.1 Sensor ............................................................................................................................................6
4.3.2 ECU ...............................................................................................................................................6
4.4 Software Implementation...............................................................................................................7
4.5 Software Block Diagram ...............................................................................................................7
4.6 Antenna specification ....................................................................................................................7
5 System Function Description .................................................................................................................9
5.1 Function definition.........................................................................................................................9
5.1.1 FCW function ................................................................................................................................9
5.1.2 Warning parameter of FCW system .............................................................................................10
5.2 IO Connecter definition ...............................................................................................................13
5.3 CAN communication ...................................................................................................................15
5.3.1 Basic function of CAN ................................................................................................................15
5.3.1.1 Sensor to ECU .............................................................................................................................15
5.3.1.2 ECU to sensor ..............................................................................................................................17
6 Technical specification ........................................................................................................................18
6.1 Basic parameters: .........................................................................................................................18
6.2 Performance parameters: .............................................................................................................18
6.2.1 Narrow Beam antenna .................................................................................................................18
6.2.2 Wild Beam antenna ......................................................................................................................19
6.3 Detection target ............................................................................................................................19
6.4 The false alert rate and detection rate ..........................................................................................19
7 Mechanical requirements .....................................................................................................................20
7.1 Sensor ..........................................................................................................................................20
7.1.1 Weight ..........................................................................................................................................20
7.1.2 Size ..............................................................................................................................................20
7.2 ECU .............................................................................................................................................20
7.2.1 Weight ..........................................................................................................................................20
7.2.2 Size ..............................................................................................................................................20
7.3 Installation ...................................................................................................................................21
7.3.1 Coordinates of system..................................................................................................................21
7.3.2 The location of radar ....................................................................................................................21
8 System Function Design ......................................................................................................................22
8.1 FCW warning...............................................................................................................................22
8.2 Self-diagnostics............................................................................................................................22
9 Design Verification ..............................................................................................................................23
9.1 Environmental Test (Option) .......................................................................................................23
9.2 Performance test ..........................................................................................................................24
1 Scope
This document describes the system development of Forward Collision Warning (FCW)
Radar sensor. This document includes technical specification, system function design
requirements, mechanical design/ installation, software interface/communication and test
verification.

2 Terms and definitions

FCW Forward Collision Warning

TTC Time-to-Collision
PET Post Encroachment Time

3 Reference
 ISO 15623
 SAE J2400
4 General description
4.1 System introduction
Forward Collision Warning (FCW) Radar sensor is to remind the driver when the subject
vehicles encounter the situation when a forward vehicle in the subject vehicle’s trajectory
becomes a potential hazard.
FCW system is done by using information about: (1) the range to forward vehicles, (2)
the time to a potential collision and (3) the grade of warnings provided to the driver. Based
upon the information acquired, the controller identified as “FVCWS warning strategy” in Figure
1 produces the warning to the driver.

Figure 1 FVCWS warning strategy

4.2 System diagram

The system includes a sensor and additional ECU (Optional).
For sensor portion, there are 2 CAN interface: One is for private CAN which provide the
warning information, Time-to-Collision (TTC), Post Encroachment Time (PET), tracking object
output and vehicle data from ECU. The other one is vehicle CAN interface, but this one is
only reserved once need.
For ECU portion, we built in the buzzer to provide audio alarm, LED output to provide the
light warning and yaw rate to provide yaw rate information. The IO interfaces include one
physical speed input and one LED.

FCW system without ECU

FCW RADAR

IGN
sensor

GND
Vehicle information Warning level output
Private CAN input: TTC, PET output
Yaw rate, speed... Tracking object output
...

FCW system with ECU

FCW RADAR

IGN IGN
ECU
sensor

GND GND
Buzzer LED
Private CAN &yaw rate SPD

Figure 2 The IO interfaces of FCW system

4.3 Hardware Block Diagram
4.3.1 Sensor
It is composed of RF (NXP TEF8102) tuner and DSP (NXP S32R274). It includes one
Vehicle CAN (Optional) and one Private CAN IO interface.

Figure 3 The hardware block diagram of FCW system

4.3.2 ECU

Reserve

(Reserve)

Figure 4 The hardware block diagram of ECU

4.4 Software Implementation
 MPLAB IDE V8.86
 NXP S32 Design Studio for Power Architecture, v1.2
The software design process is mainly for detection, tracking and warning. It also
provides self-diagnosis.

4.5 Software Block Diagram

The FCW sensor &ECU software structure is shown in Figure 5. The communication
between ECU & sensor is through CAN, which is Private CAN. MCU which is in ECU will get
the speed from physical line and transfer to sensor; it will also calculate built in yaw rate and
transfer to sensor. MCU will get the warning message and provide the relate HMI.3

Figure 5 The software block diagram of ECU

4.6 Antenna specification

There are 2 TX antenna for this application one is for LRR and the other one is MRR
(MRR2), please refer to follow:
The specification is as follow:

Limits
Parameter Test Condition Unit
Min Typ Max

Operation Frequency 76,000 77,000 MHz

Center Frequency 76,500 MHz

Transmitting Antenna

LRR 22.0 dBi

Antenna Peak Gain MRR2 15.6 dBi

Receiving Antenna

RX (average) 15.1 dBi

Elevation
9 Degrees
BW3dB
Azimuth
11.8 Degrees
BW3dB
LRR
Elevation
16.1 Degrees
BW10dB
Azimuth
19.5 Degrees
BW10dB
Elevation
9.1 Degrees
BW3dB
Azimuth
69.0 Degrees
BW3dB
MRR2
Elevation
16.4 Degrees
BW10dB
Azimuth
110.4 Degrees
BW10dB
5 System Function Description
5.1 Function definition
5.1.1 FCW function
FCW system is used to provide warnings that will assist drivers in avoiding or reducing
the severity or rear end crashes. The warning zone definition is below.
 There is one ignore zone in front of the car which is 0.6m
 The warning distance is up to 160m and the width is +-1m
 System will calculate potential collision timing once the object is in warning zone.
 There are 3 warning level in the system
 The static object detection distance is limited within 60m (default)

0.6m
160m
+/-1 m

Center of the car

FCW Warning zone

Figure 6 The warning zone of FCW

 5.1.2 Warning parameter of FCW system

Yw Yw

Alert
X Region

Xi

Car

Unit: meter(m)

Figure 7 Warning zone definition

The alarm parameters are listed as follow.

Parameter Description Default value

X Forward length of Alert region 160m
Xi Alert Ignore Zone 0.6m
Xs Tracking distance of static object 60m
Yw_min Minimum Width of alert region 0.8m
Yw_max Maximum Width of alert region 1.0m
Vs_warning_Yw The velocity gate of subject car for Yw_min &Yw_max 22.22m/s
ALERT_HOLD Warning hold time 0.5sec
T_level 3 Reaction time of driver for level 3 0.4sec
T_level 2 Reaction time of driver for level 2 0.66sec
T_level 1 Reaction time of driver for level 1 1.5sec
A_level 3 Deceleration of vehicle for level 3 7 m/s2
A_level 2 Deceleration of vehicle for level 2 5.3 m/s2
A_level 1 Deceleration of vehicle for level 1 3.6 m/s2
 The width of warning Yw:
 If the subject car speed ≧ “Vs_Warning_Yw” then Yw=Yw_min
 If the subject car speed ＜ “Vs_Warning_Yw” then Yw=Yw_max
 Warning level, the default setting is set based on reaction time of driver (T) and
deceleration of vehicle (A):
T is 0.4 sec
Alert level 3
A is 7 m/s2
T is 0.66 sec
Alert level 2
A is 5.3 m/s2
T is 1.5 sec
Alert level 1
A is 3.6 m/s2

The formula is different for different scenario depends on target is stationary or dynamic.
 For moving target, the alarm distance is defined on (1).


D  T  Vrel
A
 V  Vrel 2

2A
(1)

while
Vrel  Vs  Vt (2)
 For stationary target, the alarm distance is defined on (3).
2
D  V T V (3)
2A
Follows are two examples for stationary and dynamic target

Preceding vehicle is a stationary obstacle

300
T is 0.40 sec and a is 7.00 m/s 2
Distance (m)

200 T is 0.66 sec and a is 5.30 m/s 2

T is 1.50 sec and a is 3.60 m/s 2

100

0
0 20 40 60 80 100 120 140
Vehicle Speed (kph)

1.5 LEVEL 1
Time (sec)

1
LEVEL 2
0.5
LEVEL 3
0
0 20 40 60 80 100 120 140
Vehicle Speed (kph)

Figure 8 Example of alarm distance for stationary target

 Preceding vehicle is decelerating with relative speed and Vs is 120 kph
200
T is 0.40 sec and a is 7.00 m/s 2
150
Distance (m) T is 0.66 sec and a is 5.30 m/s 2
T is 1.50 sec and a is 3.60 m/s 2
100

50

0
0 10 20 30 40 50 60 70 80 90 100
Relative Speed (kph)

1.5
Time (sec)

LEVEL 1
1
LEVEL 2
0.5
LEVEL 3
0
0 10 20 30 40 50 60 70 80 90 100
Relative Speed (kph)

Figure 9 Example of alarm distance for dynamic target

5.2 IO Connecter definition
There are one 6 PIN connecter & one 24 pin connecter in the system, Follow is usage
and pin define of connecter.
 6 PINs connector (Sensor):
SUMITOMO 6189-1083
Pin definition of connecter:

Pin No Signal Name I/O/P Usage Note

1 V_IN P Power input ---

2 GND P Ground ---
3 S_PRIVATE_CAN_H I/O
Private CAN Twist
4 S_PRIVATE_CAN_L I/O
5 VEHICLE_CAN_H I/O
Vehicle CAN Twist
6 VEHICLE_CAN_L I/O

654321

Figure 10 Sensor connecter IO define

Figure 11 Connecter IO Pin 1

Figure 12 Connecter IO Pin 3&4

 Figure 13 Connecter IO Pin5&6 (reserve)

 24 PINs connector (ECU):

Tyco HTH24FW
Pin definition of connecter:

Figure 14 ECU connecter pin define

Pin Definition Pin Definition

1 POWER_IN 13 POWER_IN
2 NA 14 GND
3 GND 15 GND
4 SPD 16 SW
5 VEHICLE_CAN_H (Reserve) 17 Reverse Signal
6 VEHICLE_CAN_L (Reserve) 18 Head Light
7 GND 19 Buzzer_EXT (reserve)
8 SENSOR_CAN_H 20 TURN_R
9 SENSOR_CAN_L 21 TURN_L
10 LED_GND 22 LED_GND
11 LED_GND 23 LED_R
12 LED_F 24 LED_L
 5.3 CAN communication
The CAN interface is the major interface for this system. Its baud rate is 500 kbps and
fulfills CAN 2.0b specifications.
5.3.1 Basic function of CAN
5.3.1.1 Sensor to ECU
 Warning messages
The “TTC &PET data are listed in CAN ID “0x6F0” which is listed on below table.

Signal Name Byte Bit Init offset Resolution Interval Type Comment Note
Time to collision [0.01s]
To relevant object in case of
Time to collision
0,1 0..15 0 0 0.01 0..655.36 u16 warning level 0 to 4
(TTC)
To oncoming traffic in case of
warning level 5
post encroachment time -> time to
receive the position of the relevant
Post
object (calculation of the time
encroachment
4,5 32..47 0 0 0.01 0..655.36 u16 between relevant object and ego-car
time
by using the distance and the ego
(PET)
speed)
[0.01s]

0 -> none relevant object present

Relevant object 7 56..63 0 0 1 0..1 U8
1 -> relevant object is present

The warning message are listed in CAN ID “0x6F1” which is listed on below table.

Signal Name Byte Bit Init offset Resolution Interval Type Comment Note
Level 1 for Alarm distance of level 1 for
0 0..7 0 0 0.5 0..127.5 U8
Stationary Stationary target
Level 2 for Alarm distance of level 2 for
1 8..15 0 0 0.5 0,…,127.5 U8
Stationary Stationary target
Level 3 for Alarm distance of level 3 for
2 16..23 0 0 0.5 0,…,127.5 U8
Stationary Stationary target
Level 1 for Alarm distance of level 1 for
4 32..39 0 0 0.5 0,…,127.5 U8
Moving Moving target
Level 2 for Alarm distance of level 2 for
5 40..47 0 0 0.5 0,…,127.5 U8
Moving Moving target
Level 3 for Alarm distance of level 3 for
6 48..55 0 0 0.5 0,…,127.5 U8
Moving Moving target

 Diagnostics:
ECU check if receiving CAN ID 0x6F0.
There is one sensor diagnosis result in byte 2 of 0x503. Follow show the detail
Signal Name Byte Bit Init offset Resolution Interval Type Comment

Sensor 0x00 no error ;

2 16..23 0 0 1 U8
diagnosis 0x01 sensor error ;
0x00 no error
0x01 MCLK integrity check has an error
Additional
0x02 TX integrity check has an error
diagnostic 7 56…63 0 0 1 U8
0x04 Chirp integrity check has an error
output
0x08 ISM FIT check has an error
PS: Add in firmware 0.2.10
  Software version
CAN ID: 0x705
Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
Trial Version 0 0..7 0 U8
Minor Version 1 8..15 0 U8
Major Version 2 16..23 0 U8
Spared 3~7 24..63 0 U40

 Object data
CAN ID: 0x501 FCW Dynamic Object Control
Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
Number_Of_Objects 0 0..7 0 0 1 U8 0~255
Cycle_Time 1 8..15 0 0 1 U8 0~255 msec
Cycle_Count 4~7 32..63 0 0 1 U32 4294967295~0

CAN ID: 0x581 FCW Stationary Object Control

Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
Number_Of_Objects 0 0..7 0 0 1 U8 0~255
Cycle_Time 1 8..15 0 0 1 U8 0~255 msec
Cycle_Count 4~7 32..63 0 0 1 U32 4294967295~0

CAN ID: 0x510~0x52F Dynamic Object

Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
x_Point1 0~1 0..12 0 -60.8 0.032 U13 -60.8~201.312m
y_Point1
1~3 13..24 0 -131.072 0.064 U12 --131.072~131.008m
Speed_x
3~4 25..35 0 -102.4 0.1 U11 -102.4~102.3 m/s
Speed_y
4~5 36..46 0 -102.4 0.1 U11 -102.4~102.3 m/s
Object_reserve 5~7 47..63 0 0 1 U17 ---

CAN ID: 0x530~0x54F Dynamic Object

Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
Amplitude
0~1 0..8 0 0 0.32 U9 0~163.52dB

CAN ID: 0x590~0x5AF Static Object

Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
x_Point1 0~1 0..12 0 -60.8 0.032 U13 -60.8~201.312m
y_Point1
1~3 13..24 0 -131.072 0.064 U12 --131.072~131.008m
Speed_x
3~4 25..35 0 -102.4 0.1 U11 -102.4~102.3 m/s
Speed_y
4~5 36..46 0 -102.4 0.1 U11 -102.4~102.3 m/s
Object_reserve 5~7 47..63 0 0 1 U17 ---
 CAN ID: 0x5B0~0x5CF Static Object
Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
Amplitude
0~1 0..8 0 0 0.32 U9 0~163.52dB

CAN ID: 0x550 ~ 0x56F Fix ID output for Static &Dynamic Object (Reserve)
Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
x_Point1 0~1 0..12 0 -60.8 0.032 U13 -60.8~201.312m
y_Point1
1~3 13..24 0 -131.072 0.064 U12 --131.072~131.008m
Speed_x
3~4 25..35 0 -102.4 0.1 U11 -102.4~102.3 m/s
Speed_y
4~5 36..46 0 -102.4 0.1 U11 -102.4~102.3 m/s
Object_reserve 5~7 47..63 0 0 1 U17 ---

5.3.1.2 ECU to sensor

 Vehicle data
CAN ID: 0x3F7
Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
Reserve 1 0,1,2,3,4 0..34 --- --- --- --- U35 --- Reserve
Yaw sign 4 35 0 0 1 0 U1 0 = left (counter clock wise) *
Yaw rate 4,5,6 36..49 0 0 0.01 0x3FFF U14 0..163.82 [°/s] *
Reserve 2 6,7 50..63 --- --- --- --- U14 --- Reserve

CAN ID: 0x3F5

Signal Name Byte Bit Init Offset Resolution Invalid Type Comments Notes
0..327.66 [km/h] average of
Speed 0,1 0..14 0 0 0.01 0x7FFF U15 the wheel speeds from the ***
rear wheels
Reserve 1,2,3 15..28 --- --- --- --- U14 ---
6 Technical specification
6.1 Basic parameters:
 Operating voltage range: 9 V–16 V
 Typical operating voltage: 13.5 V
 Ambient operating temperature: –40 °C to +85 °C
 Maximum power consumption: 4.3W
 Operation frequency: 76 GHZ
 Waterproofing: IP67

6.2 Performance parameters:

 Frequency : 76GHz~77GHz
 Range accuracy:
 ± 0.17m (Near range)
 ± 0.5m (Long range)
 Range resolution:
 0.33 m (Near range)
 1m (Long range)
 Velocity accuracy: ± 0.22 m/s
 Velocity resolution: 0.44m/s
 Maximum detection range:
 160m (Truck, Passenger Car)
 60m (Motorcycle)
 25m (Pedestrian )
 Maximum number of tracking objects: 32
 Cycle time:50 ms
6.2.1 Narrow Beam antenna
 FOV: ±10 degree (Narrow Beam)
 Angle accuracy: ± 1 degree@±10 degree

Narrow Beam
70m@±10°@10dBsm

160m@±3°@10dBsm
 6.2.2 Wild Beam antenna
 FOV: ±50 degree (Wide Beam)
 Angle accuracy: ± 1 degree@±40 degree, ± 3 degree@±50 degree
 The antenna coverage is as follow

Wide Beam

24m@±50°@10dBsm
36m@±40°@10dBsm
48m@±30°@10dBsm
60m@±20°@10dBsm
70m@±10°@10dBsm

6.3 Detection target

 Truck, Passenger Car, Motorcycle, Pedestrian

6.4 The false alert rate and detection rate

 Low false alert rate: Radar system has lower false alert rate even driving close to
complex environment. The false alert rate is lower than 5 times when driving 100km.
 Accurate detection rate (Low missing rate): In normal driving case, the accurate rate
is very high.
- 99% for Truck and Passenger Car
- 98% for Motorcycle, Pedestrian
7 Mechanical requirements
7.1 Sensor
7.1.1 Weight
The sensor weight is 120±5g
7.1.2 Size
91.5*83.1*19.96±3 mm (L*W*H)
The figure shows sensor outline below.

83.1mm 19.96mm 59.28mm

91.50mm

Figure 17 Sensor Outline drawing

7.2 ECU
7.2.1 Weight
The sensor weight is 70±5g
7.2.2 Size
 82.85*54*28.8±3 mm (L*W*H)
 The figure shows sensor outline below.

Figure 18 ECU Outline drawing

 7.3 Installation
 There are three locations for affixing the device as illustrated in the following diagram.

Figure 19 Sensor fix point

 The sensor is installed outside of bumper with cover. The connector is toward to left
side.
 The sensor position of “Y” direction must within +-30cm.
 Azimuth angle = 0°
 Elevation angle = 0.5~3.5°, which is related to the installation height.
 Sensor height to the ground = 30 – 80 cm (over this range may need to be discuss
and check
7.3.1 Coordinates of system
The origin of coordinates is in the center of front bumper. The driving direction of car is X-axis, the
left and right of car is Y-axis. Refer to the following drawing.
(+)

(+)

7.3.2 The location of radar

The default sensor position is on the origin of coordinates.
8 System Function Design
8.1 FCW warning
FCW system will monitor the vehicles which is in front of subject car at own lane. When
there is vehicle at warning zone, the system may monitor and provide the warning message
by CAN bus then output warning by LED or buzzer to prevent potential collision.
The system will provide three levels warning.
 The first level warning will provide visual warning by LED.
 The second level warning will provide visual warning by LED flash
 The third level warning will provide visual warning by LED flash and buzzer on.

8.2 Self-diagnostics
The system will perform self-diagnostics during the boot up. When radar system is
operating, it is still monitoring and inform driver once the system error message comes out,
for example no CAN message from sensor.
9 Design Verification
9.1 Environmental Test (Option)
Refer to the test flow and test item below.

PERFORMANCE/ FUNCTION/ INSPECTION

EVALUATION
Total 45pcs

Normal Power Supply

Voltage Test
0.5 DAY(4.1)
Group A – 3 pcs / Group B – 3 pcs / Group C – 3 pcs / Group D – 3 pcs / Group E – 3 pcs / Group F – 3 pcs /
25days 16days 15days 6days 42days 42days
Group G – 3 pcs / Group H – 3 pcs /
6days 12days
Low Temperature Dew formation Thermal
shelf test Dust test Ehdurance test Thermal Shock test
test characteristic test Supply Voltage
3 DAYS(4.10) 1 DAY(4.19) 42 DAYS(4.23) 42 DAYS(4-15) Transient Voltage
1 DAY(4.18) 1 DAY(4.24) Fluctuation Test
Impression Test
(Electric Load)
0.5 DAY(4.7-4)
0.5 DAY(4.2-1)

Low Temperature Thermal and Ozone Resistance Vibration test Supply Voltage
- Operating Radiated Transient
Operation test humidity cycle test Test Fluctuation Test
3 DAYS(4.20-1) Voltage Test
3 DAYS(4.11) 10 DAYS(4.16) 3 DAYS(4.27) (Engine Starting)
Group I – 6 pcs / Group J – 6 pcs / 0.5 DAY(4.7-3)
0.5 DAY(4.2-2)
5days 1days
Supply Voltage Transient Voltage
Steady humidity Vibration test Intermittent Test Immunity Test
High Temperature Water resistance Fluid Resistance (Battery Chattering)
shelf test test test - Rain - Not Operating Fluid Resistance (Along Line)
test - Immersion 0.5 DAY(4.3-1)
4 DAYS(4.12) 4 DAYS(4.17) 7 DAYS(4.25-1) 1 DAY(4.20-2) test - Coating Test 0.5 DAY(4.7-1)
Test
5 DAYS(4.28-1)
1 DAY(4.28-2) Supply Voltage
Intermittent Test Transient Voltage
( IG Key Switch) Immunity Test
Water resistance
High Temperature 0.5 DAY(4.3-2) (Except line)
Test - Liquid Shock Test
Operation test 0.5 DAY(4.7-2)
Dropping 1 DAY(4.21)
5 DAYS(4.13) Power Voltage
1 DAY(4.25-2)
Group K – 3 pcs / Group L – 3 pcs / Reverse
1 DAY 29days Connection test Conducted
0.5 DAY(4.4) Electrometric Test
3 DAYS(4.9.1)
Temperature Cycle Salt Water Spray
test Test Overvoltage test
10 DAYS(4.14) 4 DAYS(4.26-2) Salt Water Spray (A method)
Drop Test Radiated
Test 0.5 DAY(4.5-1)
1 DAY(4.22) Electrometric Test
29 DAYS(4.26-1)
3 DAYS(4.9.2)
Overvoltage test
(B method)
Group M – 3 pcs / 0.5 DAY(4.5-2) Broadband
3 DAY Emission
Supply Voltage Measurement
Instantaneous 1 DAYS(4.9.3)

CISPR 25 Test Interruption

0.5 DAY(4.6) Narrowband
Emission
Measurement
ESD test
2 DAYS(4.9.4)
(Handling)
NCC/FCC 1 DAY(4.8-1)
Certifcation

ESD test
(Operation)
1 DAY(4.8-2)

Figure 20 Environment test flow

9.2 Performance test
Refer to ISO15623 or “FCW_NCAP_Test_Procedure_2-7-2013“for stationary, dynamic test
and road test.
Three test case of FCW_NCAP_Test_Procedure_2-7-2013
 Test case 1
Subject Vehicle Encounters Stopped Principal Other Vehicle on a Straight Road

 Alert Criteria
 The FCW alert shall be issued when TTC is at least 2.1s
 Test procedure
 Both SV and POV are parked in the center of a travel lane(distance
between centerline of SV and POV need less than 0.6m)
 Test begin when the SV is 150m from POV. SV shall be driven at a
nominal speed of 72km/h. Speed deviation need less than 1.6km/h for a
period of 3s prior to the required FCW alert. The yaw rate of the SV need
less than ±1deg/s during the test
 Must Satisfy the TTC requirement for at least five of seven test trials
 Test case 2
Subject Vehicle Encounters Deceleration Principal Other Vehicle

 Alert Criteria
 The FCW alert shall be issued when TTC is at least 2.4s
 Test procedure
 Begin with the SV and the POV traveling at a constant speed of
72km/h(distance between centerline of SV and POV need less than 0.6m).
Speed deviation of SV need less than 1.6km/h for a period of 3s prior to
the required FCW alert. The yaw rate of the SV and POV need less than ±
1deg/s during the test
 POV starts a braking maneuver at a constant deceleration of 0.3g ±0.03g.
 The headway from the SV to the POV shall be maintained at 30m until the
POV braking is initiated. Speed deviation of POV need less than 1.6km/h
for a period of 3s prior to the initiation of braking.
 Must Satisfy the TTC requirement for at least five of seven test trials
 Test case 3
Subject Vehicle Encounters Slower Principal Other Vehicle

 Alert Criteria
 The FCW alert shall be issued when TTC is at least 2.0s
 Test procedure
 The test begins when the headway from the SV to the POV is 100m
 SV shall be driven at 72km/h. Speed deviation of SV need less than
1.6km/h for a period of 3s prior to the required FCW alert. POV shall be
driven at 32km/h. Speed deviation of SV need less than 1.6km/h during
the test. The yaw rate of the SV and POV need less than ±1deg/s during
the test.
 Must Satisfy the TTC requirement for at least five of seven test trials