International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)

Volume 8, Issue 6, June 2019, ISSN: 2278 – 1323

Advanced Driver Assistance System (ADAS): A

Review of Systems and Technologies
Dr. Bassim Abdulbaqi Jumaa , Anwaar Mousa Abdulhassan, Ammar Mousa Abdulhassan

 Different sensors have different observation capabilities and

Abstract— The driving is art, elegance and ethics. The human various detection properties. Many vehicle manufacturers
acts as the key element in this process and the weakest link in and automobile device companies have attempted as shown
the same time, where 90% of traffic accidents are caused by in Fig.1. For example, laser-based approach, radar-based
human error and carelessness.
approach or vision sensing to develop speed control systems
Every year many accidents are reported due to high speed
and wrong decision. A logical principle is that each 1% increase to maintain a vehicle safe distance, which represents one of
in velocity will result in a 4% potential increase in the risk of the ADAS functions [2], [3]. In critical driving situations, this
fatal collision and an actual increase of 3% in the risk of a system warns and actively supports the driver and, if
serious collision. Modern day cars represent a symbiosis of necessary, intervenes automatically in an effort to avoid a
several electronic subsystems that collaboratively give a safe collision [1], [4].
and sound driving experience. One of the car development
technologies takes the form of the Advanced Driver Assistant
System development (ADAS). It is a system that necessary to
monitor various parameters associated with the vehicle, vehicle
surroundings to detect potentially dangerous situations at an
early stage.
Sensors with sophisticated devices, which are known as
Sensor Network (SN), were included already in many cars
nowadays to achieve (ADAS) technologies. A well-known ADAS
is an Adaptive Speed Control system (ASC), Automatic Brake
System (ABS), Warning Collision System (WCS) and Legal
Restriction System to avoid high-speed dangerous. In addition,
Lane Keeping System (LKS) and Lane Change System (LCS).

Index Terms— Advanced Driver Assistant System

development, (ADAS), Car safety, Car sensors technologies.
Fig.1. Current technologies for Assisted Driving [2].

I. INTRODUCTION
Automotive companies are continuously improving
vehicle safety, whereas safety systems developed in vehicles
can be divided into two categories: passive safety systems
and active safety systems. The passive safety system reduces
the injuries sustained by passengers when an accident occurs.
For example, airbags and seatbelts have saved thousands of
lives and became a milestone in the automotive industry.
Active safety systems refer to systems that try to keep a
vehicle under control and avoid accidents [1]. In this work,
the active safety systems have been proposed and
implemented.
It is expected that active safety systems will play an
increasing role in collision avoidance in the future. Each
application supported by ADAS requires its private sensor(s);
therefore adding new applications will require more sensors.
Manuscript received May, 2019.
Bassim Abdulbaqi Jumaa, Computer Engineering Department, University
of Technology, Baghdad,, Iraq (e-mail: basim_alani@yahoo.com).
Anwaar Mousa Abdulhassan, Computer Engineering Department,
University of Technology, Baghdad,, Iraq (e-mail:
anwaarmousa@yahoo.com).
Ammar Mousa Abdulhassan, Electric Power and Electrical Engineering
Department, Tambov State Technical University, Tambov, Russia (e-mail:
amar.alshmaly@yahoo.com).
II. SELF-DRIVING (AUTOMATION) LEVELS
Given that the vast majority of accidents can be attributed
to human error, taking the driver out of the loop may reduce
or even eliminate driver error, which in turn, may lead to
safer roads. Maturation, integration and affordability of
enabling technologies have turned self-driving cars from
science fiction into reality.Google’s self-driving car
famously has been clocking up thousands of accident-free
miles and several countries are now preparing themselves to
adapt laws permitting self-driving cars on public roads [5].
Automated vehicle technologies have a range of
capabilities, from anti-lock brakes and forward collision
warning, to adaptive cruise control and lane keeping, to fully
automated driving [5].
Following the Society for Automotive Engineers
taxonomy (SAE, 2018), Five levels of vehicle automation
have been defined as below [6]:
Based on the capabilities of ADAS, already in use or
implementation, the automated vehicles in general and
particularly the most popular concept of automated driving
become not just a vision of a remote future – rather closed
systems like metros and similar rail systems, and air traffic.
The levels of automated driving are shown in Fig.2 [7].

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 International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
Fig.2. Levels of Automated Driving [7].
III. ADVANCED DRIVER ASSISTANCE SYSTEM BASED ON
SENSORS
To achieve the ADAS, the sensing process should be
accomplished as a technique of collecting necessary
information about the physical parameters related to the car,
what surrounds it and the driver [4], [2]. In the following
points an overview of the specific ADAS functions based on
sensors technologies is given:
A. Forward Collision Warning
Forward Collision Warning (FCW) system is one intended
to assist the driver in avoiding or mitigating a rear-end
collision via presentation of audible, visual, and/or haptic
alerts, or any combination thereof. FCW systems have
forward-looking vehicle detection capability, provided by
technologies such as radar, lidar (laser), cameras, etc. By
using the information provided by these sensors, an FCW
system alerts the driver that a collision with another vehicle
may be imminent unless a corrective action is taken [8].
B. Automatic Emergency Brake
Automatic Emergency Brake (AEB) is an intelligent
and complex system. Sometimes AEB system is called
Collision Warning with Auto Brake or Automatic Emergency
Brake, the specific name depends on the car manufacturer but
the principle the same. This system can apply braking power
automatically without driver intervention. AEB continuously
monitors the area in front of the car and when the systems
recognize a serious possibility of a collision occurring then
the driver is alerted to start braking and brakes are
pre-activated. Sometimes small braking power is applied to
save as much braking distance as possible. If the driver, at the
critical distance, does not start braking, the system
automatically applies as much braking power as possible to
stop the vehicle or to reduce speed and the possibility of the
accident [9].
Most rear-end collisions occur in inter-urban areas at
low speed. To monitor the rear-end of a car, manufacturers
use short-range lidar (light detecting and ranging) or
long-range radar (radio detecting and ranging) sensor.
Short-range lidar is cheaper and works at speeds of up to 50
km/h. The long-range radar sensor is necessary for adaptive
cruise control as it can also recognize critical situations and
work at speeds of up to 200 km/h. The data from these
sensors are interpreted in the control unit to take the
appropriates actions. [9], [10].
C. Adaptive Cruise Control
Adaptive Cruise Control (ACC) is a simple system which
allows drivers to adjust their speed and distance from a car in
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Volume 8, Issue 6, June 2019, ISSN: 2278 – 1323
front without using the throttle or brake pedals. It can mean
that a driver does not concentrate enough and when some
unexpected hazard occurs, the driver can react late or panic
and easily cause an accident. The first versions of ACC
systems were based on laser but bad weather conditions
significantly affected reliability. There were also problems
recognizing the speed and positioning of the car in front when
it was wet or non-reflective. For these reasons, nowadays
common ACC systems use Long Range Radar. This radar
works in a wider range of weather conditions and can
recognize non-reflective cars. Typical Long Range Radar
sees up to 200 m but in a narrow range. Car manufacturers
often use a combination of Long Range radar with Short
Range Radar or with an optical system to cover a wider range.
A wider range is necessary at low speeds because the gaps are
smaller. There are other types of ACC system, including
cheaper systems which do not support stop and go, meaning
that a car cannot automatically fully stop and then continue
its journey. It works only within a range of speeds e.g. from
50 km/h to 200 km/h. More sophisticated ACC systems also
have ultrasonic sensors which have a short range and are used
at low speed to get more precise information. Those systems
can automatically stop and continue during driving e.g. slow
driving in traffic jams [11], [12] and [13].
D. Lane Keeping System and Lane Change Assistant
Lane Keeping System (LKS) and Lane Change Assistant
(LCA) systems are designed to reduce high-speed collisions
especially on highways and to eliminate run-off-road
accidents. These systems use optical recognition of markers
on roads, usually white lines. Because they rely on optical
recognition, those systems are sensitive to the quality of
roads markings and the effects of the weather. That means
there is a high possibility of a mistake occurs in the situation
of heavy rain, snow or if there is excessive glare from the sun.
LKS is a proactive system that not only warns the driver
when to start moving out of the lane but it can also turn the
steering to control the car direction and therefore decrease
chances of an accident when the driver does not pay full
attention. Sensors that are used in common cars are
Multi-Function Mono Camera or Multi-Function Stereo
Camera. Stereo camera has the advantage of being able to
recognize 3D objects, lanes and possibly obstacles [1], [14].
Fig.3 illustrates LKS and LCA [15].
Fig.3. LKS and LCA [15]
IV. SPECIFICATIONS OF VEHICLES SENSORS
The vehicles, which are fitted with ADAS, have many
sensors to provide all the necessary information to the
systems. An overview of some sensors technologies used in
ADAS are given below:
A. RaDAR (Radio Detection And Ranging)
RaDAR is a sensor that uses electromagnetic (radio)
waves for detecting the distance of fixed objects and the
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 International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
distance and speed of moving objects. It uses 22-29 GHz and
77-81 GHz radar. There are:
- Short-range and wide-angle (typically up to 50 m,
130 degree field of view).
- Mid-range and wide-angle (typically up to 100 m
and more than 30 degree field of view).
- Long-range and narrow-angle (typically more than
100 m and less than 20 degree field of view). Types
of radars are shown in Fig.4 [17]. All automotive
radars are of Doppler type. Radar sensors for ACC
or AEB usually contain two transmitters and four
receivers or one transmitter and two receivers as a
cheaper option, which is used for detection of rear
vehicles [15], [16].
Fig.4. Type of radars on vehicles [16]
B. LiDAR (Light Detection And Ranging)
Fundamentally, LiDAR is similar to radar, except that it
utilizes a transmitted laser beam that is then sent as a reflected
light. It can be similarly used to determine the speed and
distance of potential hazards but from 10 to 20m at low speed.
It typically has a shorter effective range than radar. Its
wavelength is 850 or 900 nm. LiDARs were first applied as
sensors for ACC because they were smaller. Nowadays they
are often replaced by radars or cameras due to high cost and
low resolution capabilities [17] and [18]. Fig.5 shows the
LiDAR look [17].
Fig.5. LIDAR look [17]
C. US (Ultrasonic Sensor)
Ultrasonic sensors are also similar to radar in concept,
except that they utilize the reflection of ultrasound waves to
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Volume 8, Issue 6, June 2019, ISSN: 2278 – 1323
determine the distance of an object in relatively close
proximity. It measures the distance by sending out a sound
wave at a specific frequency and listening for that sound
wave to return. It is possible to calculate the distance between
the sensor and the detected object, where (distance = speed x
time) and by recording the elapsed time between the
generated sound wave and the returned-back sound wave.
Fig.6 shows the ultrasonic sensor that is used in cars [16].
Fig.6. Ultrasonic Sensor [16]
D. Optical Cameras
Optical or vision systems, such as mono and stereo
cameras, as shown in Fig.7 [17], can be used in some
conditions to effectively map the environment of potential
hazards. The strengths and weaknesses of camera systems for
quantifying the environment are similar to those of human
vision. Camera systems cannot directly sense the relative
speed of a potential hazard and can be sensitive to
environmental conditions such as low sun angle, heavy
precipitation, and fog that reduce visibility. Therefore, they
are often used in concert with radar sensors, where they
complement radar’s limited angular resolution and limited
field of view. Stereo cameras allow the distance of a potential
hazard to be calculated. The usable distance for cameras is
short-range detection, typically less than 100m. Modern
image processing methods and dedicated image processing
hardware have allowed the development of camera systems
that are very effective at identifying objects in the
environment around the vehicle in real time. A vision system
achieves excellent lateral estimation but can fall short in
longitudinal parameter estimation. Another usage of cameras
is for driver monitoring. These cameras monitor the speed of
eyes winking and head movements. From such information,
the system can recognize that the driver does not pay full
attention and should stop [16].
Fig.7. (A) Mono camera, (B) Stereo camera [17]
About the main technologies of RaDAR, LiDAR, US and
Cameras, a summarization of their main properties for the
environment perception is in Table 1. The camera is a
particular case, as by itself cannot detect objects, but it
depends on image processing algorithms to do so. As can be
seen, none of these technologies is ideal and an attractive idea
is to complement two or more to obtain the best results [14].
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 International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
Volume 8, Issue 6, June 2019, ISSN: 2278 – 1323

Table 1 Comparision of main technologies for

enveronment perception

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