SOME QUESTIONS POTENTIALLY RELATED TO LANE DEPARTURE WARNING SYSTEMS. 1) Do the production automotive systems (from your companies) incorporating lane departure warning conform to those standards set forth in ISO 17361:2007?
2) In the complete absence of a visible lane marking, which specific visible patterns may be used as incidental visible road features?
3) In the complete absence of a visible lane marking, which specific visible patterns may not be used as incidental visible road features?
4) Are there any conditions in which non-road features are identified as potential explicitly intended or incidental road features?
5) Are there any conditions in which non-road features are identified and contribute to an overall evaluation of the road side features?
6) Are there any conditions in which non-road features are identified and contribute to an overall evaluation of the driving conditions?
7) Are there any conditions in which the system will alternate between explicitly intended and incidental visible road features?
8) Are there any conditions in which the system will alternate between incidental visible road features and non-road features?
9) Are there any conditions in which the system will alternate between non-road features?
10) In the partial absence of a visible lane marking, which specific visible patterns may be used/unused as incidental visible road features?
11) For roadways with explicitly intended markings visible to varying degrees and incidental road features visible to varying degrees, does the possibility exist that a degraded explicitly intended road marking might lead to a less reliable approximation for the lane boundary than does an undegraded incidental visible road feature (which may lead to a much better approximation)?
12) For road boundaries without an explicitly intended marking, does your system have the capability to use combinations of features (default lane width, color, texture, etc.)?
13) Does your system perform reliably on roadway sections having temporary or irregular lane markings?
14) For roadways with temporary or irregular lane markings, does your system have the capability to perform in a diminished operating mode?
15) What amount of deviation from a regular lane marking is required to consider it irregular?
16) For roadways with temporary lane markings, does your system have the capability to reliably detect supplemental indicators (construction barrels, construction markers, etc.)?
17) Does your system perform reliably in test environment conditions other than those specified in the standard?
18) For lane widths which may vary lane to adjacent lane, what method is used to predetermine a default lane width?
19) Does your system require that one visible lane marking (reference) must be present to determine a default lane width?
20) Is vehicle speed detection an optional functional element in your lane departure warning system?
21) If vehicle speed detection is not present in your system, does your system go into a degraded mode of operation?
22) If vehicle speed detection is not present, does your system have the capability to use the image stream with supplemental sensor readings to determine the lane departure rate?
23) If the image stream is not present and vehicle speed is not present, does your system have the capability to use supplemental sensor readings alone to determine the lane departure rate?
24) If vehicle speed detection is not present and supplemental sensor readings are not present, does your system have the capability to reliably determine the lane departure rate using only the image stream?
25) If no appreciable change in the image stream is detected (ex: zero velocity with no change in the field of view), does your system have the ability to distinguish plausible detections on subsequent image captures?
26) Are both lateral distance to a lane boundary and lane departure rate incorporated into your lane departure warning system?
27) What are the specific conditions (environmental, vehicular, human, road, etc.) under which your system is considered incapable of reliably performing?
28) Does your system have the capability to determine the borderline for an non-raised (paint, thermoplastic, etc.) visible lane boundary (situated at the center)?
29) Does your system have the capability to determine the borderline for a visible raised pavement marker (situated at the center)?
30) Are warning lines outside the lane borderline included in your systems operation?
31) What are the false alarm minimization verification tests performed for your system besides those referenced in section 5.5.2 of the standard?
32) What are the allowances on system performance (nuisance false alarms and/or missed alerts per thousands of traveled miles or hours of vehicle usage, etc.)?
33) The standard references only normal (solid) lane boundaries in its test method? Does your system perform under the full range of longitudinal lane markings/raised pavement markers combinations which may be encountered while driving on highways and highway-like roadways?
34) Does your system have the capability to differentiate between broken and normal longitudinal lane markers which have a similar width?
35) In the presence of multiple potential sets of lane markings (resulting from the lack of complete removal after repavement/marking, etc.), can the system reliably detect lane boundaries?
36) Does your system have the capability of differentiating between true longitudinal pavement markings and visual road conditions appearing similar originating from (including but not limited to):
(a) Wet pavement - dry pavement - wet pavement patterns looking very similar to lane markings?
(b) Piles of roadway snow or salt which may look very similar to lane markings?
(c) Road maintenance materials/processes which may produce visual representations very similar to those of longitudinal lane markings during the day?
(d) Road maintenance materials/processes which may produce visual representations very similar to those of longitudinal lane markings during the night?
(e) Parallel tire markings on concrete which may look very similar to those of longitudinal lane markings?
(f) Road lettering (school crossing, etc.) which may look very similar to longitudinal lane markings?
(g) Other roadway markings (railroad crossing, etc.) which may look very similar to longitudinal lane markings?
(h) Shading conditions which may produce visual representations very similar to those of longitudinal lane markings?
(i) Paint inadvertently applied to the substrate (misapplication, spilling, etc.)?
(j) Markings painted on/applied to vehicles producing visual representations very similar to those of longitudinal lane markings?
37) Does your system have the capability to circumvent illumination conditions producing color representations which are not indicative of the intended lane marker color?
38) Does your system have the capability to perform reliably under a wide range of gap/segment ratios that may be encountered while driving under dynamic operating conditions?
39) Does your system have the capability to reliably detect lane boundaries when they are partially occluded by vehicles in adjacent lanes?
40) For lane markings partially occluded by the front of the vehicle, does your system have the ability to determine lane boundaries reliably?
41) For lane markings partially past the vehicle, does your system have the ability to determine lane boundaries reliably?
42) Are there existing technologies which may have been used to reduce any limitations for close proximity lane boundary detection?
43) Over what range of distances in the field of view does your system reliably detect lane markers and boundaries?
44) Does your system have the ability to identify both traveled lane and adjacent lane markings in the same direction?
45) Does your system have the ability to distinguish between adjacent lanes which may or may not be used for travel in opposite directions?
46) Does your system have the ability to distinguish between adjacent lanes which must be used for travel in the opposite direction?
47) Does your system have the capability to differentiate between yellow longitudinal markers that are separated by a 'barely' discernible space?
48) Does your system have the capability to use color to supplement differentiation of markers with indiscernible dimensional differences?
49) Does your system have the capability to use cues from one side of the lane boundary to supplement deductions formed about the other side of the lane boundary?
50) Does your system have the capability to use cues from past lane boundary detections to supplement deductions formed about current and future lane boundary detections?
51) Is the lane departure warning technology based upon a two-parameter lane markings model that accounts for lateral distance and curve?
52) Is the lane departure warning technology based upon a three-parameter lane markings model that accounts for lateral distance, curve and slope?
53) Does your system use a monocular camera vision system or have the capability of detecting three dimensional objects including vehicles?
54) Does your system have the ability to perform identification in the full range of both daytime and nighttime illumination conditions?
55) Does your system require that the vehicle headlights be operational for it to be functional?
56) Does your system require that the vehicle headlights be functional for it to be functional?
57) Does your system use imaging capabilities outside the visible spectrum in determining lane boundaries?
58) Does your system have the capability to accurately project lane boundaries back to the position near the vehicle front end?
59) Does your system have the capability to accurately project lane boundaries forward into the field of view?
60) Does your system use curve fitting or some form of regression to construct forward and rearward projections?
61) Does your system have the capability to use only the detected lane markings furthest into the FOV to accurately project forward into the FOV?
62) Does your system have the capability to use only the detected lane markings nearest in the FOV to accurately project back to a position near the vehicle front end?
63) Does your system have the capability to use supplemental sensor readings (ex: lateral acceleration, yaw to cue both forward and rearward projections?
64) Does your system detect edges associated with pavement seams, curbs, etc. through the vision system?
65) Does your system detect edges associated with road - road side boundaries in the absence of a longitudinal marker?
66) Does your system detect edges associated with light posts, overpasses, etc. through the vision system?
67) Does your system detect edges associated with light posts, road-roadside boundaries, pavement seams, curbs and longitudinal lane markers while using a common multi-parameter model?
68) Does your system have the capability to perform reliably after vehicular modifications which may affect ride and handling?
69) Does your system have the capability to perform reliably when used in a vehicle operating beyond the maximum gross vehicle weight?
70) Does your system have the capability to perform reliably when used in a vehicle with loading conditions outside the norm for vehicle operation?
71) Does your system have the capability to perform reliably after the addition of aftermarket parts?
72) Does your system provide a single solution for performing reliably on different vehicles?
73) Does your system perform equally reliably across different vehicle platforms?
74) Does your system differentiate between those solutions with/without integrated vehicle bus multiplexing/messaging?
75) For systems which use bus messaging, which subsystems provide information to the LDW system ECU?
76) For systems which use bus messaging, do faults within these subsystems get relayed to the LDW system ECU?
77) Who (specifically) are the proprietary technology owners of the system(s)?
78) Is it based upon (previously) existing technology, method(s), algorithm(s), or process?
79) Who is the chip manufacturer for the imaging chip?
80) Who is the manufacturer of the vision system ECU?
81) Who is the manufacturer of the camera system?
82) Who is the manufacturer of the rear view mirror apparatus?
83) Who is the manufacturer of the windshield?
84) Have the properties and characteristics of the glass being used in the windshield been taken into account during development?
85) Are there existing patents in the technological area and if so, who are the patent holders?
86) Are there license holders?
87) Were there formal/informal development agreements during the establishment of the technology?
88) Is the technology (or any portion of it) considered a trade secret?
89) How long has the technology been in development?
90) Has analysis of the development system been performed by anyone within your organization?
91) Has technological development at any point been performed by/within your organization?
92) Who are considered to be your technical experts in the field?
93) Did your technical experts have direct and/or indirect involvement with the development system?
94) Did your technical experts have direct and/or indirect involvement with the production system?
95) Did your technical experts have direct and/or indirect involvement with subsystem engineers?
96) Did your technical experts have direct and/or indirect involvement with other involved suppliers?
97) Is the production system based on the technologies of the development system?
98) What was the development environment?
99) Has analysis on the development system been performed by groups within your organization?
100) Has analysis been performed by departments within your organization?
101) Have the analysis tools for the system ever included methods which allowed changes to the vision processing algorithms and subsequent reanalysis of the image data?
102) Were there tools developed by the subsystem suppliers for analysis of data?
103) Were there in-house tools developed by members of/associates of your organization for analysis of data?
104) Were commercial off-the-shelf tools used?
105) Has the development system ever incorporated open source components?
106) Was the system developed in conjunction with the overall system or independently?
107) Who were the authors of the requirements provided to the suppliers?
108) Was benchmarking and/or some failure modes analysis method used to drive requirements development?
109) Were there any low-level hardware (architectural, etc.) changes during/after requirements development which may have affected system capability/performance?
110) What are the advantages/disadvantages to writing requirements for a system with a camera located in a location which may be significantly different from where it may be located in the production system?
111) Was there a specific group responsible for upgrades/updates to the development system?
112) Did these personnel have direct/indirect involvement with the updates?
113) What was the nature of the updates (hardware, electronics software, algorithms, etc.)?
114) When were the upgrades and/or updates performed?
115) What were the reasons for/rationale behind performing the upgrades/updates?
116) What methods were used for performing the upgrades/updates to the system?
117) Have members of/associates of your organization ever incurred (unanticipated) problems with the development system (hardware, software, etc.)?
118) Have members of/associates of your organization ever been involved with debugging hardware problems with the system ?
119) Have members of/associates of your organization ever performed any reverse engineering on the development system?
120) Have members of/associates of your organization ever modified any portion of the development system?
121) Have members of/associates of your organization ever contributed (either individually and/or in a group)any portion to the development system?
122) Have members of/associates of your organization ever documented the hardware interfaces used in the development system?
123) Did members of/associates of your organization ever have communications with personnel outside the group directly involved with the system?
124) Did members of/associates of your organization ever have direct communications with personnel from the development system supplier?
125) Was any information relevant to the development system ever stored in a way (flash drive, network drive, etc.) in which access may have been uncontrolled?
126) Were there different versions of the development system being used by different OEMs or were they essentially the same development system?
127) Have the processes/methods/technologies in your LDW system been derived from a source which has also served as a reference for other companies manufacturing similar technologies?
128) If your system has been derived from a reference system, have there been any portions of the reference system which have not been adopted into your production system?
129) What are the reasons (if any) for not adopting certain portions of the reference technology for your system?
130) Are there any aspects of your system which are currently disabled but which may be enabled through configuration and/or reconfiguration?
131) What are the legal disclaimers (if any) that a user of the (vehicle) system is required to agree to before the vehicle is purchased?
132)What sort of instruction and/or training is provided regarding the system prior to its usage?
133) What are the explicit/implicit capabilities/limitations for the system (if any)?
134) What are the potential advantages/disadvantages to being overly descriptive/vague when describing capabilities/limitations?
135) What are the explicit/implicit differences in describing a system as 'drivers awareness' versus 'drivers assistance' versus 'drivers confidence' versus 'safety' versus 'preventative safety' versus 'active safety' and why or why not should these be considered significant by a potential system user?
136) What are the notifications and/or instructions (if any) that are available to any potential vehicle operator prior to usage of the vehicle (vehicle operators manual, in-vehicle stickers, cluster messages, etc.)?
137) Are there market specific differences (due to regulatory requirements, conventions, etc.) which require application specific changes to the system (different versions)?
138) Are market specific regulatory changes accounted for and/or into the existing system?
139) If there is one system for all markets, will your system perform reliably under all gap/segment ratios that may be encountered while driving a vehicle in all the different markets?
140) What are the potential advantages/disadvantages of having a company (corporation, L.L.C, etc.) serve as a 'system integrator' and the subsystem intermediary during production of highly advanced automotive technologies?
141) What are the potential advantages/disadvantages of having a company serve as the production system supplier who has not been directly involved in the development systems?
142) What are the differences between the system descriptions, legal disclaimers, instruction/training, etc., for commercial vehicle systems and those for non-commercial vehicles?
143) What are the advantages/disadvantages to describing only what a system is capable of (whether complete or not) versus describing both system capabilities/limitations?
144) What are the advantages/disadvantages to describing a systems functionality/capabilities in complete terms? in general terms? in vague terms? in incomplete terms? in lacking terms?
145) What are the advantages/disadvantages to describing what a system is supposed to do but not describing how it is supposed to do it?
146) What are the advantages/disadvantages to describing a systems imperfections in terms of false alerts? In terms of nuisance alerts? In terms of trouble alerts? In terms of inefficiencies?
147) What are the advantages/disadvantages to evaluating a system in terms of cost/benefit analysis?
148) What are the advantages to releasing advanced vehicle technologies into production in high-end vehicles only?
149) If the technology has been successfully rolled out in high-end vehicles, what are the advantages/disadvantages to releasing it into lower priced production vehicles?
150) Was the production system tested in each set of vehicles it was intended to be installed in?
151) Was the production system tested in vehicles it was not intended to be installed in?
152) Was the production system (as part of an overall safety system) tested under the full range of driving conditions which might be experienced by users on the road?
153) If the development system was tested on public roads, what steps were taken to assure that the intellectual property was being protected?
154) If the development system was tested on public roads, was there any vehicle designation used to signify it to the public?
155) Is the production system road tested in each vehicle before being sold on the market?
156) Does your system undergo some form of EOL testing which tests the set of system components as a cohesive unit?
157) If your system does undergo some form of EOL testing, is it performed on a dynamometer stand within the assembly plant?
158) What are the systems which are tested? Are they based on the ISO standard? Are there tests in addition to those listed in the ISO standard?
159) Does the production system use some form of internal diagnostics (on-board, system, etc.) before and during system usage?
160) Do the diagnostics range from basic 'functionality' and 'rationality' tests to more sophisticated 'major monitors'?
161) What are the available methods for servicing the system?
162) Does the system have the capability to get software updates over a wireless link or must it be serviced using more traditional tools using wires?
163) If the system can be modified over a wireless link, must the change be facilitated by devices in close proximity to the vehicle (wireless hand-held tool versus global positioning system)?
164) Can changes to the system be made without the knowledge of the vehicle operator?
165) Does the system have the capability to store image video as a vehicle travels down the road?
166) Is the stored image video broken up into smaller files and are these files accessible by anyone other than the system manufacturer?
167) What are the limitations to the amount of image video that is being stored from the vehicle travels?
168) Is the ability to store image video of the field of view part of a more complex event data recording system?
169) What is the other information which may be recorded as part of the event data recording process?
170) Can the image video and/or event data recording information be used by law enforcement agencies in accident investigation/reconstruction?
171) Can the image video and/or event data recording information be used by vehicle manufacturers, government agencies or other entities during legal proceedings?
172) What are the other possible circumstances in which image data may be used outside the context and/or intent for which it was originally intended?
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