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[]{.mark}

**LANE DEPARTURE WARNING**

**CONFIRMATION TEST**

**July 2008**

**Office of Vehicle Safety**

**Office of Crash Avoidance Standards**

**Room W43-478, NVS-120**

**1200 New Jersey Avenue, SE**

**WASHINGTON, DC 20590**

> This publication is distributed by the U.S. Department of
> Transportation, National Highway Traffic Safety Administration, in the
> interest of information exchange. The opinions, findings and
> conclusions expressed in this publication are those of the author(s)
> and not necessarily those of the Department of Transportation or the
> National Highway Traffic Safety Administration. The United States
> Government assumes no liability for its contents or use thereof. If
> trade or manufacturers\' name or products are mentioned, it is because
> they are considered essential to the object of the publication and
> should not be construed as an endorsement. The United States
> Government does not endorse products or manufacturers.

**LAND DEPATURE WARNING CONFIRMATION TEST**

**TABLE OF CONTENTS**

[1. PURPOSE AND APPLICATION 2](#purpose-and-application)

[2. GENERAL REQUIREMENTS 2](#general-requirements)

[3. SECURITY 2](#security)

[4. GOOD HOUSEKEEPING 3](#good-housekeeping)

[5. TEST SCHEDULING AND MONITORING 4](#test-scheduling-and-monitoring)

[6 TEST DATA DISPOSITION 4](#test-data-disposition)

[7. VEHICLES AND EQUIPMENT AQUISITION
6](#vehicles-and-equipment-aquisition)

[8. INSTRUMENTATION AND CALIBRATION 7](#__RefHeading___Toc202070235)

[9. PHOTOGRAPHIC DOCUMENTATION 9](#photographic-documentation)

[10. DEFINITIONS 10](#definitions)

[11. PRETEST AND FACILITY REQUIREMENTS
10](#pretest-and-facility-requirements)

[12. TEST EXECUTION AND TEST REQUIREMENTS
17](#test-execution-and-test-requirements)

[13. POST TEST REQUIREMENTS 23](#post-test-requirements)

[14. REPORTS 24](#reports)

[15. DATA SHEETS 31](#data-sheets)

[REFERENCES 35](#references)

# 1. PURPOSE AND APPLICATION

This laboratory test procedure provides the specifications for
conducting testing for confirmation of the existence of Lane Departure
Warning Hardware (LDW) on passenger vehicles under 10,000 pounds gross
vehicle weight rating (GVWR). Although it is impossible to predict what
technologies could be used in future LDW systems, it is believed that
with minor modifications to the test setup, other technologies may be
evaluated. Current technology is dependent on a sensor recognizing an
edge line; this test relies on painted or taped lines being present much
like public roadways. If a future technology such as magnetic markers,
RADAR reflective striping, ultra violet paint, infra red, and/or some
other technology became available, it is believed that the test herein
could be modified to accommodate their evaluation.

The contract laboratories are directed by this test procedure to use a
special test parameter which is a dynamic test to determine lane
departure of a moving vehicle. The requirements of this indicant test
procedure must be strictly adhered to; however, the test contractors are
encouraged to suggest improved testing techniques to assist in procuring
the required test data. Any changes to or deviations from this test
procedure must be approved by the Contracting Officer\'s Technical
Representative (COTR).

The contractor\'s in‑house test procedure must have NHTSA approval prior
to conducting the test of a particular fiscal year program. The
contractor\'s test procedure cannot deviate in any way from the NHTSA
procedure without the prior approval of the NHTSA COTR.

# 2. GENERAL REQUIREMENTS

Departing the lane is defined as any part of the vehicle polygon as
defined in Section 12 crossing a lane boundary. Alternatively this could
be as simple as the front wheel crossing over any part of the lane
markings. First, a test series will be conducted to characterize the
steering versus lateral velocity performance of the vehicle. The purpose
of the test is to determine what handwheel angle will generate a lateral
velocity equal to or greater than one meter per second. This value will
be used to program the steering machine for the high departure rate
tests.

Then the lane departure warning maneuvers are performance. To begin the
maneuver, the vehicle is driven in a straight line at a constant speed
attempting to maintain the desired entrance speed. The driver should
control the vehicle in a straight line as they approach the start gate.
The driver should not hit any cones that define the test start gate.
Once the driver passes the retro-reflective line within the entrance
gate; the steering machine will initiate its program. The driver will
keep a constant speed throughout the maneuver. The test will be
considered complete when the vehicle has completely departed the lane
(entire vehicle is over the lane boundary.) The test will be conducted
at two different levels of lateral velocities (low and high), two
different roadway geometries (straight and curved), two different
departure directions, and three different styles of roadway markings
(continuous white lines, discontinuous yellow lines, and raised pavement
markers). Each test condition will be repeated 5 times for a total of
120 trials.

# 3. SECURITY

The contractor shall provide appropriate security measures to protect
test vehicles and equipment during the entire test program, and shall be
responsible for all equipment removed from test vehicles before and
after the test. Vehicle equipment thefts or act of vandalism must be
reported to NHTSA authorities immediately. Under no circumstances shall
any vehicle components be removed during a visitor inspection unless
authorized by OCAS engineers. All data developed from the test program
shall be protected.

NO INDIVIDUALS other than the contractor\'s personnel directly involved
in the test program shall be allowed to witness a test, inspect, or
photograph any test vehicle unless authorization is granted by a
representative from the OCAS. It is the contractor\'s responsibility to
secure the test site area during a test.

**Rules for Contractors**

> 1\. No vehicle manufacturer\'s representative(s) or anyone other than
> the contractor\'s personnel working on the contracts and NHTSA
> personnel, shall be allowed to inspect NHTSA vehicles or witness
> vehicle preparations and/or testing without prior permission of the
> Office of Crash Avoidance Standards (OCAS). Such permission can never
> be assumed.

2.  All communications with vehicle manufacturers shall be referred to
    the OCAS, and at no time shall the contractor release test data
    without the permission of the OCAS.

3.  Unless otherwise specified, the vehicle manufacturer\'s
    representatives shall only be authorized to visit the contractor\'s
    test facility on the day that the test is scheduled, and the
    representatives must be escorted by NHTSA and/or contractor
    personnel.

> 4\. Test vehicle inspection by the vehicle manufacturer\'s
> representative(s) shall be limited to 30 minutes prior to the start of
> vehicle test. Post‑test inspection shall be limited to 1 hour after
> contractor personnel have completed their test tasks.

5\. Photographs and videos of the test vehicle, associated test
equipment and test event shall be allowed. However, test personnel shall
not be included in any photographic coverage, and videotaping of vehicle
preparation must be approved by OCAS. The contractor\'s personnel shall
not respond to any questions from the manufacturer\'s representatives
regarding this test program. All questions shall be referred to the
COTR, an OCAS representative present at the test site, or to OCAS.

6\. VISITATIONS ‑

> The contractor shall permit public access to and inspection of the
> test vehicles and related data during the times specified by the NHTSA
> COTR. NHTSA shall advise interested parties that such access and
> inspection shall be limited to a specified day, and specified hours
> and require prior approval from the Office of Crash Avoidance
> Standards. The contractor shall refer all visit requests from vehicle
> manufacturer\'s representatives and consumers to the Office of Crash
> Avoidance Standards. This service shall be included as an incidental
> part of the test program and will not result in any additional cost to
> the NHTSA. The contractor shall make his own arrangements with
> interested parties for expenses incurred beyond providing access and
> inspection services. All inquiries by manufacturers concerning the
> test program (vehicle, procedures, data, etc.) shall be directed to
> OCAS representatives.

# 4. GOOD HOUSEKEEPING

> The contractor will maintain the entire test area, vehicle pre‑test
> preparation facility, instrumentation building, and equipment
> configuration and performance verification test laboratory in a clean,
> organized and painted condition. All test instrumentation must be
> setup in an orderly manner consistent with good engineering practices.

# 5. TEST SCHEDULING AND MONITORING

> The contractor shall commence testing within four (4) weeks after
> receipt of the first test vehicle. Subsequent tests will be conducted,
> if requested, at a minimum of one (1) vehicle test per week. The NHTSA
> COTR will make adjustments to the test schedule in cases of unusual
> circumstances such as inclement weather or difficulty experienced by
> the Agency in the procurement of a particular vehicle make and model.
> All testing shall be coordinated to allow monitoring by the COTR.

# 6 TEST DATA DISPOSITION

> The contractor shall make all test data available within two hours
> after the test event if so requested by Agency personnel. Under no
> circumstances shall this data be furnished to non‑Agency personnel.
> The contractor shall analyze the preliminary test results as directed
> by the COTR.

**6.1** **Computer Data Tape and Final Hard‑Copy**

> The contractor shall deliver to OCAS the final data tape/diskette,
> digital printouts, and plots within one (1) week after the LDW test.

**6.2 Test Report**

**6.2.1 T**est report shall include all of the items shown in the Sample
Test Report. The contractor shall submit **eleven** **(11)** CD's and
**one (1)** paper copy of the test report to the following address:

U. S. Department of Transportation

National Highway Traffic Safety Administration

> Office of Crash Avoidance Standards (NVS‑120)
>
> 1200 New Jersey Avenue, SE, Room W43-478
>
> Washington, DC 20590

**6.2.2 Report Submission**

> All final test reports shall be submitted to the above listed NHTSA
> office within **four (4)** **weeks** from the date of the LDW test.

**6.2.3 Text/Data Sheet CD**

> The contractor shall submit **one (1)** CD of the text and data sheet
> portion only of the test report in Microsoft Word format within **four
> (4)** weeks from the date of the vehicle test. The full test report
> including photographs and data traces on a disk may be a future
> requirement.

**6.3 Test Video**

> OCAS shall receive one **(1)** copy of the color video or movie film
> for each test, and the copies shall be mailed directly to the OCAS
> within **four (4)** weeks of the vehicle test. The master print for
> each of the LDW test videos shall be retained by the contractor, but
> will be made available to the OCAS upon request.

**6.4 Data Loss**

**6.4.1 Conditions for RETEST**

> The test vehicle is instrumented in order to obtain data needed. The
> data from tests, specifically from those channels providing lateral
> velocity and handwheel angle are absolutely essential to the test
> program. An invalid test is one which does not conform precisely to
> all requirements/specifications of the laboratory test procedure and
> Statement of Work applicable to the test.
>
> The contracting officer of NHTSA is the only NHTSA official authorized
> to notify the contractor that a retest is required.
>
> No test report is required for any test which is determined to be
> invalid unless NHTSA specifically decides to require the Contractor to
> submit such report. Invalidated test reports will not be publicly
> released.

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**RETEST CONDITIONS**

**Failure of the contractor to obtain the above data and to maintain
acceptable limits of test parameters in the manner outlined in this test
procedure shall require a retest at the expense of the contractor and
will include the cost of the vehicle replacement and retest at the
contractor\'s expense. The provisions of this paragraph apply to, but
are not limited to, the contractor maintaining proper speed tolerance,
and test data acquisition, reduction, and processing.**

The contractor shall also be responsible for obtaining usable data from
all primary channels. Failure to produce such data shall also be at the
expense of the contractor and shall include vehicle replacement and
retest unless the Office of Crash Avoidance Standards determines that
the data loss occurred through conditions beyond reasonable and
foreseeable control of the contractor. Should it become necessary for
the contractor to procure another test vehicle, it must have identical
equipment and options as the original vehicle. The retested vehicle
shall be retained without fee by the testing facility until its disposal
is authorized by the COTR.

\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

**6.4.2 Conditions for PARTIAL PAYMENT**

> The contractor shall exercise reasonable and foreseeable control to
> insure that no data is lost or rendered useless. If some non‑critical
> data (such as camera failure) and critical data (acceleration data)
> are not obtained and the test is accepted by the Agency, the Agency
> will not pay for the missing or lost data.

**6.5 Data Retention by Contractor**

> The contractor shall retain at no extra cost to the agency,
> reproducible copies of all data tapes (analog and digital), videos,
> and still photograph negatives or electronic files .

**6.6 Data Availability to the Public**

> The contractor shall provide interested parties with copies of test
> report, test CD's, test data tapes, test films, and test still
> photographs, at a reasonable cost to the purchaser, but only after the
> Office of Crash Avoidance Standards representative has advised the
> contractor that the results of that particular test have been released
> to the public by the Agency.

**6.7 Indicant Failure Notification**

> Any indication of a "test failure" shall be communicated by telephone
> to COTR within 24 hours of the test.

NOTE: In the event of a failure, a post-test calibration check of some
critically sensitive test equipment and instrumentation may be required
for verification of accuracy. The necessity for the calibration shall be
at the COTR\'s discretion and shall be performed without additional
cost.

# 

# 7. VEHICLES AND EQUIPMENT AQUISITION

**7.1 ACCEPTANCE OF TEST VEHICLES**

The Contractor has the responsibility of accepting leased or
NHTSA-provided test vehicles from either new car dealers or vehicle
transporters. In both instances, the Contractor acts in the Agency's
behalf when signing an acceptance of test vehicles. The Contractor must
check to verify the following:

> A. All options listed on the "window sticker" are present on the test
> vehicle.
>
> B. Tires and wheel rims are the same as listed.
>
> C. There are no dents or other interior or exterior flaws.
>
> D. The vehicle has been properly prepared and is in running condition.
>
> E. Verify that spare tire, jack, lug wrench, and tool kit (if
> applicable) is located in the vehicle cargo area.

The Contractor shall check for damage that may have occurred during
transit or prior use. The COTR is to be notified of any damage prior to
preparation of the vehicle for testing.

**7.2 NOTIFICATION OF COTR**

The COTR must be notified within 24 hours after a vehicle has been
delivered.

**7.3 GOVERNMENT FURNISHED EQUIPMENT (GFE)**

No government furnished equipment will be available or provided to
conduct the LDW tests.

[]{#__RefHeading___Toc202070235 .anchor}8. INSTRUMENTATION AND
CALIBRATION

**8.1 TEST EQUIPMENT**

A.  Portable tire pressure gage with an operating pressure of at least
    700kPa (100 psi), graduated increments of 1 kPa (0.1 psi) and an
    accuracy of at least [+]{.underline} 2.0% of the applied pressure.

B.  Automated steering machine with steering angle encoder for
    controlling steering wheel angle input and output. Automated
    steering machine is used to generate steering inputs for all test
    maneuvers. The automated steering machine shall be capable of
    supplying steering torques between 40 to 60 Nm (29.5 to 44.3 lb-ft).
    The steering machine must be able to apply these torques when
    operating with steering wheel velocities up to 1200 deg/sec. The
    steering machine must be able to move the vehicle's steering system
    through its full range, accept vehicle speed sensor feedback input
    to initiate steering programs at a preset road speeds, and have the
    convenience of changing the steering program during test sessions.
    Handwheel angle resolution is 0.25 deg and accuracy is
    [+]{.underline} 0.25 deg (ATI Model Spirit 3 or equivalent).

C.  Multi-Axis Inertial Sensing System for measuring longitudinal,
    lateral and vertical accelerations as well as roll, yaw and pitch
    rates. Accelerometer range [+]{.underline} 2g, resolution
    [\<]{.underline} 10μg, and accuracy [\<]{.underline} 0.05% of full
    range. Angular rate sensors range [+]{.underline} 100 deg/sec,
    resolution [\<]{.underline} 0.004 deg/sec and accuracy 0.05% of full
    range (BEI Motion PAK or equivalent).

D.  Radar speed sensor with dashboard display for vehicle speed with a
    range of 0-125 mph, resolution .009 mph and accuracy [+]{.underline}
    .25% of full scale (DEUTA- WERKE Model DRS-6 or equivalent).

E.  Data acquisition system to record time, velocity, lateral,
    longitudinal and vertical accelerations, lateral velocity, roll, yaw
    and pitch rates, and steering wheel angles from vehicle installed
    sensors. All data is to be sampled at 200 Hz. Signal conditioning
    must consist of amplification, anti-alias filtering, and digitizing.
    Amplifier gains are selected to maximize the signal-to-noise ratio
    of the digitized data. Filtering is performed with two-pole low-pass
    Butterworth filters with nominal cutoff frequencies selected to
    prevent aliasing. (Dewetron Sidehand model DA-121-16 with A/D card
    Orion-1616-100, and amplification/anti-aliasing card MDAQ-FILT-10-S)

F.  Real time digital video camera for documenting LDW maneuvers (Sony
    Model DCR-TRV950 or equivalent).

**8.2 Calibration**

Before the Contractor initiates the test program, a test instrumentation
calibration system must be implemented and maintained in accordance with
established calibration practices. The calibration system shall be set
up and maintained as follows:

A.  Standards for calibrating the measuring and test equipment will be
    stored and used under appropriate environmental conditions to assure
    their accuracy and stability.

B.  All measuring instruments and standards shall be calibrated by the
    Contractor, or a commercial facility, against a higher order
    standard at periodic intervals not exceeding 12 months. Records,
    showing the calibration traceability to the National Institute of
    Standards and Technology (NIST), shall be maintained for all
    measuring and test equipment. The calibration frequency can be
    increased if deemed necessary by NHTSA.

C.  All measuring and test equipment and measuring standards will be
    labeled with the following information:

    1.  Date of calibration

    2.  Date of next scheduled calibration

    3.  Name of the organization and the technician who calibrated the
        equipment

D.  A written calibration procedure shall be provided by the Contractor
    which includes as a minimum the following information for all
    measurement and test equipment:

    1.  Type of equipment, manufacturer model number, etc.

    2.  Measurement range

    3.  Accuracy

    4.  Calibration interval

    5.  Type of standard used to calibrate the equipment (calibration
        traceability of the standard must be evident)

    6.  The actual procedures and forms used to perform the
        calibrations.

E.  Records of calibration for all test instrumentation shall be kept by
    the Contractor in a manner that assures the maintenance of
    established calibration schedules. All such records shall be readily
    available for inspection when requested by the COTR and shall be
    included in the final test report. The calibration system will need
    the acceptance of the COTR before testing commences.

F.  Test equipment shall receive a pre- and post-test zero and
    calibration check. This check shall be recorded by the test
    technician(s) and submitted with the final report.

**NOTE**: In the event of a failure to meet the standard\'s minimum
performance requirements additional calibration checks of some
critically sensitive test equipment and instrumentation may be required
for verification of accuracy. The necessity for the calibration will be
at the COTR\'s discretion and will be performed without additional cost.

**8.3 TEST FACILITY DATA**

A.  Document the test track peak friction coefficient (PFC). The road
    test surface must produce a PFC of at least 0.9 when measured using
    an American Society for Testing and Materials (ASTM) E1136 standard
    reference test tire, in accordance with ASTM Method E 1337-90, at a
    speed of 64.4 km/h (40 mph), without water delivery.

B.  Verify that the test track being used is dry and uniform with a
    solid-paved surface. Surfaces with irregularities and undulations,
    such as dips and large cracks, are unsuitable. The test surface must
    have a consistent slope between level and 1%.

C.  Inflate vehicle tires to the recommended cold inflation pressure as
    specified on the vehicle placard or optional tire inflation pressure
    label.

D.  Fill the fuel tank and other reservoirs of fluids necessary for
    operation of the vehicle prior to executing this test.

E.  Measure vehicle's wheelbase and front track width.

#  9. PHOTOGRAPHIC DOCUMENTATION

> Each shall be documented on a color video camera. Sun or light glare
> must be minimized so that views of the test are visible for visual
> analysis.

**9.1 CAMERAS REQUIRED**

> CAMERA 1
>
> Real-time video camera to one side of the most significant even area
> of the test.
>
> CAMERA 2
>
> A still camera to document the vehicle.

**9.3 INFORMATIONAL PLACARDS**

> Vehicle identification placards shall be positioned so that at least 1
> placard will be visible in the field‑of‑view for at least one video
> camera The following information will be shown:
>
> A. Vehicle\'s NHTSA Number
>
> B. The words "OCAS Lane Departure Warning Confirmation "

C. Date of test

> D. Name of contract laboratory
>
> E. Vehicle year, make and model

**9.9 TEST FILM TITLE AND ENDING**

Test video shall include the following title frames:

A. "The following Lane Departure Warning test was conducted under
contract

> with the National Highway Traffic Safety Administration by (name and
> location of test laboratory)"

B. LANE DEPARTURE WARNING TEST

TEST VEHICLE MODEL YEAR, MAKE AND MODEL

NHTSA No. CXXXXX

DATE OF IMPACT EVENT

CONTRACT NO.: DTNH22‑9X‑X‑XXXXX

C.  The ending frame shall state "THE END"

**9.10 FILM EDITING**

The film shall be edited in the following sequence:

> A. Title
>
> B. Pretest Coverage
>
> C. Real Time Pan Coverage
>
> D. Post test Coverage
>
> E. "The End"
>
> Any vehicle failures shall be completely documented.

**9.11 STILL PHOTOGRAPHS**

> Provide still photographs (8 x 10 or 8^1^/~2~ x 11 inch color prints
> properly focused for clear images) of pretest and post-test condition
> of entire vehicle deformation and details that pertain to the tested
> standards. Photographs of all areas of the test vehicle that may be of
> importance to the frontal barrier impact test should be taken in
> excess and developed only if the need arises.
>
> The following still photographs are required for the test:
>
> A. Pretest left side view of test vehicle
>
> B. Pretest right front three‑quarter view of test vehicle
>
> C. Photograph of equipment installed in vehicle
>
> D. Photograph of certification label
>
> E Photograph of tire placard
>
> F Photograph of the vehicle in a test mode

# 10. DEFINITIONS

10.1 Terms

LDW is a driver assistance system that warns the driver when their
vehicle is about to drift beyond the delineated edge lines of the
current travel lane.

# 11. PRETEST AND FACILITY REQUIREMENTS

**11.1 DETAILED TEST AND QUALITY CONTROL PROCEDURES REQUIRED**

> Prior to conducting any test, Contractors are required to submit a
> detailed in‑house
>
> test procedure to the COTR which includes:
>
> A. A step‑by‑step description of the methodology to be used.
>
> B. A written Quality Control (QC) Procedure which shall include
> calibrations, the data review process, report review, and the people
> assigned to perform QC on each task.
>
> C. A complete listing of test equipment which shall include instrument
> accuracy and calibration dates.
>
> D. Detailed checkoff lists to be used during the test and during data
> review. These lists shall include all test procedure requirements.
> Each separate checkoff sheet shall identify the lab, test date,
> vehicle and test technicians. These check sheets shall be used to
> document that all requirements and procedures have been complied with
> for each test. The check sheets should be kept on file.
>
> There shall be no contradiction between the laboratory test procedure
> and the Contractor\'s in‑house test procedure. The procedures shall
> cover all aspects of testing from vehicle receipt to submission of the
> final report. Written approval of the procedures must be obtained from
> the COTR before initiating the test program so that all parties are in
> agreement.

**11.2 Vehicle Test Configurations**

**11.2.1 Load Configurations**

The test vehicle shall contain the test driver and required
instrumentation.

**11.3 Road Test Surface**

Tests are conducted on a dry, uniform, solid-paved surface. Surfaces
with irregularities, such as dips and large cracks, are unsuitable, as
they may confound test results. The test surface shall have line
markings defining a single road edge.

**11.3.1 Line Markings**

All test maneuvers are to be performed using 3 different types of lane
markings. All lines shall meet USDOT specifications as required by the
Manual on Uniform Traffic Control Devices (MUTCD) and be considered in
"very good condition". Under conduct of each test, only one edge line
should be seen by the LDW system. Tests should be conducted with line
markings on both the left and the right side of the vehicle.

**11.3.1.1 Lane Marker Width**

The width of the edge line marker shall be 10 cm -- 55 cm. This is
considered to be a normal width for longitudinal pavement markings under
Section 3A.05 of the MUTCD \[15\].

**11.3.1.2 Broken Lines (dashed lines)**

Broken lines (dashed) should follow the recommended length as stated in
the MUTCD. Broken lines should be 10 ft line segments and 30 ft. gaps,
or dimensions that are similar in ratio as appropriate for traffic
speeds and need for delineation \[15\].

**11.3.1.3 Raised Pavement Markers**

Based on California Standard Plans, raised pavement markers may be used
in place of painted strips in marking California roads. Other states,
mainly in the southern part of the United States rely on them as well.
These markers may be white or yellow, depending on the specific
application, following the same basic colors of their analogous white
and yellow painted lines. Following the California 2006 Standard Plans,
3 types of raised pavement markings are used to form roadway lines. It
is believed that these types of roadway markings are the hardest for a
sensor system to process. Type A and Type AY are non-reflective circular
domes that are approximately 4" in diameter and approximately 0.7" high.
Type C and D are square markings that are retroreflective in two
directions measuring approximately 4" x 4" x 0.5" high and Type G and H
that are the same as C and D only retroreflective in a single direction.

**11.3.1.4 Line Marking Color and Reflectivity**

Lane marker color and reflectivity shall meet all applicable standards.
These standards include those from the International Commission of
Illumination (CIE) for color and the American Society for Testing and
Materials (ASTM) on lane marker reflectance. Methods for determining
lane marker characteristics are discussed in the RDCWS FOT by NIST
\[8\].

**11.3.2 Line Styles for Maneuver**

**11.3.2.1 Continuous White Line**

A continuous white line will considered a white line that is 4 in
thickness and runs for the entire length of the test course to be used.

**11.3.2.2 Dashed Yellow Line**

A dashed yellow line will be considered a discontinuous yellow line as
defined in section 10.3.1.2.

**11.3.2.3 Continuous Line (raised pavement markers)**

For the test, raised pavement markers will be setup following California
Standard Plan A20A, Detail 4. as shown in Figure 1 (Where the squares
are Type D yellow reflectors and the circles are yellow type AY discs.

![](media/image2.wmf){width="4.876388888888889in" height="1.3375in"}

Figure 1

**11.3.3 Pavement Friction**

All maneuvers are to be performed on a dry, high-friction road test
surface. Unless otherwise specified, the road test surface produces a
peak friction coefficient (PFC) of approximately 0.9 when measured using
an ASTM E1136 standard reference test tire, in accordance with ASTM
Method E 1337--90, at a speed of 64.4 km/h (40 mph), without water
delivery.

**11.4 Ambient Conditions**

**11.4.1 Ambient Temperature**

The ambient temperature shall be between 0° C (32° F) and 40° C (104°
F).

**11.4.2 Wind Speed**

The maximum wind speed shall be no greater than 10 m/s (22 mph).

**11.4.3 Inclement Weather**

Tests should not be conducted during periods of inclement weather. This
includes rain, snow, hail, fog, smoke, ash, etc.

**11.4.4 Visibility**

Tests should be conducted in daylight and under ideal conditions.

**11.5 Calibration Data**

It is strongly recommended that calibration data be collected prior to
tests of each configuration to assist in resolving uncertain test data.

• The distance measured by the speed sensor along a straight line
between the end points of a surveyed linear roadway standard of 1000
feet or more (observed and recorded manually from the speed sensor
display).

• Five to fifteen seconds of data from all instrument channels as the
configured and prepared test vehicle is driven in a straight line on a
level, uniform, solid-paved road surface at 60 mph.

**11.6 Vehicle Gear Selection**

All tests are performed with automatic transmissions in ''Drive'' or
with manual transmissions in the highest gear capable of sustaining the
desired test speed.

Manual transmission clutches are to remain engaged during all maneuvers.

**11.7 INSTRUMENTATION REQUIRED**

Each test vehicle is to be equipped with sensors, a data acquisition
system, and a programmable steering machine. Equipment location and
weight specifications are presented in Table I.1 and Figure I.1.

**11.7.1 Vehicle Load Configuration**

Use a nominal load configuration. Loading does not affect LDW system
performance.

**11.7.1.1 Nominal Load Configuration**

The Nominal Load Configuration consists of the driver, instrumentation,
steering machine, and a full tank of fuel. Weight and location
specifications for the data acquisition system and steering machine are
presented in Table I.1 and Figure I.1.

**Table I.1. -- Equipment Location and Weight**

  ---------------------- ------------------------------ ------------------
  **Equipment**          **Location**                   **Weight, typical
                                                        (lbs.)**

  Data Acquisition       Rear Passenger Side Seat       58
  System                                                

  Steering Machine       Handwheel                      31

  Steering Machine       Passenger row foot well behind 39
  Electronics Box        the front passenger seat. If   
                         vehicle does not have a rear   
                         passenger row foot well, the   
                         Electronics Box should be      
                         placed in the front passenger  
                         seat foot well.                
  ---------------------- ------------------------------ ------------------

**11.7.2 Data Collection**

All data is to be sampled at 100 Hz. Signal conditioning consists of
amplification, anti-alias filtering, and digitizing. Amplifier gains are
selected to maximize the signal-to-noise ratio of the digitized data.
Filtering is performed with two-pole low-pass Butterworth filters with
nominal cutoff frequencies selected to prevent aliasing. The nominal
cutoff frequency is 15 Hz (calculated breakpoint frequencies are 18 and
19 Hz for the first and second poles respectively). Data collection is
initiated manually by the test driver immediately before the start of
the maneuver or automatically by ''Handwheel Command Flag'' signal from
the steering machine (refer to Section 3.2.4.2.2, Handwheel Command
Flag).

**11.7.3 Sensors and Sensor Locations**

A brief description of these sensors is provided in this section.

**Table I.2 -- Recommended Sensor Specifications**

+-------------+-------------+-----------+-----------+-----------------+
| **Type**    | **Output**  | **Range** | **Res     | **Accuracy**    |
|             |             |           | olution** |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Angle       | Handwheel   | +/- 800   | 0.25 deg  | +/- 0.25 deg    |
| Encoder     | Angle       | deg       |           |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Non-contact | Vehicle     | 0.1 -- 65 | 0.1 mph   | +/- 0.25% of    |
| Speed       | Speed       | mph       |           | full scale      |
| Sensor      |             |           |           |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Multi-Axis  | Lo          | Accele    | Accele    | Accelerometers: |
| Inertial    | ngitudinal, | rometers: | rometers: | ≤ 0.05% of full |
| Sensing     | Lateral,    | +/- 2G.   | ≤ 10 µg.  | range.          |
| System      | and         |           |           |                 |
|             | Vertical    | Angular   | Angular   | Angular Rate    |
|             | Ac          | Rate      | Rate      | Sensors:0.05%   |
|             | celeration. | Sensors:  | Sensors:  | of full range   |
|             | Roll, Yaw,  | +/- 100   | ≤ deg/s.  |                 |
|             | and Pitch   | deg/s.    |           |                 |
|             | Rate        |           |           |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Optical     | Lateral     | 0 -- 10V  | .1 MPH    | +/-0.25%        |
| Velocity    | Velocity    |           |           |                 |
| and Slip    |             |           |           |                 |
| Angle       |             |           |           |                 |
| Sensor      |             |           |           |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Data Flag   | Signal from | 0 -- 10V  | N/A       | Output response |
| (Handwheel  | sensor that |           |           | better than 10  |
| Command     | initiates   |           |           | ms.             |
| Flag)       | maneuver    |           |           |                 |
|             | when driven |           |           |                 |
|             | over a      |           |           |                 |
|             | retro       |           |           |                 |
|             | -reflective |           |           |                 |
|             | marker      |           |           |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Data Flag   | Signal from | 0 -- 10V  | N/A       | Output response |
| (Lane       | LDW system  |           |           | better than 10  |
| Departure)  | that        |           |           | ms.             |
|             | indicates   |           |           |                 |
|             | if an LDW   |           |           |                 |
|             | warning was |           |           |                 |
|             | issued      |           |           |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Vehicle     | 2-D polygon | N/A       | 0.05 inch | 0.05 inch       |
| Dimensional | describing  |           |           |                 |
| M           | the vehicle |           |           |                 |
| easurements |             |           |           |                 |
+-------------+-------------+-----------+-----------+-----------------+
| Video       | Left and    | N/A       | N/A       | N/A             |
| Camera L/R  | Right       |           |           |                 |
|             | downward    |           |           |                 |
|             | looking     |           |           |                 |
|             | view of the |           |           |                 |
|             | vehicles    |           |           |                 |
|             | front tires |           |           |                 |
+-------------+-------------+-----------+-----------+-----------------+

**11.7.3.1.1 Handwheel Angle**

Handwheel position is measured via an angle encoder integral with the
programmable steering machines.

**11.7.3.1.2 Vehicle Speed**

Vehicle speed is measured with a non-contact speed sensor. Use of
Doppler radar based sensors placed at the center rear of each vehicle or
GPS based sensors that have an update rate ≥ 100 HZ are acceptable.
Sensor outputs are to be transmitted not only to the data acquisition
system, but also to a dashboard display unit. This allows the driver to
accurately monitor vehicle speed.

**11.7.3.1.3 Chassis Dynamics**

A multi-axis inertial sensing system is used to measure linear
accelerations and roll, pitch, and yaw angular rates. The position of
the multi-axis inertial sensing system must be accurately measured
relative to the C.G. of the vehicle in the Nominal Load Configurations.
These data are required to translate the motion of the vehicle at the
measured location to that which occurred at the actual C.G to remove
roll, pitch, and yaw effects. The following equations are used to
correct the accelerometer data in post-processing. They were derived
from equations of general relative acceleration for a translating
reference frame and use the SAE Convention for Vehicle Dynamics
Coordinate Systems. The coordinate transformations are:

![](media/image3.wmf){width="6.492361111111111in"
height="1.7569444444444444in"}where,

x″corrected, y″corrected, and z″corrected = longitudinal, lateral, and
vertical accelerations, respectively, at the vehicle's center of gravity

x″accel, y″accel, and z″accel = longitudinal, lateral, and vertical
accelerations, respectively, at the accelerometer location

x″disp, y″disp, and z″disp = longitudinal, lateral, and vertical
displacements, respectively, of the center of gravity with respect to
the accelerometer location

φ′ and φ″=roll rate and roll acceleration, respectively

Θ′ and Θ″ = pitch rate and pitch acceleration, respectively

Ψ′ and Ψ″ = yaw rate and yaw acceleration, respectively

Inertially stabilized accelerometers are not used for this test
procedure. Lateral acceleration must be corrected for vehicle roll angle
during data post-processing.

**11.7.3.1.4 Lateral Velocity**

A non-contact sensor that can measure the vehicles lateral velocity with
respect to the roadway plane is used for this test. Optical based
lateral velocity sensors are acceptable. It is believed that using a
lateral velocity referenced from the roadway plane will produce enough
accuracy needed to perform this test.

Lateral velocity with respect to the road edge can be calculated using
high precision, high update rate (20 Hz), post-processed differential
corrected global position satellite (GPS) data. Using a static survey of
the road edge, data from the vehicle is compared to the survey. Lateral
distance and angle in regards to the road edge are calculated and then
used to compute a lateral velocity using trigonometry.

V~lat~ = V~fwd~ \* Tan Θ

Where:

V~lat~ = Lateral velocity perpendicular to the vehicle in reference to
the road edge.

V~fwd~ = Forward velocity of the vehicle.

Θ = Angle between the vehicle heading and the road edge.

Recent sensor technology that can combine inertial sensor data with real
time kinematic GPS data is acceptable. These technologies combine the
data to compute accurate position, range, and velocity data in real
time. Sensor systems using this technology can produce both lateral
velocity data with respect to the ground plane as well as the surveyed
road edge.

**11.7.3.2 Handwheel Command Flag**

The Handwheel Command Flag is a signal sent to the steering machine to
instruct the machine to begin its steering program. An optical beam
pickup sensor mounted on the center front of the vehicle can be used.
Any sensor must be capable of outputting a voltage signal (open
collector) with 5 ms response time after crossing a retro-reflective
line placed on the test surface.

**11.7.4 Steering Machine**

A programmable steering machine is used to generate handwheel steering
inputs for all test maneuvers. The machine must provide at least 35
lbf-ft of torque at a handwheel rate of 125 deg/sec and be able to
control each vehicle's steering system in 1 degree increments up to 16
degrees of steering. It is recommended that the steering machine be
capable of initiating steering programs from an external control signal
and have the convenience of changing the steering program during test
sessions.

**11.7.5 Vehicle Dimension Measurements**

For purposes of this test, the vehicle dimensions should be a 2D polygon
that is defined by the X and Y dimensions relative to the C.G. of the
vehicle using the standard SAE coordinate system. The corners of the
polygon are defined by the X and Y locations where the plane of the
outside edge of each tire makes contact with the road. This plane is
defined by running a perpendicular line from the outer most edge of the
tire to the ground. A FARO measurement arm can be used to make these
measurements.

**11.7.6 Video Measures**

As an option, a video channel(s) may be recorded with a time
synchronized audio track detailing when an audible or visual alert was
issued in respect to the video image. The National Institute of
Standards and Technology has successfully demonstrated such a system for
assessing the system performance used in the Road Departure Collision
Warning System (RDCWS) Field Operational Test (FOT) \[14\]. This system
is capable of photometric measurements of the range and range- rate with
respect to the lane edge line. Using a quad image processor, 4
field-of-views may simultaneously be observed. This simplifies data
reduction in that 2 field of views are used to view the left and right
side of the vehicle, 1 field of view is able to monitor the front

**11.7.7 Driver Vehicle Interface**

The LDW system shall provide a warning to the driver by either an
auditory alert, haptic vibration, or haptic vehicle cue (i.e. braking
that induces a yaw moment.).

**11.7.7.1 Alert Suppression**

**11.7.7.1.2 Normal Operation**

The alert to the driver may be suppressed when any of the following
conditions are satisfied:

a.  directional turn-signal usage

b.  On/Off -- An on/off switch is allowed. The user has the option to
    enable or disable the system. Alerts may be suppressed if the user
    has selected to disable the system. The system shall be required to
    be enabled upon each ignition default "on" cycle.

c.  Speed \< 72 KPH (45 MPH)

d.  Curve radius \< 120 m (400 ft.)

e.  Width of roadway \< 2.8m (9 ft.) (if left and right markings
    present)

f.  Up to 10 seconds after issuing an alert (may re-enable alert sooner
    in time if desired)

**11.7.7.1.3 Failure Mode Operation**

If the LDW system determines that it is operating in a failure mode, the
system shall suppress warnings and indicate the failed condition by
illuminating a dash board tale-tale.

# 12. TEST EXECUTION AND TEST REQUIREMENTS 

**12.1 VEHICLE CHARACTERIZATION**

A test series will be conducted to characterize the steering versus
lateral velocity performance of the vehicle. The purpose of the test is
to determine what handwheel angle will generate a lateral velocity \>=
1.0 m/s. This value will be used to program the steering machine for the
high departure rate tests. The low departure rate tests will use a
handwheel angle of 1 degree.

**12.1.1 Maneuver Description**

Vehicle characterization will be conducted at a constant speed of 45 mph
and will consist of a total of 32 trials (16 left and 16 right). To
begin the maneuver, the vehicle is accelerated to 45 mph. The test
driver should control the vehicle in a straight line as they approach
the entrance gate. The driver should not hit any cones that define the
test entrance gate. If a cone is hit, the trial should be re-run. Once
the driver passes the retro-reflective line within the start gate; the
steering machine will initiate its program. The driver will keep a
constant speed during the maneuver. The test will be considered complete
when the vehicle has completely departed the lane (entire vehicle is
over the lane boundary.) Starting at 1 degree steering, each successive
trial will increment the handwheel by 1 degree up to 16 degrees.
Steering rates for all maneuvers will be 125 deg/sec. Trials should be
conducted both to the left and to the right.

Data collected from these trials should include: vehicle speed,
instantaneous lateral velocity at the 6 foot left or right position of
the lane, and handwheel angle (or the appropriate data to compute these
values). Vehicle speed should be used to identify bad trial data.
Vehicle speed should remain between 70 and 75 kph (43 and 47 mph) for
the entire maneuver. Data from trials where speed was outside of the
performance specification should not be included. If more than 3 vehicle
speed values are invalid for a series of trials (one direction), the
series should be re-run.

**12.1.2 Measured Parameters**

Analyses of this vehicle characterization test output an estimate of the
vehicles lateral velocity for a given handwheel angle at the approximate
time of a road departure event.

Data from both the left and right side trials should be averaged for
each individual handwheel angle. From the averaged left and right
departure data, a linear regression should be used to determine the HW
angle for further tests. The nearest integer value of handwheel angle
should be computed that was observed to produce a lateral velocity that
was greater or equal to 1.0 m/s. (see figure below).

![](media/image4.wmf){width="6.495138888888889in"
height="4.0881944444444445in"}

Figure 2 -- Sample Lateral Velocity Plot

Data from a series of tests is displayed in the figure above. Lateral
velocity data can be observed for each handwheel angle trial that were
conducted both to the left and to the right. Using the linear
interpolation line from the computed average values, it can be observed
that lateral velocity exceeds 1.0 m/s at a handwheel value just greater
than 8.5 degrees. Observing the graph it can be seen that the nearest
integer value of handwheel angle that resulted in a lateral velocity
greater the 1.0 m/s would be 9 degrees. This value will be used for
performing the high lateral velocity drift tests.

**12.2 LDW Maneuver**

**12.2.1 Maneuver Overview**

To begin the maneuver, the vehicle is driven in a straight line at a
constant speed attempting to maintain the desired entrance speed. The
driver should control the vehicle in a straight line as they approach
the start gate. The driver should not hit any cones that define the test
start gate. Once the driver passes the retro-reflective line within the
entrance gate; the steering machine will initiate its program. The
driver will keep a constant speed throughout the maneuver. The test will
be considered complete when the vehicle has completely departed the lane
(entire vehicle is over the lane boundary.) The test will be conducted
at two different levels of lateral velocities (low and high), two
different roadway geometries (straight and curved), two different
departure directions, and three different styles of roadway markings
(continuous white lines, discontinuous yellow lines, and raised pavement
markers). Each test condition will be repeated 5 times for a total of
120 trials. Table 2 displays the basic test matrix to be complete.

**TABLE 2. LDW Test Matrix**

  -------------- --------------- ------------ ------------ --------- --------- --------- --------- ---------
  **Geometry**   **Direction**   **Lateral    **Line       **Trial   **Trial   **Trial   **Trial   **Trial
                                 Velocity**   Type**       1**       2**       3**       4**       5**

  **Straight**   **L**           **Low**      **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         

                                 **High**     **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         

                 **R**           **Low**      **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         

                                 **High**     **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         

  **Curve**      **L**           **Low**      **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         

                                 **High**     **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         

                 **R**           **Low**      **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         

                                 **High**     **Solid**                                            

                                              **Dashed**                                           

                                              **Bott Dot**                                         
  -------------- --------------- ------------ ------------ --------- --------- --------- --------- ---------

**12.2.1.1 Test Speed**

All tests will be conducted at72 KPH (45 MPH). Test speed shall be
monitored and a test will be considered valid if the test speed remains
within +/- 3 KPH (+/- 2 MPH) from 72 KPH (45 MPH) gate speed. The speed
must remain within this window from the start of the test until any part
of the car, as defined by the 2D geometry (section 11.7.5) has crossed
the edge line.

**12.2.1.2 Test Course**

**12.2.1.2.1 Straight Scenario Test Setup**

The straight test course shall be setup within an area that facilitates
adequate area to allow the test vehicle to easily reach 72 KPH (45 MPH),
provide a minimum 300 m (1000 ft.) of area after the test starting
point, and provide a safe amount of area laterally \> 5m (15 ft.) to
ensure the vehicle may safely and completely depart the lane. The test
course shall have a start line that is made of retro-reflective tape, 30
cm (12 in) wide, and long enough so that the vehicle will pass over it
when the center of the vehicle is near the center of the lane. The start
gate is defined by four pylons that are spaced 30 cm (12 in.) further
than the width of the vehicle divided by 2. The cones should be spaced 6
m (20 ft.) apart longitudinally from the starting point. The pylons
should be placed so that the center of the start gate is 1.8 m (6 ft.)
from the center of the lane line to be departed. Figure 3. graphically
illustrates the test scenario for a left departure against a continuous
white line.

![](media/image5.png){width="6.49375in" height="1.8993055555555556in"}

Figure 3 -- Straight Road Lane Departure

This same test setup should be replicated with dashed yellow lines and
continuous raised pavement markers. The test course should also be
inverted to perform testing from the opposite direction.

**12.2.1.2.2 Curved Scenario Test Setup**

The curved test course shall be setup within an area that facilitates
adequate area to allow the test vehicle to easily reach 72 KPH (45 MPH),
provide a minimum 300 m (1000 ft.) of area after the test starting
point, and provide a safe amount of area laterally \> 5m (15 ft.) to
ensure the vehicle may safely and completely depart the lane. The test
course shall have a start line that is made of retro-reflective tape, 30
cm (12 in.) wide, and long enough so that the vehicle will pass over it
when the center of the vehicle is near the center of the lane. The start
gate is defined by four pylons that are spaced 30 cm (12 in.) further
than the width of the vehicle divided by 2. The cones should be spaced 6
m (20 ft.) apart longitudinally from the starting point. The pylons
should be placed so that the center of the start gate is 1.8 m (6 ft.)
from the center of the lane line to be departed. The start gate should
be placed tangentially to the start of the curve. The curve radius
should be between 120 m (400 ft.) and 180 m (600 ft.) and curve to the
right. Figure 4. graphically illustrates the test scenario for a left
departure against a continuous white line.

![](media/image6.png){width="6.4840277777777775in"
height="1.6493055555555556in"}

Figure 4 -- Curved Road Lane Departure

This same test setup should be replicated with dashed yellow lines and
continuous raised pavement markers. The test course should also be
inverted to perform testing from the opposite direction.

**12.2.2 Pass or Fail Criteria**

The result from each trial will produce a pass or fail measure. The
measure will be based upon the LDW producing an appropriate warning
during the maneuver. It is known that LDW systems warn the driver on a
simplistic range, range / range rate algorithm (time to line crossing
(TLC)), or use a more complex TLC variant that factors in lateral
velocity \[4\]. Given this fact, a pass fail criteria must accommodate
this requirement. ISO attempts to define an early warning line and a
latest warning line to accommodate for system algorithm differences
\[7\]. Figure 5 is from the ISO standard.

![](media/image7.jpeg){width="5.995138888888889in"
height="3.370833333333333in"}

Figure 5. ISO warning placement zones as defined in ISO/DIS 17361 \[7\].

ISO defines the no warning zone as \"the zone between the two earliest
warning lines\", with the earliest warning line being \"the innermost
limit of the warning threshold\" on each side of the lane. The location
of the allowable earliest warning line defined by ISO is dependent on
the lateral drift rate as shown in Table 3, based on a similar graph and
table in ISO DIS 17361.

Table 3. LDWS Earliest Warning Line Segment Definitions, as Shown in
Figure 5.

  --------------------- -------------------------------------------------
  Departure Rate (V)    Distance Between Vehicle and Lane Boundary

  0.0 \< V ≤ 0.5 m/s    0.75 m

  0.5 \< V ≤ 1.0 m/s    1.5 s × V m/s

  1.0 m/s \< V          1.5 m
  --------------------- -------------------------------------------------

In previous NHTSA sponsored work \[4\], a recommendation was made that
regardless the algorithm, a warning be issued when the vehicles outside
tire was between 50 cm (19.7 in.) inside the line to 50 cm outside the
line. Additionally, the warning should occur before 50 cm inside the
line at higher velocities (higher velocities are not explicitly defined)
and at the same time they should never be issued before a 1 second TLC.
This same work suggests an LDW should function between lateral
velocities of 5cm/s and 100 cm/s (0.05 m/s to 1.0 m/s).

Figure 6. graphically illustrates a variety of the different recommended
warning times on a single phase plane plot.

![](media/image8.wmf){width="5.833333333333333in" height="4.375in"}

Figure 6

In this figure, several groups of warning criteria data can be observed.
First, there are 3 traces that represent the basic TLC algorithms. These
lines are completely linear with different slopes and are indicated by
the "x" (TLC of 1.0 sec), the "+" (TLC of 1.5 sec), and the "o" (TLC of
0.5 sec.) The second group of warning lines represents the ISO
recommended "earliest" and "latest" warning line \[7\]. These lines are
represented by an "\*" and a "-" respectively. The last warning line
represented by the dotted "squares" represents the CMU minimum warning
time, suggesting that warnings triggered more than 1 second or 50 cm
(1.64 feet) prior to crossing the boundary will result in a large number
of nuisance alarms \[4\].

From this data, the LDW pass fail criteria will be based on a
combination of the above data as shown in the shaded area in figure 7.
Using this figure, data points for lateral velocity and distance to the
edge line at the time a warning is issued can be plotted. If the data at
the time a warning is issued falls within the shaded area, the trial
will be considered to have been successfully passed. If the data falls
outside of the shaded area or no warning is issued, the trial will be
considered to have been failed.

![](media/image9.wmf){width="5.833333333333333in" height="4.375in"}

Figure 7

It is important to note several things in this graph. The pass/fail
warning area requires that the warning be issued at least 0.5s before
line crossing for lateral velocities above 0.6 m/sec (2 ft/sec). This
0.5s criterion is based on previous research where alerted subjects best
response during a lateral incursion was found to be 0.5 s or better
\[16\].

A total of 120 trials are conducted. To be awarded a passing grade the
LDW system must pass 2 of 5 trials for each individual test and overall
pass 66 of 120 trials.

Looking at the overall pass / fail ratio, if any system scores less than
55% passing, the system will be considered as failing the test.
Rationale behind this rating is based on RDCW FOT data \[5,6\] and NHTSA
field data \[13\]. These studies found LDW availability to be around 55%
to 60%. Availability is defined as the amount of time a system is
operating correctly and able to support the driver

A total of 5 trials are repeated per test condition. If a system cannot
pass more than 40% of any individual trial, the system will considered
as failing the test. Rationale behind the rating is that a system must
be able to function under every scenario proposed. Lane markings vary by
region, state, city, etc. A system must work with all lane markings
found in the U.S. The crash scenarios of "going straight and departing
the road edge" and "negotiating a curve and departed the road edge"
describe almost half (459K of 992K crashes) of all the target
off-roadway pre-crash scenarios for all vehicles \[9\]. Additionally,
the RDCWS FOT found that overall availability for LDW on non-freeway
driving was 36% and on freeways was 76% \[5\]. Requiring a system to
pass 40% of each scenario is very reasonable.

# 13. POST TEST REQUIREMENTS

> Collect all data necessary to complete the final test report data
> sheets and provide details of any problem areas.

# 14. REPORTS

**14.1 MONTHLY STATUS REPORTS**

> The Contractor shall submit a monthly Test Status Report and a Vehicle
> or Equipment Status Report to the COTR (both reports shown in this
> section). The Vehicle Status Report shall be submitted until all
> vehicles or items of equipment are disposed of.

**14.2 TEST ANOMOLIES**

> In the event of an apparent test failure, a post-test calibration
> check of some critically sensitive test equipment and instrumentation
> may be required for verification of accuracy. The necessity for the
> calibration shall be at the COTR\'s discretion and shall be performed
> without additional costs to the OCAS.

**14.3 FINAL TEST REPORT**

**14.3.1** **COPIES**

> One(1) CD per test. Please add two items to the CD's. Place a JPG of
> the vehicle in its test mode, -- 180 by 300 pixels and around 10 KB.
> For the second item, place an example video on the CD.
>
> One paper copy of each Final Test Report.
>
> The above documentation shall be submitted to the COTR according to
> the schedule indicated in section 6.
>
> Payment of Contractor\'s invoices for completed tests may be withheld
> until the Final Test Report is accepted by the COTR. Contractors are
> requested to NOT submit invoices before the COTR is provided copies of
> the Final Test Report.
>
> Contractors are required to submit one color copy of each Final Test
> Report in draft form. DO NOT stamp *preliminary* or *draft* on this
> report. The COTR will review the draft report and notify the
> laboratory of any corrections that are required. If we agree to make
> changes to the test report, mail the appropriate (the changed) pages
> to us. We will insert the new pages into the preliminary test report.
> At the end, we will accept the preliminary test report with the
> inserted pages as the final test report.
>
> Contractors are required to PROOF READ all Final Test Reports before
> submittal to the COTR. The OCAS will not act as a report quality
> control office for Contractors. Reports containing a significant
> number of errors will be returned to the Contractor for correction,
> and a "hold" will be placed on invoice payment for the particular
> test.

**14.3.2 REQUIREMENTS**

> The Final Test Report, associated documentation (including
> photographs) is relied upon as the chronicle of the test. The Final
> Test Report will be released to the public domain after review and
> acceptance by the COTR. For these reasons, each final report must be a
> complete document capable of standing by itself.
>
> The Contractor should use detailed descriptions of all test events.
> Any events that are not directly associated with the test program, but
> are of technical interest should also be included. The Contractor
> should include as much detail as possible in the report.
>
> Instructions for the preparation of the first three pages of the final
> test report are provided below for the purpose of standardization.

**14.3.3 FIRST THREE PAGES**

> **Front Cover** ‑ ‑ A heavy paperback cover (or transparency) shall be
> provided for the protection of the final report. The information
> required on the cover is as follows:
>
> \(A\) Final Report Number such as OCAS‑ABC‑0X‑001
>
> where ‑ ‑
>
> OCAS is the Office of Crash Avoidance Standards
>
> ABC are the initials for the laboratory
>
> 0X is the Fiscal Year of the test program
>
> 001 is the Group Number (00 1 for the 1st test, 002 for the 2nd test,
> 003for the 3rd test, etc.)
>
> \(B\) Final Report Title And Subtitle such as
>
> Lane Departure Warning Confirmation Test

\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*

> World Motors Corporation
>
> 200X XYZ 4‑door sedan
>
> NHTSA No. CX0401
>
> \(C\) Contractor\'s Name and Address such as
>
> XYZ TESTING LABORATORIES, INC.
>
> 4335 West Dearborn Street
>
> Detroit, Michigan 48090
>
> **NOTE**: DOT SYMBOL WILL BE PLACED BETWEEN ITEMS (C) AND (D)
>
> \(D\) Date of Final Report completion
>
> \(E\) The words "FINAL REPORT"
>
> \(F\) The sponsoring agency\'s name and address as follows
>
> U. S. DEPARTMENT OF TRANSPORTATION
>
> National Highway Traffic Safety Administration
>
> Office of Crash Avoidance Standards
>
> Mail Code: NVS‑120
>
> 1200 New Jersey Avenue SE, Room W43-478
>
> Washington, DC 20590

**14. REPORTS\.... Continued**

> **First Page After Front Cover** ‑ ‑ A disclaimer statement and an
> acceptance signature block for the COTR shall be provided as follows:
>
> This publication is distributed by the U.S. Department of
> Transportation, National Highway Traffic Safety Administration, in the
> interest of information exchange. The opinions, findings and
> conclusions expressed in this publication are those of the author(s)
> and not necessarily those of the Department of Transportation or the
> National Highway Traffic Safety Administration. The United States
> Government assumes no liability for its contents or use thereof. If
> trade or manufacturers\' names or products are mentioned, it is only
> because they are considered essential to the object of the publication
> and should not be construed as an endorsement. The United States
> Government does not endorse products or manufacturers.

Prepared By:
\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

Approved By:
\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

Approval Date:
\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

FINAL REPORT ACCEPTANCE BY OCAS:

\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

Manager,

NHTSA, Office of Crash Avoidance Standards

> Date:
> \_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

COTR, NHTSA, Office of Crash Avoidance Standards

> Date:
> \_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

**14. REPORTS\.... Continued**

> Second Page After Front Cover ‑ ‑ A completed Technical Report
> Documentation Page (Form DOT F1700.7) shall be completed for those
> items that are applicable with the other spaces left blank. Sample
> data for the applicable block numbers of the title page follows.
>
> **Block No. 1 ‑ ‑ REPORT NUMBER**
>
> OCAS‑ABC‑0X‑001
>
> **Block No. 2 ‑ ‑ GOVERNMENT ACCESSION NUMBER**
>
> Leave blank
>
> **Block No. 3 ‑ ‑ RECIPIENT\'S CATALOG NUMBER**
>
> Leave blank
>
> **Block No. 4 ‑ ‑ TITLE AND SUBTITLE**
>
> Final Report of OCAS Testing
>
> of a 200X World XYZ Deluxe 4‑door sedan
>
> NHTSA No. CX0401
>
> **Block No. 5 ‑ ‑ REPORT DATE**

March 1, 200X

> **Block No. 6 ‑ ‑ PERFORMING ORGANIZATION CODE**

ABC

> **Block No. 7 ‑ ‑ AUTHOR(S)**
>
> John Smith, Project Manager
>
> Bill Doe, Project Engineer
>
> **Block No. 8 ‑ ‑ PERFORMING ORGANIZATION REPORT NUMBER**

ABC‑DOT‑XXX‑001

> **Block No. 9 ‑ ‑ PERFORMING ORGANIZATION NAME AND ADDRESS**

ABC Laboratories

405 Main Street

Detroit, Ml 48070

**14. REPORTS\.... Continued**

> **Block No. 10 ‑ ‑ WORK UNIT NUMBER**
>
> Leave blank
>
> **Block No. 11 ‑ ‑ CONTRACTOR GRANT NUMBER**
>
> DTNH22‑0X‑D‑1 2345
>
> **Block No. 12 ‑ ‑ SPONSORING AGENCY NAME AND ADDRESS**
>
> U. S. DEPARTMENT OF TRANSPORTATION
>
> National Highway Traffic Safety Administration
>
> Office of Crash Avoidance Standards
>
> Mail Code: NVS‑120
>
> 1200 New Jersey Avenue SE, Room W43-478
>
> Washington, DC 20590
>
> **Block No. 13 ‑ ‑ TYPE OF REPORT AND PERIOD COVERED**
>
> Final Test Report
>
> XXX to XXX, 200X
>
> **Block No. 14 ‑ ‑ SPONSORING AGENCY CODE**
>
> NVS‑120
>
> **Block No. 15 ‑ ‑ SUPPLEMENTARY NOTES**
>
> Leave blank
>
> **Block No. 16 ‑ ‑ ABSTRACT**
>
> These tests were conducted on the subject 200X World XYZ 4‑door sedan
> in accordance with the specifications of the Office of Crash Avoidance
> Standards Test Procedure No. TP‑OCAS‑XX for the determination of
> vehicle lane departure warning performance.
>
> **Block No. 17 ‑ ‑ KEY WORDS**
>
> Lane Departure Warning test

**14. REPORTS\.... Continued**

> **Block No. 18 ‑ ‑ DISTRIBUTION STATEMENT**
>
> Copies of this report are available from the following:
>
> NHTSA Technical Reference Division
>
> National Highway Traffic Safety Administration
>
> 1200 New Jersey Avenue SE
>
> Washington, DC 20590
>
> **Block No. 19 ‑ ‑ SECURITY CLASSIFICATION OF REPORT**
>
> Unclassified
>
> **Block No. 20 ‑ ‑ SECURITY CLASSIFICATION OF PAGE**
>
> Unclassified
>
> **Block No. 21 ‑ ‑ NO. OF PAGES**
>
> Add appropriate number
>
> **Block No. 22 ‑ ‑ PRICE**
>
> Leave blank

**14.3.4 TABLE OF CONTENTS [PAGE NO.]{.underline}**

> Sample Test Report Table of Contents:
>
> A. Section 1 --- Purpose and Summary of the Test
>
> B. Section 2 --- Occupant and Vehicle Information/Data Sheets
>
> C. Section 3 --- Photographs
>
> D. Section 4 --- Vehicle data traces.
>
> E. Section 5 --- Test Equipment and Instrumentation Calibration

**14. REPORTS\.... Continued**

**14.3.5 SAMPLE TEST REPORT INFORMATION**

PURPOSE AND SUMMARY OF TEST

PURPOSE

This test is part of the a test program sponsored by the National
Highway Traffic Safety Administration (NHTSA) under Contract
No.\_\_\_\_\_\_\_\_\_\_\_. The purpose of this test was to obtain
vehicle crash avoidance performance data for lane departure warning.

SUMMARY

**DATA SHEET NO. DESCRIPTION**

> 1\. Test Summary
>
> 2\. General Test and Vehicle Parameter Data
>
> 3\. Post test Data
>
> 4\. Test Vehicle Information
>
> 5\. Vehicle Measurements

# 15. DATA SHEETS

## **[DATA SHEET NO. 1]{.underline}**

TEST SUMMARY

  ----------------- ------- ------- -------- ------- -- ----------- -------------- ------- ------
  Vehicle NHTSA                                                                            
  No.:                                                                                     

  Test Date:                                 Time:                  Temperature:           ^o^C

  Vehicle                                                                                  
  Make/Model/Body                                                                          
  Style:                                                                                   

  Vehicle Test                                          kg                                 
  Weight:                                                                                  

  Lane Departure                                                                           
  Warning Confirmed                                                                        
  ----------------- ------- ------- -------- ------- -- ----------- -------------- ------- ------

**[DATA SHEET NO. 2]{.underline}**

## GENERAL TEST AND VEHICLE PARAMETER DATA

  ------------------------- ------------------------ --- -- -- -------- -- ------------ -- -- ------ -- --- ---------- -------- ------------ -------- --------------- ------ --- --------- ------------------------------ -------- --------- ------- -------- ------- ----------- ---- ---- ---- --
  TEST VEHICLE INFORMATION:                                                                                                                                                                                                                                                                      

                            Year/Make/Model/Body                                                                                                                                                                                                                                                 
                            Style:                                                                                                                                                                                                                                                               

                            NHTSA No.:                                                        ; VIN:                                                                                                                               ; Color:                                                      

  Engine Data:                                                             Cylinders;                                                                                 CID;                                                         Liters;                                                  cc   

  Transmission Data:                                                       speeds;                                              Manual;                                                    Automatic;                                                                 Overdrive                  

  Final Drive:                                                 Rear                                                             Front Wheel                                                                                                  Four                                                
                                                               Wheel                                                            Drive;                                                                                                       Wheel                                               
                                                               Drive;                                                                                                                                                                        Drive                                               

                            Major Options:                                 A/C;                                                 Pwr.Strg.;                                                                                Pwr.                                                                   
                                                                                                                                                                                                                          Brakes                                                                 

                                                                           Pwr.                                                              Pwr.                                                                                            Tilt                                                
                                                                           Windows;                                                          Door                                                                                            Wheel                                               
                                                                                                                                             Locks;                                                                                                                                              

  Date Received:                                                                                            ; Odometer                                                                                                                                                            km             
                                                                                                            Reading                                                                                                                                                                              

  Dealer/leasee:                                                                                                                                                                                                                                                                                 

  & Address:                                                                                                                                                                                                                                                                                     

  **[DATA FROM VEHICLE\'S                                                                                                                                                                                                                                                                        
  CERTIFICATION                                                                                                                                                                                                                                                                                  
  LABEL:]{.underline}**                                                                                                                                                                                                                                                                          

                            Vehicle Manufactured by:                                                                                                                                                                                                                                             

                            Date of Manufacture                                                                                                                                                                                                                                                  

                            GVWR:                              kg;                                                              kg FRONT;                                                                                                    kg REAR                                             
                                                               GAWR:                                                                                                                                                                                                                             

  **[DATA FROM TIRE OR TIRE                                                                                                                                                                                                                                                                      
  PLACARD:]{.underline}**                                                                                                                                                                                                                                                                        

                            Tire Pressure with                                                                                                                                                                            kpa                                                                    
                            Maximum Capacity Vehicle                                                                                                                                                                      FRONT                                                                  
                            Load:                                                                                                                                                                                                                                                                

                                                                                                                                                                                                                          kpa REAR                                                               

                            Load Index & Speed                                                                                                                                                                                                                                                   
                            Symbol:                                                                                                                                                                                                                                                              

                            Recommended Tire Size:                                                                                                                                                                                                                                               

  \*                        Recommended Cold Tire                                                                                            kpa                                                                                                     kpa REAR                                    
                            Pressure:                                                                                                        FRONT;                                                                                                                                              

                            Tire Grades:                                                                                                              Temperature;                         \_\_\_\_\_\_\_\_\_\_\_\_\_\_                                                                          
                            \_\_\_\_\_\_\_\_\_\_\_                                                                                                                                         Traction                                                                                              
                            Treadwear;                                                                                                                                                                                                                                                           

                            Size of Tires on Test                                                                                                     ; Manufacturer:                                                                                                                            
                            Vehicle:                                                                                                                                                                                                                                                             

                            Vehicle Capacity Data:                                                                                                                                                                                                                                               

                            Type of Front Seats:                                                                       Bench;                                                    Bucket;                                                                      Split                              
                                                                                                                                                                                                                                                              Bench                              

                            Number of Occupants:                                                                       Front;                                                    Rear;                                             0                          Total                              

                            Vehicle Capacity Weight                                                                                                                                                                       kg                                                                     
                            (VCW) =                                                                                                                                                                                                                                                              

                            No. of Occupants x 68 kg                                                                                                                                                                      kg                                                                     
                            =                                                                                                                                                                                                                                                                    

                            Rated Cargo/Luggage                                                                                                                                                                           kg                                                                     
                            Weight (RCLW) =                                                                                                                                                                                                                                                      

  \*Tire pressure used for                                                                                                                                                                                                                                                                       
  test                                                                                                                                                                                                                                                                                           

                                                                                                                                                                                                                                                                                                 

                                                                                                                                                                                                                                                                                                 

  **WEIGHT OF TEST VEHICLE                                                                                                                                                                                                                                                                       
  AS RECEIVED FROM DEALER                                                                                                                                                                                                                                                                        
  (with maximum fluids) =                                                                                                                                                                                                                                                                        
  UDW:**                                                                                                                                                                                                                                                                                         

                            Right Front =                                                                   kg                               Right                                                                                                                                kg             
                                                                                                                                             Rear =                                                                                                                                              

                            Left Front =                                                                    kg                               Left                                                                                                                                 kg             
                                                                                                                                             Rear =                                                                                                                                              

                            TOTAL FRONT =                                                                   kg                               TOTAL                                                                                                                                kg             
                                                                                                                                             REAR =                                                                                                                                              

                            TOTAL DELIVERED WEIGHT =                                                                                         Kg                                                                                                                                                  

                            \% of Total Front of                                                                                             \% of                                                                                                                                     \%        
                            Vehicle Weight =                                                                                                 Total                                                                                                                                               
                                                                                                                                             Rear                                                                                                                                                
                                                                                                                                             Weight =                                                                                                                                            

  **WEIGHT OF TEST                                                                                                                                                                                                                                                                               
  VEHICLE**                                                                                                                                                                                                                                                                                      

                            Right Front =                                                                   kg                               Right                                                                                                                                kg             
                                                                                                                                             Rear =                                                                                                                                              

                            Left Front =                                                                    kg                               Left                                                                                                                                 kg             
                                                                                                                                             Rear =                                                                                                                                              

                            TOTAL FRONT =                                                                   kg                               TOTAL                                                                                                                                kg             
                                                                                                                                             REAR =                                                                                                                                              

                            TOTAL TEST WEIGHT =                                                                        Kg                                                                                                                                                                        

                            \% of Total Front Weight                                                        \% % of                                                                                                                                                                    \%        
                            =                                                                               Total Rear                                                                                                                                                                           
                                                                                                            Weight =                                                                                                                                                                             

  **FUEL** **SYSTEM DATA                                                                                                                                                                                                                                                                         
  :**                                                                                                                                                                                                                                                                                            

                            Fuel System Capacity                                                                                                                                 liters                                                                                                          
                            From Owner\'s Manual =                                                                                                                                                                                                                                               

                            Usable Capacity Figure                                                                                                                               liters                                                                                                          
                            Furnished by COTR =                                                                                                                                                                                                                                                  

                            Test Volume Range (75 %                                                                                                                                        to                                                        liters                                      
                            to 100% of Usable                                                                                                                                                                                                                                                    
                            Capacity) =                                                                                                                                                                                                                                                          

                            ACTUAL TEST VOLUME=                                                                                 liters (with                                                                                                                                                     
                                                                                                                                entire fuel                                                                                                                                                      
                                                                                                                                system                                                                                                                                                           
                                                                                                                                filled)                                                                                                                                                          
  ------------------------- ------------------------ --- -- -- -------- -- ------------ -- -- ------ -- --- ---------- -------- ------------ -------- --------------- ------ --- --------- ------------------------------ -------- --------- ------- -------- ------- ----------- ---- ---- ---- --

## 

## 

##  

## **[DATA SHEET NO. 3]{.underline}**

> **PHOTOGRAPHS**
>
> Appendix A: References

# REFERENCES

1\. National Center for Statistics and Analysis. *Traffic Safety Facts
2005.* U.S. Department of Transportations, National Highway Traffic
Safety Administration.

2\. Wang, J., Knipling, R. R. *Single Vehicle Roadway Departure Crashes:
Problem Size Assessment and Statistical Description.* DOT HS 808 113,
March 1994.

3\. Mironer, M., Hendricks, D. *Examination of Single Vehicle Roadway
Departure Crashes and Potential IVHS Countermeasures.* DOT HS 808 144,
August 1994.

4\. Pomerleau, D., Jochem, T., Thorpe, C., Batavia, P., Pape, D.,
Hadden, J., McMillian, N., Brown, N., Everson, J., *Run-Off-Road
Collision Avoidance Using IVHS Countermeasures.* DOT HS 809 170,
December 1999.

5\. LeBlanc, D., Sayer, J., Winkler, C., Ervin, R., Bogard, S.,
Devonshire, J. Mefford, M., Hagan, M., Bareket, Z., Goodsell, R., and
Gordon, T. *Road Departure Crash Warning System Field Operational Test:
Methodology and Results.* UMTRI 2006-9-1, June 2006.

6\. Wilson, B. Road Departure Crash Warning System: Preliminary Results
of the Independent Evaluation. [http://www.itsa.org/itsa/files/pdf/RDCW
Volpe
Evaluation.pdf](http://www.itsa.org/itsa/files/pdf/RDCW Volpe Evaluation.pdf)[.]{.underline}
ITS America: Public Meeting on the Benefits of Advanced Crash Avoidance
Systems. April 2006.

7\. ISO Draft International Standard. *Intelligent Transport Systems --
Lane Departure Warning Systems -- Performance Requirements and Test
Procedures.* Working Document N123.33. ISO/CD17361. Committee
ISO/TC204/WG14. June 2003.

8\. Szabo, S., Norcross, R., *Recommendations for Objective Test
Procedures for Road Departure Crash Warning Systems.* NISTIR 7288,
February 2006.

9\. Najm, W., Koopermann, J. Boyle, L, and Smith, D. *Development of
Test Scenarios for Off-Roadway Crash Countermeasures Based on Crash
Statistics.* DOT HS 809 505, September 2002.

10\. Houser, A., Pierowicz, J., Fuglewicz, D. *Concept of Operations and
Voluntary Operational Requirements for Lane Departure Warning System
(LDWS) On-board Commercial Motor Vehicles.* FMCSA-MCRR-05-005. July
2005.

11\. SAE J266, Surface Vehicle Recommended Practice, ''Steady-State
Directional Control Test Procedures For Passenger Cars and Light
Trucks,'' 1996.

.

12\. SAE J2808, Surface Vehicle Information Report. "Road/Lane Departure
Warning Systems: Information for the Human Interface", 2007.

13\. Barickman, F., Stoltzfus, D. A Simple CCD Based Lane Tracking
System. Society of Automotive Engineers. 1999-01-1302. March 1999.

14\. Szabo, S., Norcross, R., *An Independent Measurement System for
Performance Evaluation of Road Departure Crash Warning Systems.* NISTIR
7287. January 2006.

15\. Federal Highway Administration. Manual on Uniform Traffic Control
Devices. <http://mutcd.fhwa.dot.gov/index.htm>.

16\. Barickman, F., Burgett, A., Rau, P., Smith, D., Srinivasan, G.
*Preliminary Analysis and Models of Driver Responses to an Impending
Lateral Crash*. NHTSA Technical Report Pending Publication.