## 4 Field Tests
\begin{table}
\begin{tabular}{c l c} \hline \hline
**Test Number** & **The Case of Another LRV on the Same Line** & **Related Figure** \\ \hline
1 & A static LRV on the same line with the test vehicle. & Figure 10(a) \\ \hline
2 & Another LRV on the same line approaching the test vehicle from the opposite direction with a velocity of 10 km/h. & Figure 10(b) \\ \hline
3 & Another LRV on the same line approaching the test vehicle from the opposite direction with a velocity of 10 km/h. This scenario is the next step of the previous one and LRV is closer to the test vehicle. & Figure 10(c) \\ \hline
4 & Another LRV approaching the test vehicle from the opposite direction with a velocity of 20 km/h. & Figure 10(d) \\ \hline
5 & Another LRV on the same line and with the same heading moving with a velocity of 20 km/h. & Figure 10(e) \\ \hline
6 & A pedestrian running towards the test vehicle with a velocity of 5 km/h. & Figure 10(a) \\ \hline
7 & A pedestrian running towards the test vehicle with a velocity of 11 km/h. & Figure 10(b) \\ \hline
8 & A pedestrian running towards the test vehicle with a velocity of 14 km/h. & Figure 10(c) \\ \hline
9 & A pedestrian running towards the test vehicle with a velocity of 13 km/h but changes direction when an acoustic alarm is activated. & Figure 10(d) \\ \hline \hline \multicolumn{3}{c}{Mixed type scenario} \\ \hline
10 & A static LRV on the line and two pedestrian crossing from the tram route. & Figure 10(c) \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Test Scenarios. vehicle with a velocity of 14 km/h. Although the acoustic warning was activated the heading of the pedestrian is not changed and is still towards the test vehicle. Taking into account the velocity and heading of the pedestrian, a collision is highly possible in a two-second time period. So, the automatic brakes are activated. In the Figure 12d scenario, the pedestrian running with a velocity of 13 km/h is in the danger zone, and a collision is highly probable. Although the pedestrian has changed his heading, there still exists a probability of a collision when the dimensions of the tram are taken into account. Because of this, the automatic brakes are activated. There are two pedestrians crossing the tram line and a static LRV in the scenario that can be seen in Figure 13. In terms of its position, the static LRV does not pose a danger to test vehicle. Pedestrians are in danger zone, but probability of collision is not very high. A visual signal and an acoustic signal are activated. In the first five test scenarios (Figure 11) and 7 th, 8 th, and 9 th scenarios (Figure 11b-d) object detection and classification results were good and CAS worked well. In the sixth test scenario (Figure 11a), a pedestrian was detected by algorithm but was misclassified. Because, the pedestrian suddenly started to move and he kept moving slowly. Since the classification algorithm is closely related to the time, object is detected after a few second delay as a pedestrian. In scenario 10, system first classified pedestrians and static LRV. When two pedestrian got closer to each other, the classification algorithm could not distinguish two pedestrians. Despite the misdetection of the two situations, the CAS issued the appropriate alarm because pedestrian was detected as an object. Figure 12: The scenarios for a pedestrian approaching the test vehicle. (**a**) A pedestrian running towards the test vehicle with a velocity of 5 km/h; (**b**) A pedestrian running towards the test vehicle with a velocity of 11 km/h; (**c**) A pedestrian running towards the test vehicle with a velocity of 14 km/h; (**d**) A pedestrian running towards the test vehicle with a velocity of 13 km/h but changes direction when an acoustic alarm is activated.