ARTICULATED
PEDESTRIAN TARGET
SPECIFICATIONS
Articulated Pedestrian Target Specifications
Version 1.0
Articulated Pedestrian Target Specifications – Version 1.0 1
Document history
Version Modified by Date Description / Modification
0.1 Thomas Wimmer (4a)
Martin Fritz (4a)
10.3.2015 Draft Specifications
0.2 ACEA-Group (SG Art. Dummy)
Martin Fritz (4a)
11.3.2015 Input from Spec- Workshop in Sindelfingen
0.2.2 Frank Baumann 25.3.2015 Consideration of Feedback of SG Dummy
0.3 Frank Baumann 26.5.2015 Consideration of Feedback of SG Dummy and Testing at VENLO
0.3.2 Frank Baumann 29.5.2015 Consideration of Feedback of SG Dummy members
0.3.3 Frank Baumann 02.07.2015 Consideration of Feedback of Radar Expert Telco 02.07.
0.3.4 ACEA-Group (SG Art. Dummy)
Martin Fritz (4a)
10.08.2015 Workshop - Sindelfingen
0.4.0 Thomas Wimmer (4a)
Martin Fritz (4a)
01.09.2015 Including movement data’s for ankle and knee, RCS-boundaries from Bosch and Conti
0.5.0 Frank Baumann 07.09.2015 Editorial changes, RCS measurements added to Annex
0.6.0 Frank Baumann 11.09.2015 Statistical evaluation of RCS of real pedestrians by Bosch added to Annex
1.0 Thomas Wimmer (4a)
Martin Fritz (4a)
21.10.2015 Speed characteristic of ankle and knee
Changing Arm posture to harmonize with static Dummy
Articulated Pedestrian Target Specifications – Version 1.0 2
ARTICULATED PEDESTRIAN TARGET
CONTENT
1 Introduction 3
1.1 General Information 3
1.2 Definitions 3
2 Pedestrian Target 3
2.1 Pedestrian Target Dimensions 3
2.2 Visible and Infrared Properties 6
2.3 Radar Properties 7
2.3.1 Radar Cross Section (RCS) 7
2.3.2 Doppler Effect of Articulation 8
2.4 Articulation 9
2.5 Mounting and Guidance System 12
2.6 Pedestrian Target Weight and Collision Stability 12
Appendix 14
A1 Measurement of the IR reflectivity 14
A2 Measurement of Radar Reflectivity 16
A3 Example Measurements of RCS 19
A4 Example Measurements of Micro Doppler 21
Articulated Pedestrian Target Specifications – Version 1.0 3
1 INTRODUCTION
1.1 GENERAL INFORMATION
Based on the vFSS-protocol (V1.1 from 27.10.2014) for the static dummy and the outcome of the
ACEA-Project Articulating Dummy as well as the pre-studies from 4activeSystems the following
specification defines an articulated pedestrian target. The articulation adds additional
characteristics of a moving pedestrian and therefore is providing an improved image of a human
pedestrian compared to a non-articulated dummy. The actual protocol only the crossing sceneries
are validated. An update for longitudinal sceneries is planned on a later stage.
1.2 DEFINITIONS VUT Vehicle under test PT Pedestrian target
2 PEDESTRIAN TARGET
The PT must be able to represent the human attributes in relation to the sensors used in the vehicle.
The required sensor-relevant PT attributes for a system test are determined by the vehicle
manufacturer and have to be implemented in the manner specified in this document. The
requirements relate, insofar not specified otherwise, to the PT including a guiding rod. The PT has
to be detectable by following automotive sensors technologies: RADAR, Video, Laser, PMD, IR-
based system. The PT consists of two articulated legs, two static arms, torso and an interface-
center-tube either from lower side (platform) or from upper side (test rig).
2.1 PEDESTRIAN TARGET DIMENSIONS
The shape of the adult PT refers to the contours with the 50 % RAMSIS Bodybuilder (Child PT -
RAMSIS 7YO Bodybuilder) based on the RAMSIS version 3.8.30 to a permitted tolerance of ± 2 cm.
The body shape has to be implemented according to the CAD files The face is looking in the walking
direction. The PT has to be fixed in upright position. The dimensional accuracy and stability of the
PT can be verified in an easy manner may be with help of a suitable tool or template.
Articulated Pedestrian Target Specifications – Version 1.0 4
The reference point for the lateral position of the dummy is the HIP Point (see red circle in figure 1-
1, 1-2, 2). The same dummy posture (picture 1-1, 1-2, 2) is used for left-hand and right-hand driving
regions, as well for near- and farside test scenarios. After a collision the correctness of the PT
posture and dimension has to be checked. The most relevant PT parameters are defined in the table
below and are requested during the testing phase (wind, acceleration). Additionally to the values
mentioned in the tables, a lateral (relative to moving direction of PT) oscillation has to be
prevented: sideward tolerances +/- 5°.
Segment Unit Dim. Tol.
Body height (+shoes) mm 1800 ± 20
HIP Point height mm 923 ± 20
Shoulder width mm 500 ± 20
Shoulder height mm 1500 ± 20
Head width mm 170 ± 10
Head height mm 260 ± 10
Torso depth mm 235 ± 10
Ground Clearance mm 20 ± 5
Torso angle deg 85 ± 2
R Upper arm angle deg 60 ± 2
L Upper arm angle deg 110 ± 2
Tube in driving dir. deg 5 ± 2
Segment Unit Dim. Tol.
Body height (+shoes) mm 1154 ± 20
HIP Point height mm 607 ± 20
Shoulder width mm 298 ± 20
Shoulder height mm 920 ± 20
Head width mm 150 ± 10
Head height mm 250 ± 10
Torso depth mm 139 ± 10
Ground Clearance mm 20 ± 5
Torso angle deg 78 ± 2
R Upper arm angle deg 50 ± 2
R Upper arm angle deg 112 ± 2
Tube in driving dir. deg 5 ± 2
Figure 1-1: dimensions Adult
Figure 1-2: dimensions Child
Articulated Pedestrian Target Specifications – Version 1.0 5
Figure 2: Angle of tube for far and near side sceneries – Tube is leaning in driving direction
Articulated Pedestrian Target Specifications – Version 1.0 6
2.2 VISIBLE AND INFRARED PROPERTIES
The PT shall be look like clothed with a long-sleeved t-shirt and trousers in different colors: t-shirt
in black and jeans in blue. The clothing has to be made from tear-proofed and water-resistant
material. Skin surface parts have to be finished with a non-reflective flesh-colored texture.
The IR reflectivity from 850 to 910 nm wavelength of clothes and the skin must be within the
following range of 40% to 60%. The IR reflectivity from 850 to 910 nm wavelength of the head hairs
must be within the following range of 20% to 60%. At the selection of the clothes it has to be
ensured, that the IR reflectivity measured with the 45° probe must not differ for more than 20%
from the reflectivity measured with the 90° probe. The visual and infrared properties are defined
below:
Figure 3: Visual and Infrared Properties
Articulated Pedestrian Target Specifications – Version 1.0 7
The colour of stiffening ropes must be light grey and low optical reflective.
To provide robust behavior of the outer cover the textile should have following characteristic:
Area weight: < 300 g/m²
Water resistance (AATCC 127): > 600 mm
strength (ASTM D5034): > 350 lbs
light fastness (AATCC 169): > 6000 h
wear resistance ASTM (D3884): > 500 cycles
2.3 RADAR PROPERTIES
The radar reflectivity characteristics of the pedestrian targets should be equivalent to a human
being pedestrian of the same size.
2.3.1 RADAR CROSS SECTION (RCS) The radar cross section of a pedestrian depends on the observation angle and typically varies
significantly. Theoretically there is no RCS variation with the distance. However due to the field of
view of the radar sensor and the implemented free space loss compensation the measured RCS
significantly varies over distance and in near distances the pedestrian is not scanned over its
complete height. Therefore, in this document we refer to RCS as the measured RCS by radar sensor
with its specific parameter set, and it does not correspond to the physical RCS. The RCS is also
influenced by geometrical effects (i.e. multi path with constructive and destructive interferences).
Therefore during the development of pedestrian dummies it must be taken into account that the
RCS will be reviewed not only static but by a description of the RCS by closing on the PT. (see
example of the RCS distribution at 76GHz of real pedestrian in Annex A3). If the PT does not provide
a sufficient RCS and it has to be equipped with additional reflectors, they have to be distributed
throughout the whole body. On the other hand, in case the RCS of the PT is too high, absorption
material has to be distributed homogeneously over the whole body. It must be insured that the RCS
value is homogeneously distributed over the whole body of the PT. This allows achieving the effect
of decreasing RCS at a shorter distance by only partial coverage. A more precise definition must be
made individually for each frequency and sensor variant.
The radar cross section of pedestrian targets (adult and child) should stay within a defined range.
Depicted in figure 4 are example RCS boundaries for measurements (performed as described in
section 4.4 using scenario 1) with a commercial available 77 GHz sensor1 . If other sensors are used
1 Measurements performed with Continental ARS 300/301 radar sensor
Articulated Pedestrian Target Specifications – Version 1.0 8
or the mounting position of the sensor is different, slightly other RCS values may be obtained. In
that case an additional verification/adaption of the boundaries (figure 4) may be necessary for
validation of the PT. The boundaries of the average RCS-curves are independent from the
orientation around the vertical axes.
Figure 4: Pedestrian target RCS boundaries for measurements at 77GHz
2.3.2 DOPPLER EFFECT OF ARTICULATION
Radar sensor technology may be able to measure and detect the relative velocities of moving legs
of pedestrians. This characteristic of pedestrians will be referenced as micro-doppler in the
specifications (example of the distribution of relative velocities of a crossing pedestrian measured
by radar is provided in Annex A4).
In order to ensure a micro-doppler effect comparable to human beings the articulation of the legs
must provide the characteristics of chapter 2.4. The specified leg-movement (knee + ankle) is
evaluated by video analysis.
Additionally a homogenous distribution2 of the RCS over the whole dummy height shall be
ensured. Humanlike RCS-distribution shall be checked under static conditions (parts: lower legs,
2 A methodology to evaluate the homogenous distribution of RSC is currently under development of Uni Linz and will be introduced at
a later stage.
Articulated Pedestrian Target Specifications – Version 1.0 9
upper legs, feet, arms, torso and head).
2.4 ARTICULATION
Only legs articulation is requested by the dummy, since leg movement is always available at
crossing pedestrian whereas arm movement seems to be subordinated. Arm movement is
necessarily not a characteristic of human while walking/running.
In order to provide robustness and cost efficiency of the PT an articulation of hips only is preferred
in order to simulate human like leg movement. The hips are driven by electric motors.
The articulation of the legs is defined by the velocities of knee and ankle. The velocities of PTs of
the size described in chapter 2.1 must stay within the bandwidth depicted in figure 5 for an adult
and child PT.
Articulated Pedestrian Target Specifications – Version 1.0 10
Figure 5: Specification of knee and ankle velocity – (1 - dark blue/green, 2 - medium
blue/green, 3 - light blue/green)
Articulated Pedestrian Target Specifications – Version 1.0 11
In order to support repeatable articulation pattern at each test run the same articulation posture shall be ensured at the reference point (RP). The RP is defined for nearside and farside crossing scenarios at a lateral offset of 2m (hip point of PT) to the middle of the driving lane (see Figure 6). At the reference point the legs must have a posture TSw as shown Figure 6 and 7. The posture of the legs at the reference point shall be recorded by video and checked after testing. The torso shall be within +/- 10% of the target velocity when the reference point is passed.
Figure 6: Reference point for articulation (near-side and far-side scenarios)
Figure 7: Pedestrian walking phases and posture at reference point (RP) TSw
Posture at RP
Articulated Pedestrian Target Specifications – Version 1.0 12
The Torso and H-Point has to have a constant speed motion with low swinging. Leg movement has to have reached steady state conditions latest at a lateral offset of
3.0 m (nearside scenario, 5 kph)
4.5 m (farside scenario, 8kph)
between dummy and the middle of the lane. Articulation of the feet must be in a plane parallel to the plane defined by the dummy movement and the vertical (z) axis. Tolerance requirement: +-1°.
Leg movement shall start simultaneously with the lateral movement of the dummy. The dummy shall start from an offset of
4.0 m in nearside, 5kph scenario
6.0 m in farside, 8kph scenario
in order to be able to reach steady state leg movement at the specified lateral offsets.
2.5 MOUNTING AND GUIDANCE SYSTEM
All visible parts of the PT mounting and guidance system must be coloured in grey. In case
of a uniform background the color shade of the background can be used.
It must be ensured that the PT Mounting is not influencing radar return. Radar absorbing
material shall be used at the PT mounting to ensure that the PT mounting provide no radar
reflections.
Any supporting ropes, tubes for fixing the dummies position must be designed not to
interfere with the pedestrian emergency braking system
The distance between bottom edge of the PT and road surface has to be less than 25 mm.
Exact and reproducible positioning of the PT has to be guaranteed (± 3cm hit point).
The movement parameters of the PT has to be supplied to the vehicle
Vehicle speed up to 60 km/h and PT speed up to 20 km/h must be supported.
An active unlocking system is required to release the PT immediately before impact to
prevent/reduce severely damage by the collision.
2.6 PEDESTRIAN TARGET WEIGHT AND COLLISION STABILITY
The PT must not have any hard impact points to prevent damage of the VUT.
The PT has to be designed for a maximum collision velocitiy vVEH_COLL = 60 kph.
Articulated Pedestrian Target Specifications – Version 1.0 13
Max PT weight: adult: 7 kg
child: 4 kg
The PT shall be coated with a closed textile outer cover.
At repetition of tests after previous collisions the target must not show any changes in its
shape and the functionality of the articulations.
There must be a possibility to check and correct the body posture and angel of legs and
arms in an easy and practical way corresponding to the defined tolerances e.g. with the
help of a tool with a reference shape.
Articulated Pedestrian Target Specifications – Version 1.0 14
APPENDIX
A1 MEASUREMENT OF THE IR REFLECTIVITY
The measurement of the IR reflectivity must be carried out using a measuring device according to
the following specification.
IR Reflectivity measurement device: Spectrometer for wavelength range 800 nm – 900 nm eg: Jaz – mobiles Miniaturspektrometer von Fa. Ocean Optics, wavelength range 350 – 1000 nm, in combination with Reflexionssonde QR600-7-VIS125BX
Picture 12: Jaz Spectrometer
Calibration: Before the start of the measurement the device must be calibrated with
a reflection standard, material spectralon, reflectance 99%. The
calibration has to be verified by reflectance standards with reflectivity
of 50%, 20%.
Example of reflection standards: Labsphere Reflexionsstandards SRS-
99-020, SRS-50-020, SRS-20-020, …
Picture 13: Reflexion Standards
99% 75% 50% 20% 2%
Articulated Pedestrian Target Specifications – Version 1.0 15
Measurement setup: The measurement of the target must be conducted with a special
attachment which ensures a defined distance between probe and
target as defined in the following figure.
Picture 14: Measurement Probe 90°, Measurement Probe 45°
Entire test setup with Jaz-Spectrometer, reflectance probe, 90°
measuring attachment and reflection standards:
Picture 15: Complete Measurement Setup
The measurement shall be performed at three different points of the measuring object and shall be
recorded.
The resulting IR reflectivity value corresponds to the average of the three reflectivity
measurements.
Articulated Pedestrian Target Specifications – Version 1.0 16
A2 MEASUREMENT OF RADAR REFLECTIVITY
The measurement of the radar reflectivity must be carried out using a measurement setup
according to the following specification.
Recommended Measurement Setup
A reference measurement with a corner reflector (calibrated 10 dBsm) before and after
measurements is recommended.
Sensor
- vertical distance to ground as sensor application height 500 mm +/- 150mm - horizontal alignment +/-1 deg to center line - vertical alignment +/-1 deg to center line - 77 GHz Sensor:
Bosch MRR-SGU Continental ARS300/ARS301/ARS400 series
Car
- angular driving deviation < 2 deg (driving direction) - positioning accuracy longitudinal/lateral < 50 mm
Pedestrian Target
- positioning accuracy longitudinal/lateral < 10 mm - angular orientation deviation < 3 deg (moving direction)
Articulated Pedestrian Target Specifications – Version 1.0 17
Test Environment
- no additional objects/buildings in the observation area - proving ground surface completely covered with tarmac or concrete - ground conditions: flat, dry street - no metallic or other strong radar-reflecting parts in-ground or surrounding area - reference measurement with 10dBsm @ 40 m distance - corner reflector mounting height: 1m
Figure A1: Test Environment
Free space
PT
Sensor
Articulated Pedestrian Target Specifications – Version 1.0 18
Measurement Scenario
Scenario 1
- static PT with moving vehicle - initial distance 40 m to 4m - max. approaching speed 10 kph, no abrupt deceleration - measurement angles 90, 270 deg (static PT facing direction relative to vehicle) - averaging 5 approaches - low pass filtering using a sliding average window (+/-2.5m)
270 deg90 deg
mo
vin
g d
ire
cti
on
radar
centerline(radar boresight)
ept
Articulated Pedestrian Target Specifications – Version 1.0 19
A3 EXAMPLE MEASUREMENTS OF RCS
Figure A2: Example RCS of pedestrians at 76GHz
Figure A3 is providing an example of a statistical evaluation of RCS measurements of human pedestrians. The standard deviations (sigma) of RCS measurements are depicted.
Figure A3: Statistical evaluation of RCS measurements of real pedestrians3
Additional RCS measurements, evaluation methodologies and RCS-measurements of real pedestrians are presented in: http://publications.jrc.ec.europa.eu/repository/handle/JRC78619
3 Measurements and statistical evaluation performed by Bosch
Articulated Pedestrian Target Specifications – Version 1.0 20
Figure A4 provides an example of a comparison of a real human versus ACEA/4a articulated adult dummy using the evaluation methodology of Annex A2.
Figure A4: Example RCS of Articulated Adult Dummy versus real Human being (example of Bosch measurements
Figure A5 provides an example of RCS measurements of the ACEA/4A articulated adult dummy using the evaluation methodology of Annex A2. RCS evaluations of different sensor suppliers and mounting positons are depicted.
Figure A5: Example RCS Evaluation of ACEA/4a Articulated Adult Dummy
-25
-20
-15
-10
-5
0
5
10
0 10 20 30 40 50
RC
S (d
B)
Range (m)
RCS Measurements of Real Pedestrian vs. Adult Articulated Dummy
lower boundaryRCSupper boundaryRCSBosch DummySensor 1Bosch DummySensor 2Bosch, Human1,leftBosch, Human1,rightBosch, Human2,left
-25
-20
-15
-10
-5
0
5
10
0 10 20 30 40 50
RC
S (d
Bsm
)
Range (m)
Example RCS Measurements of Adult Articulated Pedestrian Dummy
Continental AverageCurveDaimler Average Curve
Bosch Average CurveVariant1Bosch Average CurveVariant 2Denso Average Curve
lower boundary RCS
upper boundary RCS
Articulated Pedestrian Target Specifications – Version 1.0 21
A4 EXAMPLE MEASUREMENTS OF MICRO
DOPPLER
Figure A6: Example of micro doppler4 (distribution of relative velocities) for a pedestrian with a crossing speed of 5 kph
4 Measurements performed with commercial available 77GHz radar sensor (Continental ARS Gen4); one complete crossing scene.
ABOUT ACEA
ACEA’s members are BMW Group, DAF Trucks, Daimler, Fiat Chrysler Automobiles,
Ford of Europe, Hyundai Motor Europe, Iveco, Jaguar Land Rover, Opel Group, PSA
Peugeot Citroën, Renault Group, Toyota Motor Europe, Volkswagen Group, Volvo Cars,
Volvo Group. More information can be found on www.acea.be.
ABOUT THE EU AUTOMOBILE INDUSTRY
Some 12.1 million people - or 5.6% of the EU employed population - work in the
sector.
The 3.1 million jobs in automotive manufacturing represent 10.4% of EU's
manufacturing employment.
Motor vehicles account for €396 billion in tax contribution in the EU15.
The sector is also a key driver of knowledge and innovation, representing
Europe's largest private contributor to R&D, with €41.5 billion invested annually.
European Automobile Manufacturers' Association – ACEA Avenue des Nerviens 85 | B-1040 Brussels | www.acea.be T +32 2 732 55 50 | M +32 485 886 647 | F +32 738 73 10 | [email protected] | @ACEA_eu