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may monitor the driver continuously or may only check the driver’s attention at pre-defined
intervals.
As described in Section 3.2, this study assumes that Level 1 and Level 2 ALC systems are
designed to disengage when the driver awareness sensors detect that the driver is not engaged in
the driving task. The timeframe in which the system disengages varies between manufacturers.
For example, the owner’s manual for one ALC system indicates that the system may alert the
driver and disengage within five seconds if the driver awareness sensors do not detect that the
driver is engaged in the driving task.
Depending on the vehicle’s design, when the driver awareness sensors for the ALC system detect
that the driver is not engaged in the driving task, other vehicle systems may also enter degraded
states. For example, some systems may also disengage longitudinal control systems, such as
ACC, and bring the vehicle to a stop. Other designs may allow longitudinal control systems to
continue operating after the ALC system is disengaged.
3.4.2 Lane Detection Sensors and Connected Data Sources
The ALC system receives information about the surrounding environment from a suite of lane
detection sensors. Current sensor technologies include the following: cameras, radar, sonar, and
LIDAR.
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The combination of sensors used to provide roadway data to the ALC system varies
between manufacturers. Other types of lane detection sensors may rely on supporting
infrastructure, such as embedded lane markers in the roadway. For example, the University of
California, Berkeley, PATH bus system uses magnetometers to detect magnets embedded along
the lane and roadway boundaries.
Regardless of the specific lane detection sensor technologies used in the ALC system design,
these sensors are responsible for detecting the lane and roadway boundaries, and providing this
information to the ALC control module. If multiple lane detection sensors are used, sensor fusion
algorithms may be employed to combine the data from individual sensors. In addition to
detecting lane and roadway boundaries, the lane detection sensors may provide additional data to
the ALC control module, including information on roadway curvature, lane width, and the
presence of roadway hazards. At low vehicle speeds or in heavy traffic, the roadway lane
detection sensors may track the lead vehicle in addition to (or in lieu of) tracking the roadway
and/or lane markings.
The lane detection sensor suite may be augmented with information from connected data
sources, such as GPS data, detailed map services, vehicle-to-vehicle data, and vehicle-to-
infrastructure data. These additional data sources may provide the ALC control module with
additional roadway information, such as roadway type, upcoming on-ramps or off-ramps, and
21
Current production vehicles rely on cameras to detect lane markings, while some prototype vehicles also use
LIDAR to detect lane markings [71]. These sensors may be supplemented by radar or sonar sensors [19] [70].