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The rapid development of driver assistance systems, such as lane-departure warning (LDW) and lane-keeping support (LKS), along with widely publicized reports of automated vehicle testing, have created the expectation for an increasing amount of vehicle automation in the near future. As these systems are being phased in, the coexistence of automated vehicles and human-driven vehicles on roadways will be inevitable and necessary. In order to develop automated vehicles that integrate well with those that are operated in traditional ways, an appropriate understanding of human driver behavior in normal traffic situations would be beneficial. Unlike many research studies that have focused on collision-avoidance maneuvering, this paper analyzes the behavior of human drivers in response to cut-in vehicles moving at similar speeds. Both automated and human-driven vehicles are likely to encounter this scenario in daily highway driving.

On-board Camera/Video Imaging Systems (C/VISs) for heavy vehicles display live images to the driver of selected areas to the sides, and in back of the truck's exterior using displays inside the truck cabin. They provide a countermeasure to blind-spot related crashes by allowing drivers to see objects not ordinarily visible by a typical mirror configuration, and to better judge the clearance between the trailer and an adjacent vehicle when changing lanes. The Virginia Tech Transportation Institute is currently investigating commercial motor vehicle (CMV) driver performance with C/VISs through a technology field demonstration sponsored by the National Highway Traffic Safety Administration (NHTSA) and the Federal Motor Carrier Safety Administration (FMCSA). Data collection, which consists of recording twelve CMV drivers performing their daily employment duties with and without a C/VIS for four months, is currently underway.

The injury outcome of a front-front two-vehicle crash will be a function of crash-specific, vehicle-specific, and occupant-specific parameters. This paper focuses on a preliminary methodology that was used to evaluate the potential for benefits in making vehicle-specific changes to improve the compatibility of light vehicles across the fleet. In particular, the effect on injury rates of matching vehicle frontal stiffness was estimated. The front-front crash data for belted drivers in the lighter vehicles in the crash from ten years of NASS-CDS data were examined. The frontal stiffness of each vehicle was calculated using data taken during full frontal rigid barrier tests for the U.S. New Car Assessment Program (NCAP), and only crashes coded in the CDS as “no override” were considered.

In crashes between heavy trucks and light vehicles, most of the fatalities are the occupants of the light vehicle. A reduction in heavy truck stopping distance should lead to a reduction in the number of crashes, the severity of crashes, and consequently the numbers of fatalities and injuries. This study made use of the National Advanced Driving Simulator (NADS). NADS is a full immersion driving simulator used to study driver behavior as well as driver-vehicle reactions and responses. The vehicle dynamics model of the existing heavy truck on NADS had been modified with the creation of two additional brake models. The first was a modified S-cam (larger drums and shoes) and the second was an air-actuated disc brake system. A sample of 108 CDL-licensed drivers was split evenly among the simulations using each of the three braking systems. The drivers were presented with four different emergency stopping situations.

The paper discusses the development of a model for the 2006 BMW 330i for the National Advanced Driving Simulator's (NADS) vehicle dynamics simulation, NADSdyna. The front and rear suspensions are independent strut and link type suspensions modeled using recursive rigid-body dynamics formulations. The suspension springs and shock absorbers are modeled as force elements. The paper includes parameters for front and rear semi-empirical tire models used with NADSdyna. Longitudinal and lateral tire force plots are also included. The NADSdyna model provides state-of-the-art high-fidelity handling dynamics for real-time hardware-in-the-loop simulation. The realism of a particular model depends heavily on how the parameters are obtained from the actual physical system. Complex models do not guarantee high fidelity if the parameters used were not properly measured. Methodologies for determining the parameters are detailed in this paper.

This paper presents the details of the model for the physical steering system used on the National Advanced Driving Simulator. The system is basically a hardware-in-the-loop (steering feedback motor and controls) steering system coupled with the core vehicle dynamics of the simulator. The system's torque control uses cascaded position and velocity feedback and is controlled to provide steering feedback with variable stiffness and dynamic properties. The reference model, which calculates the desired value of the torque, is made of power steering torque, damping function torque, torque from tires, locking limit torque, and driver input torque. The model also provides a unique steering dead-band function that is important for on-center feel. A Simulink model of the hardware/software is presented and analysis of the simulator steering system is provided.

This paper discusses techniques for estimating steering feel performance measures for on-center and off-center driving. Weave tests at different speeds are used to get on-center performances for a 1994 Ford Taurus, a 1998 Chevrolet Malibu, and a 1997 Jeep Cherokee. New concepts analyzing weave tests are added, specifically, the difference of the upper and lower curves of the hysteresis and their relevance to driver load feel. For the 1997 Jeep Cherokee, additional tests were done to determine steering on-center transition properties, steering flick tests, and the transfer function of handwheel torque feel to handwheel steering input. This transfer function provides steering system stiffness in the frequency domain. The frequency domain analysis is found to be a unique approach for characterizing handwheel feel, in that it provides a steering feel up to maximum steering rate possible by the drivers.

This paper presents recent results of on-going research to build new maps of driver performance in car-following situations. The novel performance map is comprised of four driving states: low risk, conflict, near crash, and crash imminent - which correspond to advisory warning, crash imminent warning, and crash mitigation countermeasures. The paper addresses two questions dealing with the approach to quantify the boundaries between the driving states: (1) Do the quantified boundaries strongly depend on the dynamic scenario encountered in the driving environment? and (2) Do the quantified boundaries vary between steering and braking driver responses? Specifically, braking and steering driver performances are examined in two car-following scenarios: lead vehicle stopped and lead vehicle moving at lower constant speed.

This paper describes ongoing research conducted by the National Highway Traffic Safety Administration (NHTSA) to evaluate the potential of safety restraints on large school buses. School bus transportation is one of the safest forms of transportation in the United States. Large school buses provide protection because of their visibility, size, and weight, as compared to other types of motor vehicles. Additionally, they are required to meet minimum Federal Motor Vehicle Safety Standards (FMVSS) mandating compartmentalized seating, emergency exits, roof crush and fuel system integrity, and minimum bus body joint strength.

NHTSA uses a variety of computer modelling techniques to develop and evaluate test methods and mitigation concepts, and to estimate safety benefits for many of NHTSA's research activities. Computer modeling has been particularly beneficial for estimating safety benefits where often very little data are available. Also modeling allows researchers to augment test data by simulating crashes over a wider range of conditions than would otherwise be feasible. These capabilities are used for a wide range of projects from school bus to frontal, side, and rollover research programs. This paper provides an overview of these activities. NHTSA's most extensive modeling research involves developing finite element and articulated mass models to evaluate a range of vehicles and crash environments. These models are being used to develop a fleet wide systems model for evaluating compatibility issues.

This paper focuses on the overall structure of the Crash Injury Research and Engineering Network (CIREN), how data are collected, and what makes it unique. It discusses how it can be used to expand and enhance the information in other databases. CIREN is a collaborative effort to conduct research on crashes and injuries at nine Level 1 Trauma Centers which are linked by a computer network. Researchers can review data and share expertise, which will lead to a better understanding of crash injury mechanisms and the design of safer vehicles. CIREN data are being used in outreach and education programs on motor vehicle safety. CIREN outreach and education has already been credited with lifesaving information dissemination.

This paper describes computer crash simulations performed by the National Highway Traffic Safety Administration (NHTSA) under the current research and testing activities on large school bus safety restraints. The simulations of a frontal rigid barrier test and comparative dynamic sled testing for compartmentalization, lap belt, and lap/shoulder belt restraint strategies are presented. School bus transportation is one of the safest forms of transportation in the United States. School age children transported in school buses are safer than children transported in motor vehicles of any other type. Large school buses provide protection because of their size and weight. Further, they must meet minimum Federal motor vehicle safety standards (FMVSSs) mandating compartmentalized seating, improved emergency exits, stronger roof structures and fuel systems, and better bus body joint strength.

The paper discusses the development of a model for a 1998 Chevrolet Malibu for the National Advanced Driving Simulator’s (NADS) vehicle dynamics simulation, NADSdyna. The Malibu is the third vehicle modeled for the NADS, and this is the third paper dealing with model development. SAE Paper 970564 contains details of the model for the 1994 Ford Taurus and SAE Paper 1999–01-0121 contains details of the model for the 1997 Jeep Cherokee. The front and rear suspensions are independent strut and link type suspensions modeled using recursive rigid body dynamics formulations. The suspension springs and shock absorbers are modeled as elements in the rigid body formulation. To complement the vehicle dynamics for the NADS application, subsystem models that include tire forces, braking, powertrain, aerodynamics, and steering are added to the rigid body dynamics model. The models provide state-of-the-art high fidelity vehicle handling dynamics for real-time simulation.

Steering control devices are used by people who have difficulty gripping the steering wheel. These devices have projections that may extend up to 14 cm toward the occupant. Testing indicated that contact with certain larger steering control devices with tall rigid projections could severely injure a driver in a frontal collision. In order to reduce this injury risk, an alternative, less injurious design was developed and tested. This design, which included replacing unyielding aluminum projections with compliant plastic ones, produced significantly lower peak contact pressure and less damage to the chest of a cadaver test subject, while maintaining the strength necessary to be useful.

The National Highway Traffic Safety Administration (NHTSA) has developed its Light Vehicle Antilock Brake Systems (ABS) Research Program in an effort to determine the cause (s) of the apparent increase in fatal single-vehicle run-off-road crashes as vehicles undergo a transition from conventional brakes to ABS. As part of this program, NHTSA conducted research examining driver crash avoidance behavior and the effects of ABS on drivers' ability to avoid a collision in a crash-imminent situation. The study described here was conducted on a test track under dry and wet pavement conditions to examine the effects of ABS versus conventional brakes, ABS brake pedal feedback level, and ABS instruction on driver behavior and crash avoidance performance. This study found that drivers do tend to brake and steer in realistic crash avoidance situations and that excessive steering can occur.

The National Highway Traffic Safety Administration (NHTSA) has developed its Light Vehicle Antilock Brake Systems (ABS) Research Program in an effort to determine the cause (s) of the apparent increase in fatal single-vehicle run-off-road crashes as vehicles undergo a transition from conventional brakes to ABS. As part of this program, NHTSA conducted research examining driver crash avoidance behavior and the effects of ABS on drivers’ ability to avoid a collision in a crash-imminent situation. The study described here was conducted on the Iowa Driving Simulator and examined the effects of ABS versus conventional brakes, speed limit, ABS instruction, and time-to-intersection (TTI) on driver behavior and crash avoidance performance. This study found that average, alert drivers do tend to brake and steer in realistic crash avoidance situations and that excessive steering can occur. However, this behavior did not result in a significant number of road departures.

A methodology to develop full-vehicle representation in the form of a finite element model for crashworthiness studies has been evolved. Detailed finite element models of two passenger vehicles - 1995 Chevy Lumina and 1994 Dodge Intrepid have been created. The models are intended for studying the vehicle’s behavior in full frontal, frontal offset and side impact collisions. These models are suitable for evaluating vehicle performance and occupant safety in a wide variety of impact situations, and are also suitable for part and material substitution studies to support PNGV (Partnership for New Generation of Vehicles) research. The geometry for these models was created by careful scanning and digitizing of the entire vehicle. High degree of detail is captured in the BIW, the front-end components and other areas involved in frontal, frontal offset and side impact on the driver’s side.

As Intelligent Transportation Systems (ITS) become more prevalent, the need to archive data from field tests becomes more critical. These data can guide the design of future systems, provide an information conduit among the many developers of ITS, enable comparisons across locations and time, and support development of theoretical models of driver behavior. The National Highway Traffic Safety Administration (NHTSA) is interested in such an archive. While a design for an ITS data archive has not yet been developed, NHTSA has supported the enhancement of the Test Planning, Analysis, and Evaluation System (Test PAES), originally developed by Calspan SRL Corporation for the U. S. Air Force Armstrong Laboratory, for possible use in such an archive. On a single screen, Test PAES enables engineering unit data, audio, and video, as well as a vehicle animation, to be time synchronized, displayed simultaneously, and operated with a single control.

This paper presents an overview of work performed by the National Highway Traffic Safety Administration's (NHTSA) Vehicle Research and Test Center (VRTC) to test, validate, and improve the planned National Advanced Driving Simulator's (NADS) vehicle dynamics simulation. This vehicle dynamics simulation, called NADSdyna, was developed by the University of Iowa's Center for Computer-Aided Design (CCAD) NADSdyna is based upon CCAD's general purpose, real-time, multi-body dynamics software, referred to as the Real-Time Recursive Dynamics (RTRD), supplemented by vehicle dynamics specific submodules VRTC has “beta tested” NADSdyna, making certain that the software both works as computer code and that it correctly models vehicle dynamics. This paper gives an overview of VRTC's beta test work with NADSdyna. The paper explains the methodology used by VRTC to validate NADSdyna.

Locations of key body segments of Hybrid III dummies used in FMVSS 208 compliance tests and NCAP tests were measured and subjected to statistical analysis. Mean clearance dimensions and their standard deviations for selected body segments of driver and passenger occupants with respect to selected vehicle surfaces were determined for several classes of vehicles. These occupant locations were then investigated for correlation with impact responses measured in crash tests and by using a three dimensional human-dummy mathematical model in comparable settings. Based on these data, the importance of some of the clearance dimensions between the dummy and the vehicle surfaces was determined. The study also compares observed Hybrid III dummy positions within selected vehicles with real world occupant positions reported in published literature.