Autonomous Driving Technologies for Advanced Driver Assist System Toyota Motor Corporation Advanced Vehicle Control System Development Div. Hiroyuki KANEMITSU
Contents 1. Definition of automated driving. 2. Effect of automated driving. 3. TOYOTA Automated Highway Driving Assist. 4. TOYOTA autonomous vehicle and developing philosophy. 5. JAPAN Auto Pilot System. 2013/10/21 TOYOTA MOTOR COPORATION 2
Definition of automated driving Driver in the loop Driver must drive, watch system and intervene as necessary Driver out of the loop Driver is unnecessary Full self driving car Continuous Operation Automated ratio Necessary LKA : Lane Keep Assist ACC : Adaptive Cruise Control ABS : Anti Lock Brake System Mix (necessary unnecessary) Unnecessary Platooning on specific road Auto drive in factory Scene coverage NHTSA dfiiti definitionlevel 1 2 3 4 Automated Autonomous 2013/10/21 TOYOTA MOTOR COPORATION 3
Safety Rear Collision Traffic Accident : Highway Single Decrease of recognition / judgment ability after driving for a long time. Poor operation in unfamiliar environments or at high speeds. Risk avoidance Warning Stop avoid Automated Driving FCW LDW FCA LDP PCS FCW : Forward Collision Warning FCA : Forward Collision Avoidance PCS : Pre Crash System LDW : Lane Departure Warning LDP : Lane Departure Prevention 2013/10/21 TOYOTA MOTOR COPORATION 4
Environment Junction Traffic Jam : Highway Tunnel Loss time Min 30 25 20 15 10 5 0 Sag 1 Vehicle density becomes high. 2 Speeds slow down at uphill of sag area. 3 Deceleration wave spreads and amplifies. Reduction by half 0% 3% 5% 10% 30% 50% 70% 100% ACC vehicle penetration ratio 2013/10/21 TOYOTA MOTOR COPORATION 5
Moving Assist Harmonized increase of road safety and decrease of driving work load 100000000 80000000 Most effective For the elderly 70'~ 60000000 60' 50' 40000000 40' 20000000 0 2002 2012 30' ~20' Driving license numbers according to age in JAPAN 2013/10/21 TOYOTA MOTOR COPORATION 6
Other Effect Automated vehicle and technologies positively affect our lives. Industrial development by investment in technologies such as onboard devices and infrastructure. Economic development by improving the movement of the people. Revolution oflogistics. Change of the urban planning. 2013/10/21 TOYOTA MOTOR COPORATION 7
TOYOTA s System Driver in the loop Driver must drive, watch system and intervene as necessary Driver out of the loop Driver is unnecessary Full self driving dii car Automated ratio ABS LKA ACC AHDA Platooning on specific road Auto drive in factory Scene coverage Continuous Operation Necessary Mix (necessary unnecessary) Unnecessary AHDA : Automated Highway Driving Assist 2013/10/21 TOYOTA MOTOR COPORATION 8
AHDA 2013/10/21 TOYOTA MOTOR COPORATION 9
LTC : Lane Trace Control Recognize lane markers by onboard camera and calculate estimated track Control steering wheel and vehicle velocity along calculated track Lane Detection Road shape & Vehicle motion Estimator FF Controller FB Controller Steering Angle Controller 2013/10/21 TOYOTA MOTOR COPORATION 10
Cooperative - ACC V2V 760MHz ITS exclusive frequency Transmitting acceleration data to mitigate delay of onboard ranging sensor (e.g., radar) Velo ocity [km/h] 60 40 20 Velo ocity [km/h] 60 40 20 Gap [m] 0 0 5 10 15 20 25 30 time [s] 25 20 15 10 5 0 0 5 10 15 20 25 30 time [s] ACC Gap [m] 0 0 5 10 15 20 25 30 time [s] 25 20 15 10 5 0 0 5 10 15 20 25 30 time [s] C ACC 2013/10/21 TOYOTA MOTOR COPORATION 11
TOYOTA Autonomous Vehicle Front Camera 360 LIDAR GPS System Speed Sensor Side Radar Side Camera Front Radar 2013/10/21 TOYOTA MOTOR COPORATION 12
TOYOTA Autonomous Vehicle 2013/10/21 TOYOTA MOTOR COPORATION 13
Philosophy Autonomous vehicle technologies enable every driver to drive like expert safety driver. Technologies produced by developing an autonomous vehicle are then realized in various Advanced Driver Assist Systems. Circumstance Driver Recognition Judgment Operation Status Sharing Mobility Harmonized control Information Infrastructure Vehicle Detection Machine Autonomous vehicle technologies Reconstruction Decision Autonomous Driving Consistency Technologies 2013/10/21 TOYOTA MOTOR COPORATION 14
JAPAN Auto Pilot System For the time being, automated driving is focus area of advanced driversupport systems. 100% (system) Driver support system * Driver drives, watch systems Automatic Driving Driverless Sy ystem Invo olvement Ratio 1Single ACC PCS LKA 2Complex p ACC + LKA 3Advanced Auto Pilot System ( to aim at for the time being by this study meeting ) 4Full driverless 0% (driver) Technical llevel Improvement 2013/10/21 TOYOTA MOTOR COPORATION 15
Image of Auto Pilot System Auto Pilot System works on expressways from enter to exit. System stop Branch to exit Smooth driving at traffic jam area Smooth driving at marge and branch scene Drive on main lane Branch at junction System start Drive on main lane Merge to expressway 2013/10/21 TOYOTA MOTOR COPORATION 16
Vehicle Issues 1 Continuous driving on a lane Vehicle cannot define own Vehicle cannot drive position at areas with no smoothly at sharp curve or GPS signal (e.g., tunnel) steep slope, etc. 2 Lane change Vehicle cannot have enough margin at lane changing without forward regulation. 3 Optimal driving at merge, g, branch, and traffic jam area. Vehicle cannot detect other vehicles on main lane at merge, and cannot get forward traffic condition especially at branch. Vehicle cannot drive optimally for smoothing the flow at traffic jam area. 2013/10/21 TOYOTA MOTOR COPORATION 17
Infrastructure Support 1 Continuous driving on a lane Provide position information at tunnel. Provide road structure data as curvature, slope, p, etc. 2 Lane change Provide forward traffic regulations data. 3 Optimal driving at merge, branch, and traffic jam area Provide other vehicle position on main lane. Provide forward traffic condition at branch. Provide optimal speed, gap, and recommended lane for traffic jam area. 2013/10/21 TOYOTA MOTOR COPORATION 18
In future & Conclusion TOYOTA announced to launch in mid 2010s Advanced Driving Assist System Using Autonomous Driving Technologies. TOYOTA s Advanced d Driving i Assist System is for safer highway h driving, reduced environmental effects and driver workload. TOYOTA is thinking Autonomous driving technologies are to realize Advanced Driver Assist System. TOYOTA is developing various Advanced Driver Assist System using not only Autonomous Driving Technologies but Cooperative systems with various governments. 2013/10/21 TOYOTA MOTOR COPORATION 19