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19th Intelligent Transport systems World Congress, ITS 2012

作者： Oda, Yuji Minami, Yoshiaki Tanaka, Isahiko Advanced Vehicle Control System Development Div Toyota Motor Corporation 1200 Mishuku Susono Shizuoka 410-1193 Japan

Millimeter wave radar sensors for monitoring the environment around the vehicle are likely to be installed in a growing number of vehicles as intelligent transport systems (ITS) become more sophisticated. However, one possible concern is the generation of misdetection due to radio wave interference between radar systems. To address this issue, development is focusing on radar that uses the direct sequence spread spectrum (DS-SS) modulation protocol, which is capable of allocating a different code to each radar system. However, increasing the number of codes available for use by this protocol makes it difficult to avoid some codes with poor autocorrelation. The quality of code autocorrelation is expressed as range sidelobes of the radar output, which have a major impact on target detection performance. This paper proposes a method to improve target detection performance by reducing the impact of code autocorrelation sidelobes in the case of DS-SS radar output that uses codes with poor autocorrelation. The results of an experiment using the proposed method are also described below.

关键词： Autocorrelation

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Results from field verification tests of green wave advisory system

Results from field verification tests of green wave advisory...

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19th Intelligent Transport systems World Congress, ITS 2012

作者： Kimura, Hiroaki Otake, Hirotada Oguri, Haruki Kanematsu, Masatoshi IT and ITS Planning Div. TOYOTA Motor Corporation 4-18 Koraku 1-chome Bunkyo-ku Tokyo 112-8701 Japan Advanced Vehicle Control System Development Div. TOYOTA Motor Corporation 1200 Mishuku Susono Shizuoka 410-1193 Japan Vehicle Control System Development Div. TOYOTA Motor Corporation 1 Toyota-cho Toyota Aichi 471-8572 Japan

This paper describes the results from field evaluation tests of the "Green Wave Advisory (GWA)" system - a vehicle-infrastructure cooperative system that is designed to reduce wasteful fuel consumption at signalized intersections. The first field test, conducted at Yugi Road, evaluated the effectiveness of the system in reducing energy consumption and revealed that GWA could in fact reduce energy consumption. Trial calculations showed that the reduction of annual CO2 emissions at Yugi Road would be 2.75 tons. A second field test at Kasaibashi Street evaluated the effect on the following vehicles at times of heavy traffic, and conducted a survey of the drivers' levels of acceptance. Based on analysis of video images, we concluded that the majority of the following vehicles continued to maintain a safe distance from the test vehicle as it decelerated. The survey revealed that drivers tend to respond positively about the system's usefulness and its improvement of fuel efficiency. On the other hand, it also revealed that drivers tend to worry about the following vehicle's behavior, and hesitated to decelerate when the traffic signal was green or in the presence of a GWA non-target intersection between the vehicle and the GWA target intersection.

关键词： Surveys

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Safety Impact Methodology (SIM) for effectiveness estimation of a Pre-Collision system (PCS) by utilizing driving simulator test and EDR data analysis

Safety Impact Methodology (SIM) for effectiveness estimation...

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SAE 2010 World Congress and Exhibition

作者： Aoki, Hirofumi Aga, Masami Miichi, Yoshiki Matsuo, Yoshiaki Tanaka, Shin Advanced Vehicle Control System Development Division Higashi-Fuji Technical Center Toyota Motor Corporation 1200 Mishuku Susono Shizuoka 410-1193 Japan

Pre-collision system (PCS) that basically consists of warning buzzer, brake-assist and automatic brake functions is designed to help mitigate injury occurring in frontal impacts where preceding vehicles are impacted from the rear. Since the benefit of each function is influenced by drivers' reaction before collision, it is difficult to estimate quantitative effectiveness for improvement. This paper proposes an approach to establish a Safety Impact Methodology (SIM) for the effectiveness estimation of a PCS by utilizing driving simulator (DS) test results and Event Data Recorder (EDR) data. The estimation procedure consists of four steps. Firstly, the PCS functions were modeled as linear transfer functions with gain, delay, etc. Test vehicle's properties were measured and modeled as an example. Secondly, the transfer functions were applied to each DS test result, and the speed reduction from travel speed to impact speed was calculated by the model assuming that PCS was installed. Thirdly, considering the activation timings of the PCS functions, how much PCS could work was identified using the EDR data and the DS test result. Finally, the expected speed reduction and thus estimated effectiveness by PCS was obtained by comparing the speed reduction between with/without PCS-equipped cases. By changing the model parameters, the method enables an examination of the influence of the system parameters on improvement quantitatively. Copyright © 2010 SAE International.

关键词： Transfer functions

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Motion Sickness Detection and Prevention

Motion Sickness Detection and Prevention

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21st Stuttgart International Symposium on Automotive and Engine Technology, 2021

作者： Alayan, Mohamad ZF Friedrichshafen AG corp. R&D Advanced System Development Vehicle Dynamics Control Functions Friedrichshafen Germany

ISBN: (纸本)9783658335205

Autonomous vehicles are expected to push towards the evolution of mobility environment in the near future, by decreasing traffic accidents, traffic congestion and vehicle fuel consumption. One of the main limitations they face is motion sickness (MS) and it seems capable of putting in risk fully automated vehicles wide impact, as well as their acceptance by the public [1, 2]. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2021.

关键词： Traffic congestion

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Benefit estimation of a lane departure warning system based on reconstructed accident scenes 20

Benefit estimation of a lane departure warning system based ...

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20th Intelligent Transport systems World Congress, ITS 2013

作者： Tanaka, Shin Teraoka, Edgar Yoshio Morales Advanced Vehicle Control Development Div. Toyota Motor Corporation 1 Toyota-cho Toyota City Aichi471-8571 Japan

LDW (Lane Departure Warning system) has started to be introduced in production vehicles, but there is little research on its benefits and limitations so far. In this paper we performed an in-depth analysis compiled by ITARDA (Institute for Traffic Accident Research and Data Analysis) and demonstrated the benefit estimation process. The benefit of LDW is estimated by comparing lane departure events when the vehicle has no LDW, and how they change with the addition of LDW. The analyzed results were used to re-create LDW event using ASSTREET (advanced Safety system & Traffic REaltime Evaluation Tool). The drivers' responses to the warning were measured in a driving simulator test. The comparison between events with and without LDW clearly shows which cases could be prevented by the use of LDW and the ones that could not be avoided, thereby, providing us with important guidelines to advance the system performance.

关键词： Security systems

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Potential of wheel-individual brake interventions as a backup for steering system failures during automated driving

Potential of wheel-individual brake interventions as a backu...

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7th International Munich Chassis Symposium, IMCS 2016

作者： Gauger, Andreas Kern, Alexander Feinauer, Jochen Kanngießer, Stefan Greul, Roland System Development Vehicle Motion Control Actuator Management Robert Bosch GmbH Chassis Systems Control Heilbronn74003 Germany Advanced Engineering Vehicle Dynamics System Interconnection Robert Bosch GmbH Automotive Steering Schwabisch Gm und73522 Germany

ISBN: (纸本)9783658142186

Wheel individual brake interventions have been applied in order to influence vehicle lateral dynamics within the Electronic Stability Program (ESP®) and its predecessors. Traditionally, the main focus is to ensure stability and improve agility for vehicles con- trolled by a human driver. Within the recent years, these use cases where extended by driver assistance functions like side wind or lane departure prevention assists, which still require the driver within the loop and a faultless overall system. A better utilization of the potentials within the actuator network and reduction of the complexity for an increasing number of functions becomes more and more important. Therefore, there is a strong trend to decouple the driving task determination from the vehicle and actuator properties by introducing dedicated control and coordination layers. An exemplary name for such a layer is vehicle Motion control. A possible new use case for vehicle Motion control arises within the context of automated driving. Taking the driver out of the vehicle control loop for a certain time period requires an increased availability of the actuator systems compared to today's fail-safe systems. Here, wheel individual brake interventions could be used as a redundancy level in case that the electromechanic power steering (EPS) as fail-safe component is no more avail- able. The potential of asymmetric brake interventions for vehicle guidance is strongly depending on the vehicle parameters and the behaviour of the steering system during passive state. Within the following examination, these variables are examined both analytically and experimentally. Finally, a rating of the suitability for series introduction of wheel individual brake interventions as a backup for a passive steering system is given. © Springer Fachmedien Wiesbaden 2017.

关键词： Steering

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Results from simulation evaluation of green wave advisory system

Results from simulation evaluation of green wave advisory sy...

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19th Intelligent Transport systems World Congress, ITS 2012

作者： Iwata, Yasunari Otake, Hirotada Takagi, Masato Network Technology Dept. IT and ITS Planning Div. Toyota Motor Corporation 1 Toyota-cho Toyota Aichi 471-8572 Japan Advanced Vehicle Control System Development Dept. No.3 Advanced Vehicle Control System Development Div. Toyota Motor Corporation 1200 Mishuku Susono Shizuoka 410-1193 Japan Electronics Engineering Dept. 31 Electronics Engineering Div. Toyota Technical Development Corporation 2-28-23 Izumi Higashi-ku Nagoya Aichi 461-0001 Japan

This paper reports the results from an evaluation by simulation of the effects of the "Green Wave Advisory (GWA)" system in simulated actual traffic environments in Japan. Toyota Motor Corporation (TMC) has been involved with basic studies of this system as a V2I application coordinated with traffic lights. In particular, we examined the Deceleration Support system (DSS) which is designed to reduce wasteful fuel consumption by encouraging the driver to release the accelerator pedal earlier at red lights and to stop safely without hesitation at yellow lights. DSS is therefore a part of the GWA system which is useful not only for the reduction of CO2 emissions but also for promoting safe driving on roads in Japan, where the distance between intersections is often very short. Using the traffic simulation software VISSIM, we estimated the reduction in CO2 emissions and the effect on the traffic flow (travel times) for two different routes: one in the city of Tokyo and one in the suburbs. The results showed that the system could reduce CO2 emissions by more than 3% in the city and by more than 7% in the suburbs, and had almost zero effect on the travel times.

关键词： Travel time

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development of a Car-Following Tendency Prediction Method and Its Application to a Forward Collision Warning system 20

Development of a Car-Following Tendency Prediction Method an...

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20th Intelligent Transport systems World Congress, ITS 2013

作者： Aoki, Hirofumi Ozaki, Osamu Advanced Vehicle Control System Development Division Toyota Motor Corporation 1200 Mishuku Susono Shizuoka410-1193 Japan Department of Mechanical Science and Engineering Nagoya University Japan

It is important to understand the driver's car-following tendency to enhance the effectiveness as well as the acceptance of advanced driving support systems. If a system can estimate the driver's usual car-following tendency, it can provide avoidance support matched to his/her sense of normal safety driving when the vehicle is approaching a preceding one. Since the car-following tendency varies not only between drivers but also within a driver by the feeling and/or the driving environment, real-time estimation is essential. This study introduces a method that can easily predict the car-following tendency. The method uses such parameters as the throttle-pedal released timing and the braking timing that were found to be correlated from the naturalistic driving data analysis. It was found that the method can predict the car-following tendency within a short distance. We applied the method to a forward collision warning system and confirmed the potential benefit of the system.

关键词： advanced driver assistance systems

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A Semi-Active Suspension system Using Ride control Based on Bi-linear Optimal control Theory and Handling control Considering Roll Feeling

A Semi-Active Suspension System Using Ride Control Based on ...

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SAE 2015 World Congress and Exhibition

作者： Hirao, Ryusuke Kasuya, Kentaro Ichimaru, Nobuyuki Vehicle Integrated Control Technology Development Dept. Advanced Development Center Technology Development Div. Hitachi Automotive Systems Ltd. 1-14-27 Kawasaki-ku Kawasaki-city Kanagawa Japan

New ride control and handling control are developed, and installed in a system using only vehicle height sensor as dedicated sensors and pressure control type semi-active damper. Bi-linear optimal control is applied for controlling ride comfort control constructed observer which is inputted vehicle height sensor for calculating state quantity then used output of the observer. Behavior of vehicle was investigated by vehicle experiment and formalized to further improve the feeling of roll generated by handling control and devised and applied semi-active suspension control method which transiently realize the behavior. Proposed semi-active suspension system not only achieves damping performance as well as skyhook control, but also improves smooth ride comfort and handling performance including roll feeling. In this report, we describe aim, feature and effect of this system. Copyright © 2015 SAE International.

关键词： Suspensions (components)

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development of active front steering control system

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Review of Automotive Engineering 2006年第3期27卷 453-456页

作者： Fujita, Yoshitaka Tsuchiya, Yoshiaki Sakugawa, Jun Kojo, Takahiro Suzumura, Masato Vehicle Control System Engineering Dept. Chassis System Development Div. Vehicle Engineering Group 1200 Misyuku Susono Shizuoka Japan

We have developed an active front steering control system, which can vary the vehicle response characteristic and control the vehicle dynamics We evaluated the vehicle controllability and stability in a course-tracking maneuver when disturbances were input to the vehicle, using a real vehicle equipped with the proposed system. In addition, we developed a failsafe concept for system safety. This concept reliably detects the failure mode of the system by comparing the numerical target with the estimated numerical target. The system safety has also been confirmed for practical use. © 2006 Society of Automotive Engineers of Japan, Inc. All rights reserved.

关键词： Automobile steering equipment

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