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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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development of Dynamic Wireless Power Transfer system for vehicle Logistics Robot

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IEEJ Transactions on Industry Applications 2022年第2期142卷 146-154页

作者： Shimizu, Osamu Hanabusa, Kazuyoshi Arasaki, Kota Gunji, Daisuke Sakai, Yuto Ikeda, Hiromori Matsuoka, Fuminori Graduate School of Frontier Science The University of Tokyo 5-1-5 Kashiwanoha Kashiwa Chiba277-8561 Japan Development Section 1 Energy Units Development Dept. Advanced Products Development Center Technology & Intellectual Property HQ TDK Corporation 2-15-7 Higashi-Ohwada Ichikawa Chiba272-8558 Japan R&D Division System Power Supply Department WPT Development Group TDK-Lambda Corporation 2-15-7 Higashi-Ohwada Ichikawa Chiba272-8558 Japan New Product Development Department Technical Research Office NSK Ltd. 1-5-50 Kugenumashimmei Fujisawa Kanagawa251-8501 Japan BR NEXT GENERATION LOGISTICS DIV. YUTO SAKAI SHINMEI INDUSTRY CO. Ltd. 3-20 Koromogahara Aichi Toyota471-0856 Japan Central Japan Business Dept. TOYOTA T&S CONSTRUCTION CO. LTD. 65 Kamekubi-cho Kamimukaida Aichi Toyota470-0375 Japan Strategy Planning & Administration Dept. Vehicle Logistics Div. TOYOTA MOTOR CORPORATION 1 Motomachi Aichi Toyotashi471-0854 Japan

Laborsaving is a major issue in production. In an automotive production line, a yard that is used as a temporary storage for vehicles before shipping. The vehicle-loading robot that operates autonomously has been proposed to automate the alignment of vehicles in the yard instead of human driving. In this study, the dynamic wireless power transfer system that includes the structure of the roadside for the vehicle-loaded robot is proposed. It is proven that the transmitter coil has enough durability for the load of the robot weight using simulation and actual measurement. It is also shown that the reinforcement bars of the road structure cause considerable eddy current loss even with stainless steel. This is similar to loss by coil resistance. This system achieves a 1.8 kW dynamic wireless power transfer with an automated coil detection system and a frequency control system, under factory conditions. 2022 The Institute of Electrical Engineers of Japan.

关键词： Robots

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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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Identification of Static Boundary Model Based on Gaussian Process Classification

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IFAC-PapersOnLine 2016年第11期49卷 787-792页

作者： Oyama, H. Yamakita, M. Sata, K. Ohata, A. Dept. of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Advanced Unit Management System Development Div. TOYOTA MOTOR CORPORATION Shizuoka Japan TECHNOVA INC. Higashifuji Technical Center Toyota Motor Corporation Shizuoka Japan

Due to the needs for CO2emission reduction, the control region for automotive engine system is pushed toward the boundary between normal and abnormal engine operations such as knocking and misfiring. When an engine is operated outside of admissible region, the engine or the catalyst is seriously damaged or passengers feel very uncomfortable. Therefore the identification of the boundary is highly demanded. In this paper we propose a design of experiment (DoE) strategy based on the Gaussian process classifier (GPC) with the expectation propagation (EP) algorithm. In the experimental result, the proposed algorithm can identify the boundaries of an engine benchmark problem, provided by the joint research committee of the Society of Automotive Engineers (JSAE) and Society of Instrument and control Engineers (SICE). © 2016

关键词： Gaussian distribution Classification (of information) Design of experiments Emission control Engines Gas emissions Gaussian noise (electronic) Engine control Engine modelling Gaussian Processes Identification algorithms Model based controls Statistical design

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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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Knocking Detection in Gasoline Engines Based on Probability Density Functions: A Mixed Gaussian Distribution Approach

Knocking Detection in Gasoline Engines Based on Probability ...

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IEEE Annual Conference on Decision and control

作者： Tatsuya Ibuki Yasuhiro Awai Yoshihiro Sakayanagi Mitsuji Sampei Junichi Kako Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 JAPAN Advanced Engine Management System Development Div. Unit Center Toyota Motor Corporation Shizuoka 410-1193 JAPAN

ISBN: (纸本)9781479978878

This paper proposes an engine knocking detection approach based on probability density functions (PDFs). In this work, we suppose that the PDF of knocking intensity distribution can be approximated by a mixture of two Gaussian functions due to normal combustion and abnormal one. We first apply EM (Expectation-Maximization) algorithm to actual engine data to show that the knocking intensity probability distribution can be successfully estimated by the mixed Gaussian distribution. We next try to apply the existing online EM algorithm in view of the actual implementation by an engine control unit. However, since the existing algorithm is built for the estimation of a fixed PDF, the effect of new input data is gradually attenuated and vanishes after long time. We thus newly propose a modified online EM algorithm so that the effect of the new input data is not attenuated. Finally, we perform simulations and an actual engine bench test for the validity of the present approach.

关键词： expectation-maximisation algorithm gasoline engine Gaussian distribution incoming data Probability density function engine pedestal

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Simulator motion sickness evaluation based on eye mark recording during vestibulo-ocular reflex

Simulator motion sickness evaluation based on eye mark recor...

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SAE 2014 World Congress and Exhibition

作者： Adachi, Takahiro Yonekawa, Takashi Fuwamoto, Yoshitaka Ito, Shoji Iwazaki, Katsuhiko Nagiri, Sueharu Advanced Vehicle Control System Development Division Higashi-Fuji Technical Center Toyota Motor Corporation 1200 Mishuku Susono Shizuoka 410-1193 Japan Toyota Central RandD Labs. Japan

The driving simulator (DS) developed by Toyota Motor Corporation simulates acceleration using translational (XY direction) and tilting motions. However, the driver of the DS may perceive a feeling of rotation generated by the tilting motion, which is not generated in an actual vehicle. If the driver perceives rotation, a vestibulo-ocular reflex (VOR) is generated that results in an unnecessary correction in the driver's gaze. This generates a conflict between the vestibular and visual sensations of the driver and causes motion sickness. Although such motion sickness can be alleviated by reducing the tilting motion of the DS, this has the effect of increasing the amount of XY motion, which has a limited range. Therefore, it is desirable to limit the reduction in the tilting motion of the DS to the specific timing and amount required to alleviate motion sickness. However, the timing and extent of the VOR has yet to be accurately identified. This paper describes how the eye movement of the driver was used to measure the positional deviation between the gaze of the driver and images caused by unnecessary VOR. This enabled the identification of the timing and extent of the VOR. It is planned to use this knowledge to efficiently control the tilting motion of the DS. Copyright © 2014 SAE International.

关键词： Eye movements

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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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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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Evaluation of effect of right-turn collision recognition support system using vehicle-to-infrastructure communication 20

Evaluation of effect of right-turn collision recognition sup...

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20th Intelligent Transport systems World Congress, ITS 2013

作者： Nakamura, Shunsuke Mukaiyama, Yoshio Suganuma, Hideaki IT and ITS Planning Div. Toyota Motor Corporation 4-18 Koraku 1-chome Bunkyo-ku Tokyo112-8701 Japan Advanced Vehicle Control System Development Div. Toyota Motor Corporation 1200 Mishuku Susono-shi Shizuoka410-1193 Japan

In Japan, approximately 19,000 accidents occur every year involving drivers turning right at an intersection with traffic signals. Consequently, the frequency of this type of accident must be reduced. A field operation test (FOT) has been carried out of a system developed to help reduce right-turn accidents. This paper discusses the FOT results data and the safety-enhancement effect of this system on driver behavior.

关键词： Traffic signals

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