Autonomous Driving Technologies
for Advanced Driver Assist System
yToyota 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.
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Definition of automated driving
Driver in the loop

Driver out of the loop

Driver must drive , watch system and intervene as necessary

Driver is unnecessary

Full self‐driving car
Platooning onspecific road

Automatedratio

ContinuousOperation

LKA : Lane Keep Assist
ACC : Adaptive Cruise Control
ABS : Anti‐Lock Brake System

Necessary

Mix (necessary‐ unnecessary)

Scene
coverage

Auto drive in factory

Unnecessary

NHTSA definitiond fi iti Level
L l
1

2

3
Automated

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4Autonomous
3

Safety
Traffic Accident ： Highway
RearCollision

Decrease of recognition / judgment ability
after driving for a long time.

SingleRisk
avoidance

Poor operation in unfamiliar
environments or at high‐speeds.
StopavoidWarning

Automated
Driving

FCWLDW

FCA PCSLDP

FCW : Forward Collision Warningg
FCA : Forward Collision Avoidance
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LDW : Lane DeparturepWarningg
LDP : Lane Departure Prevention
4

Environment
Traffic Jam ： HighwayJunction① Vehicle density becomes high.

Sag

Tunnel② Speeds slow down at uphill of sag area.
③ Deceleration wave spreads and amplifies.
Min
Loss time302520Reduction byy half

1510
500%

3%

5%

10% 30% 50% 70% 100%

ACC vehicle penetration ratio
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5Moving Assist
Harmonized increase of road safety and decrease of driving work load
Most effective

For the elderly
100000000
70'～

80000000

60'

60000000

50'

40000000

40'

20000000

30'～20'20020022012

Driving licenselnumbersb according
d to age in JAPAN2013/10/21

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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 thepeople.
■ Revolution of logistics.
logistics■ Changehoff theh urbanb planning.
l・・・
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TOYOTA’s System
Driver in the loop

Driver out of the loop

Driver must drive, watch system and intervene as necessary

Driver is unnecessary

Fullll self‐driving
lf d i i car

Automated
ratio

Platooning on
specificproad

AHDA
LKA
ACC

Auto drive in factory

ABS
Continuous
Cti
Operation

Necessary

Scene
coverageMix (necessary‐ unnecessary)

Unnecessarygy Drivingg Assist
AHDA : Automated Highway

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AHDA

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9LTC : Lane Trace Control■ Recognize lane markers by
onboard camera andcalculate estimated track■ Control steering wheel
and vehicle velocity alongcalculated track

Lane Detection

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Road‐shape &Vehicle‐motion
Estimator

FF Controller
FB Controller

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SteeringAnglegController

10Cooperative - ACC■ V2V 760MHz ITS exclusivefrequency■ Transmitting acceleration
data to mitigate deladelay ofonboard ranging sensor (e.g.,radar)
60
Veloocity [km/h]

Veloocity [km/h]

60402000510152025402003005102520201515Gap [m]Gap [m]

25102025302025301055015time [s]time [s]00510152025300ACC
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51015time [s]time [s]C‐ACC
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TOYOTA Autonomous Vehicle
Front Camera

360°LIDARGPS System

SpeedSensor

Side Radar
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Side Camera
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Front Radar
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TOYOTA Autonomous Vehicle

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Philosophy
Autonomous vehicle technologies enable every driver to drive likeexpert
p safetyy driver.
■ Technologies produced by developing an autonomous vehicle arethen realized in various Advanced Driver Assist Systems.
yMobility
DriverCircumstance

Recognition

Judgment

Operation

Harmonizedcontrol

Status Sharingg
VehicleI fInformationti
Infrastructure

Autonomous vehicle technologies
Reconstruction

Detection

MachineConsistency

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Decision
AutonomousDriving
Technologies

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JAPAN Auto Pilot System■ For the time being, automated driving is focus area of advanced
driver support systems.
Automatic Driving

Driverless

Driver support system
100%(system)

Syystem Invoolvement Ratio
0%(driver)2013/10/21* Driver drives , watch systems③Advanced②Complex②p①Single
ACCPCS
LKA④Full driverless

Auto Pilot System（ to aim at for thetime being by thisstudy meeting ）ACC+LKAT h i l Level
TechnicalL l
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Improvement
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Image of Auto Pilot System■ Auto Pilot System works on expressways from enter to exit.
Branch to exit
System stop
Smooth driving at
traffic jam area
Smooth driving at
marge and branch
scene

Drive on mainlane

Branch atjunction

Drive on mainlane

System start

Merge toexpressway

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16Vehicle Issues① Continuous driving on a lane
•Vehicle cannot define own
position at areas with noGPS signal (e.g., tunnel)•Vehicle cannot drivesmoothly at sharp curve or
steep slope , etc.

② Lane change•Vehicle cannot have enoughmargin at lane‐changing
without forward regulation.

③ Optimalpdrivingg at merge,g , branch , and traffic jam
jarea.
•Vehicle cannot detect othervehicles on main lane at merge,
and cannot get forward traffic
condition especially at branch.
branch2013/10/21

TOYOTA MOTOR COPORATION•Vehicle cannot drive
optimally for smoothing
the flow at traffic jamareaarea.
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Infrastructure Support① Continuous driving on a lane
•Provide position•Provide road structure
information at tunnel.
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.
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TOYOTA MOTOR COPORATION•Provide optimal speed,gap, and recommendedlane for traffic jam area.

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In future & Conclusion■ TOYOTA announced to launch in mid‐2010s Advanced Driving
Assist System Using Autonomous Driving Technologies
Technologies.
■ TOYOTA’s
TOYOTA’ Ad
Advancedd Driving
Di i A
Assisti t SSystemt
iis ffor safer
f hihighway
hdriving, reduced environmental effects and driver workload.
■ TOYOTA is thinking Autonomous driving technologies are torealize Advanced Driver Assist System.
■ TOYOTA is developing various Advanced Driver Assist Systemusing not only Autonomous Driving Technologies but Cooperative
systems with various governments.

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