Roger BergVice PresidentNorth America Research & DevelopmentDENSO INTERNATIONAL AMERICA, INC.

Adoption of Connected Automated Vehicles for Traffic Safety

DENSO Background

38,000 Active Patents Worldwide

3/22

Future Mobility Society

Holistic ADAS – Automation Concept

Connected Automation Concept

Global ADAS Regulatory Trend

CIB (Car)

AEBS&LDW for truck

CIB (Car & Ped)

L Kids & Transportation

NN

AEBS (Car) / LDWISAAEBS (Ped)

14 15 16 17 18～～13

Rear cameraN

L LKA

AEBS-PDLDW

AEBS for truck

AEBSTFCWT

L N TLaw (Mandatory) NCAP Top Safety Pick (IIHS)

L

N NN

N

N

N

AEBS: Advanced Emergency Brake SystemCIB: Crash Imminent BrakingFCW: Forward Collision WarningLKA: Lane Keep AssistLDW: Lane Departure WarningISA: Intelligent Speed Adaptation

cartalk.com

http://www.cvel.clemson.edu/

http://virtual.vtt.fi/

Global ADAS Use Case Trend

ComfortConvenience

Collision Avoid

Road Departure Prevent

Surround Monitor

Appl

icat

ion

Night Assist

Low Speed AEBS

LDW

FSRA

LKA

ESPS

PCS

AHB

FLAD(On demand lane change, fork/merge

management )

BSW/CVW/RCTA/RPCS/FCTA

LDC RDP

New ADB

TSR

FSRA/ACC w/ stationary vehicle

detectionFLAD

within lane(FSRA+LKA+TSR)

ADB

AEBS w/ steering support

AEBS (Pedestrian)Night perf. enhancement

AEBS

AEBS(Pedestrian)

CS

14 15 16 17 18 1913

Camera

Sonar

Laser

７７GHZ Radar

FSRA : Full Speed Range ACCLKA: Lane Keep AssistLDW: Lane Departure WarningTSR: Traffic Sign RecognitionFLAD: Freeway Limited Autonomous DrivingPCS: Pre-Crash SafetyAEBS: Advanced Emergency Brake SystemRDP: Road Departure Prevention

CS: Clearance SonarICS: Intelligent CS APA: Advanced Parking AssistBSW: Blind Spot WarningCVW: Closing Vehicle WarningRCTA: Rear Cross Traffic AlertRPCS: Rear PCSFCTA: Front Cross Traffic Alert

AHB: Auto High BeamADB: Adaptive Driving BeamLDC: Lane Departure Controller

8/22

Sensors – How Many and What Kind?

9/22

Options to Choose

vision sensor (camera)LIDAR mm wave RADAR sonar

telematics control unit (cellular radio)

FCW, LKA software

In Production

Next Generation

V2x radio

LIDAR+ camera

Next gen LIDAR

surround

Next Gen front LIDAR

pedestrian detection

GPSLocator

mini stereo camera

3D flashLIDAR

10/22

Sensors are Imperfect

On Board Sensor CapabilityLIDAR Camera RADAR V2X &

Cellular*Map &

Location

traffic objects

Car / Trucks

Motorcycle

Bicycle

Pedestrian

Animal

Debris

infrastructure traffic constraints

Road marking

Traffic signs

Traffic lights

path /road structure

Curve

Guard rails

Wall/obstacle

RobustnessRain / Snow

Fog

Night

Det

ectio

n Pe

rfor

man

ce

dete

ctio

n &

rang

ing

dete

ctio

n &

rang

ing

mon

itorin

g &

cla

ssifi

catio

n

info

rmat

ion

info

rmat

ion

Dynamic Static

*depends on coverage

11/22

Combination of HW/SW ≈ CPS

Sensing Vehicle Driverautonomouscooperativespeed

yaw

throttle

brake

motion HMIglobalmap

• road• landmark• traffic rule ...

sensor fusion processing

sensorcomponents

signal process &detection

monitoring &recognition surroundings recognition (local map)

power train brake steer chassis

ADAS & AD applications

arbitration &distribution

actuation

longitudinal acc. arbitration lateral acc./yaw rate arbitration

HMI

drive mode transition

distribution (accel. / decel.) distribution (steer / yaw)

ADAS App. #1 AD App. #2AD App. #1 ・・・・・・

open I/F

open I/F

LIDAR camera

radarsonarV2Xradio

cellularradio

GPSlocator

drivermonitor

biosensor

driver monitoring

open I/F

Sensor System

steer

open I/Fintervention from vehicle safety

gyro

ADAS App. #2

12/22

Let’s not forget connectivity

Connected Drive in Unfavorable Conditions

Connected Automation

Connected Automation

Not one company can do it all No longer is a vehicle its own entity, separate from

infrastructure and other road users We can’t necessarily predict how connected and automated

drivers interact with “regular” vehicles of all types

Requires collaboration between industry, academia, and governments to be effective.

Cooperative Systems Have Taught Us

With connectivity comes…responsibility!

Infiltration end point is an ECU running a critical vehicle control function

Vehicle

ECU

ECU ECU ECU ・・・

uC

RemoteAgent

Architecture 1. remote

2. in-vehicle network

3. ECU direct

Why does automotive need to study this?- Big impact of neglect for entire AD vehicle industry- Entire supply chain may be liable

But what should we do?- Better understand today’s threat, impact, resolution- Forecast and adapt to future UNKNOWN threats

18 /32

Conclusion

A continuum of ADAS is evolving from no assistance at all to the driver to full control by cyber systems.

A suite of devices with multi spectral sensing (e.g., RADAR, LIDAR, camera, ultrasonic) is likely to be necessary but not sufficient for all scenarios.

One approach is to evolve the idea of cooperative sensors (e.g. V2X, cellular WAN, GPS/GNSS) via connectivity to enhance robustness.

Stakeholders must collaborate and cooperate across industry, academia and government for safe and comfortable connected automation.

Understand the importance of security across the supply chain to help ensure trust in the CPS which assumes control of the vehicle.

19/22

Roger BergVice President North America R&DDENSO INTERNATIONAL AMERICA, INC.roger_berg@denso-diam.com(760) 597 - 7404

20/22

Automated Drive Definitions

2015 202X

Front Sensing

Radar(Front side & Rear Side)

CameraRadar(Front)

Function & O

bjectRecognition

Recognition D

omain

2015 202X

・Cut in vehicle ・Safe headway

’16 NCAP ’18 NCAP

・Moving vehicle・Stopped vehicle

AEB Crossing(Cyclist)

Single-lane driving Multiple-lane change

AEB Pedestrian

Full-speed-range ACC

Split & Merge Emergency stop(Driver/system fail)

AEB Pedestrian (night)

Highway

OrdinaryRoad

・Pedestrian (day) ・Pedestrian (night)・Cyclist

※Blue means recognition object

・Merging vehicles・Road edge

Driver Assistance

Advanced driver assistance(SAE：LV2)

Fully automated driving(SAE：LV4/5)

Advanced driver assistance(SAE：LV3)

2020

Sensing technology+ Surround information linkage ( V2X , ADAS map )

Driver assistance

Front + Side + Rear Sensing

Recognition Objects & Domain expansion, Look-ahead of local information

Active safetyCooperative Safety Assistance

(e.g., V2X communication)

・Obscured vehicle ・Crossing vehicle・Oncoming vehicle

AEB Intersection Vehicle

ADAS – Automation Roadmap

http://blogmedia.dealerfire.com/wp-content/uploads/sites/193/2015/02/Following-Distance-in-Fog.jpg

https://ledouxinsurance.files.wordpress.com/2011/10/driving-in-rain1.jpg http://il5.picdn.net/shutterstock/videos/9994577/thumb/1.jpg?i10c=img.resize(height:160)

https://upload.wikimedia.org/wikipedia/commons/b/b9/Cars_in_snowstorm.JPG

AD in Unfavorable Conditions