AUTOMATED DRIVING AT TOYOTA: VISION, STRATEGY AND DEVELOPMENT

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AUTOMATEDDRIVINGATTOYOTA:VISION,STRATEGYANDDEVELOPMENT

MESSAGEFROMTOYOTACHIEFSAFETYTECHNOLOGYOFFICERKIYOTAKAISE

1. INTRODUCTION

2. THEFUTUREOFTHEDRIVER–VEHICLERELATIONSHIP

3. WHYTOYOTAISDEVELOPINGAUTOMATEDDRIVINGTECHNOLOGY

4. HOWTOYOTAAPPROACHESAUTOMATEDDRIVINGDEVELOPMENT

5. AUTOMATEDDRIVINGTECHNOLOGYDEPLOYMENTSTRATEGY

6. ELEMENTSOFAUTOMATEDDRIVING

7. CHALLENGESFACINGAUTOMATEDDRIVINGDEVELOPMENT

8. TOYOTA’SAUTOMATEDDRIVINGPROGRAMS,PARTNERSHIPSANDINVESTMENTS

9. AUTOMATEDSAFETYTECHNOLOGYONTOYOTAVEHICLES

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MESSAGEFROMTOYOTACHIEFSAFETYTECHNOLOGYOFFICERKIYOTAKAISESincethe1990s,Toyotahasengagedinautomateddrivingtechnologyresearchanddevelopmentaimedatcontributingtothecompleteeliminationoftrafficcasualties.Recently,withthecreationoftheToyotaResearchInstitute(TRI)andToyotaConnected(TC),ourautomateddrivingresearchworkisprogressingmuchfasterthanbefore.Wearereleasingthiswhitepaperthatsummarizesouroverallapproachtoautomateddriving,inthehopeitwillhelpexplainourwayofthinking.Vehicleswithautomateddrivingtechnologywillbringmanybenefitstosociety,butoneofthetopprioritiesatToyotaistohelpmakethetrafficenvironmentsafer.Whileit’sagiventhatoneday,carswillbesmartenoughtodriveyou,wethinkbuildingapartnershipbetweenyouandthecarwillbringthegreatestsafetyadvantage.Wecallthisthe“MobilityTeammateConcept.”Byhavingourvehicletechnologiesseamlesslyanticipateandinteractwithhumanbeingsandthetrafficenvironment,wewillgetclosertorealizingafuturewithouttrafficinjuriesorfatalities.Asearlyas2020,someofourcarswillbeequippedwithautomateddrivingtechnologytoenabledriver-supervisedautomateddrivingonhighways.Thesystemwillevaluatetrafficconditions,makedecisionsandtakeactionduringhighwaydriving,basedonthisconcept.Wealsocareaboutbringingautomatedsafetytechnologiestothegreatestnumberofpeopleaspossible.That’swhywewillequipnearlyallournewToyotaandLexusvehiclesintheUnitedStates,EuropeandJapanwithToyotaSafetySenseorLexusSafetySystem+bytheendofthisyear.Asweendeavortoresearchanddevelopautomateddrivingtechnology,wewillcontinuetotransfersomeofwhatwe’velearnedtofutureversionsofthesesafetysystems.Wearededicatedtoafutureofeverbetter,andeversafer,cars,forthebenefitofall.

KiyotakaIse,ChiefSafetyTechnologyOfficerToyotaMotorCorporation

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1. INTRODUCTION

Morethan80yearsago,ToyotaMotorCorporationbeganwhenToyodaAutomaticLoomWorkscreatedaninternaldepartmenttoinvestigateanewtechnology:automobileengines.KiichiroToyodasawautomobileswouldchangesociety,andheunderstoodwhatmatteredwasnotamachinethatcouldmove,butratherwhatthatmachinecoulddoforhumanmobility. Today,steepdeclinesinthecostofsensors,exponentialgrowthincomputingpower,andarevolutioninthedevelopmentofartificialintelligencesystemsonceagainmeanstechnologyispoisedtorevolutionizemobility.AtToyota,weseethepotentialforautomateddrivingtechnologiestoexpandtheoptionsavailabletohelppeoplegetwheretheywantandneedtobe–safelyandconveniently.Justaswedidsomanydecadesago,weareremakingourcompanytomeetthisnewchallenge.Importantly,justasKiichiroToyodarecognizedin1930,todayweunderstandthetruevalueofferedbythisgroundbreakingtechnologyisnotinthemachinesthemselves,butinwhattheyoffertosociety.Ourultimategoalisnottocreateautonomyforcars,butrathertoexpandautonomyforpeople–tocreateasocietywheremobilityissafe,convenient,enjoyable,andavailabletoeveryone.Aswepursuethisvision,weareguidedbyacommitmenttothesafetyofeveryonewhousesourvehicles–bothinhowweresearch,develop,andvalidatetheperformanceofvehicletechnologyandinhowweaimtobenefitsociety.Inadditiontothetremendouspositivebenefitstheyoffer,carsandtrucksareinvolvedincrashesthatresultinmorethanamillionfatalitiesannuallyontheworld’sroads.OurresearchintoautomateddrivingisinthedirectlineageofToyota’slong-standingfocusonimprovingautomobilesafetyandadvancesourultimateaimofrealizingafuturewithouttrafficinjuriesorfatalities.Thus,weareworkingtoensureconsumersenjoythebenefitsofthisresearchsoonerratherthanlater,includingbymakingactivesafetytechnologyandadvanceddriverassistancesystemsavailableacrossToyotaandLexusvehicles.Forexample,theToyotaSafetySenseandLexusSafetySystem+packagesincludeAutomaticEmergencyBraking,LaneKeepAssistandAutomaticHighBeams.Bytheendof2017,thesepackageswillbeavailableasstandardoroptionalequipmentonnewToyotaandLexusvehiclesinJapan,Europe,andtheUnitedStates.ThisdocumentprovidesacomprehensiveoverviewofToyota’sapproachtoautomateddriving,includingthedualconceptsofGuardianandChauffeurthatguideourresearchandtheMobilityTeammateConceptthatguidesourproductdevelopment.Weintendedittoserveasacentralresourcetoenhanceawarenessofouraccomplishmentstodateandtheworkstilltobedone.Aswithanytechnologyrevolution,theimpactofautomateddrivingwillgowellbeyondcarsandtruckstoincludenewbusinessmodelsandproductcategories,rangingfrommobilityserviceplatformstopersonalroboticssolutions.Majorchallengesremain,butweareinspiredtohelpleadthewaytowardthefutureofmobilityaswecontinuetofocusonenrichinglivesaroundtheworldwithsafeandresponsiblewaysofmovingpeople.

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TOYOTA’SSAFETYPHILOSOPHYToyotaapproachesautomotivesafetythroughthreedistinctpillars:people,vehicles,andthetrafficenvironment.Underthisframework,thecompanyisfocusednotjustondevelopingnewsafetytechnologies,butalsoonexpandingsafetyeducationprogramsandpartnershipswithgovernmentsandotherstakeholderstoimprovetheconstructionofroadsandothertrafficinfrastructure.Toyotaanalyzescausesofvehicle-relatedaccidentsandoccupantinjuriesbyusingvariousaccidentinvestigationdata.Accidentsarerecreatedinvarioussimulationstohelpusdevelopsafetytechnologies.Inaddition,experimentsonactualvehiclesareconductedbeforelaunch.Post-launch,theeffectivenessofthetechnologiesisevaluatedbyassessinganyaccidentsthatmightoccur.Westrivetolearnfromactualaccidentstocontinuetohelpmeettheindustry'severhighersafetystandards.

Thisworkisunitedunderthecompany’sIntegratedSafetyManagementConcept,whichfocusesonmitigatingtheriskofcollisionateachstageofdriving.ThisincludesParking,ActiveSafety,Pre-CollisionSafety,PassiveSafety,andRescue.Sincethe1990s,Toyotahasusedthisapproachtosupportthedevelopmentofautomateddrivingtechnologies,withnewdevelopmentsofferingconsumersincreasesinsafetybyexpandingtherangeofpotentialcausesofcollisionsthatcanbemitigatedbythevehicle.

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2. THEFUTUREOFTHEDRIVER–VEHICLERELATIONSHIP

Forsome,acarisnothingmorethanameansoftransportation,movingpeopleorgoodsfromoneplacetoanotherandnotmuchdifferentthanatrainoraircraft.AtToyota,weseeacarassomethingmore–afeelingweknowpeoplesharearoundtheworld.Indeed,theJapaneselanguagehasawordtodescribethisemotion–“Aisha,”or“Mycar,Iloveit.”Whyisthis?Whatisitaboutcarsthatmakespeoplelovethem?Webelievetherelationshipwithourcarisfundamentallydifferentfromsomuchelseinourlives.It’sasafe,personalspacethatprovidesacomfortableandrelaxingenvironment.Itgrowsandchangestoreflectwhoweare.Theinteriorspace,withfeaturessuchasaudioorentertainmentsystems,andtheexternalappearanceofthevehicleitselfcanbecustomizedtoexpressouruniqueidentity.Atamoresociallevel,carsbelongtofamiliesandaresometimespassedontothenextgeneration.Theygrowwithus;wedon’tdrivethesamecaratage16,20,30,40or60.Eachofthesechangeshelpstobuildadeepandmeaningfulrelationshipbetweenacaranditsowner.Ourcarbecomestheonlyonelikeitintheworld:auniquereflectionofourownlife.Wepamperourcars,abusethem,andusethemextensively.Theycarryourthingsandbearthemarksofourrelationships:astickerhere,acoffeestainthere,andthattimewherewemadeatearinthebackseatandneverbotheredtogetitfixed.Overtime,acarstopsbeingjustamodeoftransportationandbecomessomethingwelove.ForToyota,therelationshipbetweencarsandpeopleisfundamentaltoeverythingwedo,includingourresearchintoautomatedvehicles.Weusetheword“teammate”todescribeourconceptforautomateddriving.Itreflectsourbeliefcaranddrivermusthelpeachothertomakedrivingsafe,comfortable,andfun.Eveninafuturewheredrivinghasbeenautomated,webelievethisrelationshipmeanscarswillcontinuetobelovedandthatautomateddrivingtechnologiescanbringcarsandpeopleevenclosertogether.Whatdoesthisrelationshipmeaninpractice?Whenitcomestosafety,drivingskillsdon’tjustdifferbetweenpeople;theyvaryovertimeforeveryoneaswell.Experience,age,medicalconditions,orsimplefatiguecanallchangeourcapabilityontheroadfrommomenttomoment.That’swhyToyotadesignsautomateddrivingtechnologiestomeettheseshiftingneeds,helpingtosupportsafedrivingregardlessoftheconditionofthedriver.Ofcourse,therearealsopeoplewhowantaspecificdrivingexperienceandexpectthevehicletoperformthewaytheywant,whentheywant.Thatmaymeanasportydrivingmodeinsomesituationsandasmoothrideinothers.Webelieveadvancedvehicletechnologiesshouldrespecttheseuniqueandchangingneedsandrespondwiththecapabilitythatadriverdesireswhilemaintainingtheappropriatelevelofsafetysupport.Inshort,Toyotabelievescarsshouldlearnfromtheirowners,becomingmorelovedastheymeettheirneeds,andgrowtoreflecttheiruniquetastesoverthecourseoftheirlivestogether.

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3. WHYTOYOTAISDEVELOPINGAUTOMATEDDRIVINGTECHNOLOGYToyotaisguidedbyitsGlobalVision,whichcallsonthecompanyto“leadthewaytothefutureofmobility,enrichinglivesaroundtheworldwiththesafestandmostresponsiblewaysofmovingpeople.”Thismissioninfluenceseverythingwedo,includingmakinghigh-qualitycarsandtrucks,constantlyinnovating,andworkingtosafeguardtheenvironment.Automateddrivingisthenaturalnextstepinourworkasamobilitycompany.Itexpandsupontraditionalautomotivecapabilitiestohelppeoplegettowheretheywantandneedtobe.Toyotabelievesautomateddrivingtechnologieshavethepotentialtobenefitallofsociety,helpingtoeliminatetrafficfatalitiesandinjuries,reshapecities,reduceemissions,andachieveourultimategoal:safeandsmoothmobilityforeveryone.IMPROVINGSAFETYFirstandforemost,Toyotaiscommittedtoautomateddrivingbecausethetechnologyoffersthepromiseofaworldwithalmostnocasualtiesfromcrashes.Atpresent,thereareabout1.3millionworldwidetrafficfatalitiesannuallyandfarmoretrafficinjuries.Automateddrivingtechnologycoulddrasticallyreducethisnumber.Ourworkonthistechnologyfollowsfromourcommitmenttosafedriving,withagoalofdevelopingacarincapableofcausingacrashandthatcanavoidmanycrashescausedbyothervehiclesorexternalfactorsontheroad.ThisfocusonsafetycarriesthroughallofToyota’sresearchanddevelopmentofautomateddrivingsystems.Thismeansextensivetestingandvalidationtohelpensuretheproperperformanceofnewtechnologiesbeforetheirmarketintroductionandafocusonexpandingtheadoptionofpotentiallylife-savingfeatures tonon-fullyautonomousvehicles.MOREEFFICIENTTRANSPORTATIONBeyondtheircoresafetybenefits,automateddrivingsystemsmayhelpmakethetrafficenvironmentsmootherandmoreefficient.Thiscouldprovidemeaningfulimprovementstoairquality,throughreducedemissions,andtothequalityoflifeofdrivers.Thiswouldalsoalloweveryonetocontinuetoenjoythefunofdrivingwhilesignificantlyimprovingthequalityoftimespentinavehicleduringroutinecommutingorlongdrives.Vehicleautomationalsoholdsthepromiseofincreasingaccesstovehicletraveltoalargerportionoftheworld’spopulationthroughaffordable,on-demandmobilitymodels.“Mobility-as-a-Service”(MaaS)willincreasepersonalmobility,especiallyforpeoplewithphysicallimitations,supportingmoreeconomicallyvibrantandefficientcommunities.Thistypeofon-demandtransportationcantransformcities.Forexample,parkingareasinurbancenterscouldberepurposedforpeopleratherthanvehicles,withautonomousMaaSvehicleshelpingcitiesevolveintomoreenvironmentallyfriendlyspaceswithgreatlyreducedemissions,traffic,andnoise.AREVOLUTIONBEYONDCARSToyotabelievesthetechnologybehindautomatedvehicleswillbringsweepingbenefitsthatextendfarbeyondcarsandtrucks.Artificialintelligenceoffersthepotentialtorevolutionizeandimprovethedailylivesofmillionsbycreatingnewcategoriesoftechnologiesandservices.

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Toyotaleveragesitsresearchintoautomateddrivingtocreatenewsolutions,suchasrobotswithenhancedperception,movementandreasoningthatcanexpandthefreedomofmovementforall,includingpeoplewithlimitedmobilityassociatedwithage,illness,ordisability.Assistiverobots,forexample,canempowerandenablepeoplewhomightotherwiseberestrictedintheirabilitytomovearoundtheirhomesorintheircommunities.Thesesystemsshowpromiseinhelpingseniors“ageinplace”ratherthanmovingintoassistedlivingfacilities–animportantpotentialbenefitgivencurrentdemographictrendsinmanysocieties.

4. HOWTOYOTAAPPROACHESAUTOMATEDDRIVINGDEVELOPMENTDEFINITIONS:AUTOMATEDORAUTONOMOUS?Overdecades,vehicleshavebecomemoreautomated.Directcontroloverkeyfunctions,suchasaccelerationandbraking,isincreasinglyhandledbycomputers.Morerecently,newtechnologieshaveemergedtoperformadditionaltasks,suchashelpingkeepavehicleinitslaneortakingsomecontrolifacollisionisimminent.Withtheriseofsystemsthatcanperformsomeoralldrivingtasks,ahostoftermshaveenteredthemarkettodescribethem.Theseinclude“automated,”“highlyautomated,”“semi-”and“partiallyautonomous,”“self-driving,”and“driverless,”tonameafew.Ingeneral,Toyotausestheword“automated”todescribevehiclefunctionsperformedwithlittleornodirecthumancontrol.Weusetheterm“autonomous”todescribeonlythosevehicleswhereanautomatedsystemcanperformthefull-timedynamicdrivingtask.Bycontrast,muchofwhatiscommonlydescribedasan“autonomousvehicle”isnottruly“autonomous”fromhumanoversightordrivingresponsibility.Careusingthesetermsisimportant,astheirapplicationtovehiclesinthemarketmayimpactconsumerexpectationsandunderstandingabouthowthosevehiclesperform.Asweimplementthesetechnologiesinpassengervehicles,webelieveitismoreappropriatetodescribeaccurately,ortouseterminologythatsuggests,theactualfunctionthevehiclecanperform.Regardlessofwhetheroneprefers“automated”or“autonomous,”justonewordfailstodescribetherangeofresearchintothecapabilitiesoftheseemergingvehicles.Forthat,internationalstandardshavebeendevelopedtoestablishabaseline.STANDARDSFORVEHICLEAUTONOMYTheSAEInternationalstandardJ3016categorizesvehicleautonomybasedonwhetherasystemcanoperateinsomeoralldrivingmodes,andwhetherthedriverorthevehicleisresponsibleforthreecategoriesofdrivingtasks:steeringandacceleration/deceleration;monitoringthedrivingenvironment;andfallbackresponsibilityifthesystemcannotmanagedynamicdrivingtasks.

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SAEhasdefinedlevelsofvehicleautomationthatrangefromnoautomationatLevelZerotofullautomationatLevelFive.

Theselevelsprovidevaluableandusefulguidance,andtheyserveanimportantroletobringconsistencytoglobaldiscussionsandregulationaroundvehicleautomation.However,whenusingthisscale,wealsoconsiderthefollowingthreepoints:

1. Thetaxonomycollapsesseveraldimensionsofvaryingcapabilityandresponsibilityontoasingleaxis,andthereforeimpliesaprogressioninvehicleautomationfromLevelZerotoLevelFive.Infact,automakersandtechnologycompaniesareexploringtheautomateddrivingaspectsofseveralSAElevelssimultaneously.

2. SAELevelThreeautomation,wherethevehicleis100percentresponsibleformonitoringthedrivingenvironmentandmustgivesufficienttimefordriverstoactasfallbacks,ispotentiallyaschallengingtoimplementasLevelFourautomation,wherethehumandriverhasnoresponsibilityatall.

3. Thedifficultyofthedrivingenvironment–whetherfromtraffic,weatherconditions,

construction,orotherfactors–isonlyusedtodifferentiateSAELevelsFourandFive.Infact,thisisacomplexmetricthatappliestoalllevels.

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HOWTOYOTATHINKSABOUTVEHICLEAUTOMATIONINITSRESEARCHToyota’sworkisdividedintothreebasicareasofstudy:thecapabilitiesoftheautomateddrivingsystem,thecapabilitiesofthedriver,andthedifficultyofthedrivingenvironment.AutonomyCapabilityInourresearchintoautomateddriving,wefocusontwotypesofcapability–onewecall“Chauffeur”andanotherwecall“Guardian”:

1. ChauffeurCapabilityisameasureofthedegreetowhichthevehicletakesprimaryresponsibilityfordriving,relievingthehumandriverofsomeoralldrivingtasks.IftheChauffeurcapabilityislow,thehumanmayberesponsibleformonitoringtheenvironmentandactingasafallback(similartoSAELevelTwo).Ifthecapabilityisabithigher,thehumandrivermayberesponsibleonlyforactingasafallback(similartoSAELevelThree).IftheChauffeurcapabilityishigh,thehumandrivermayhavenoresponsibilityatall(likeSAELevelsFourandFive).

2. GuardianCapabilityisameasureofhowmuchtheautomateddrivingsystemhelpstoprotectvehicleoccupantswhilethehumanisdriving–bothfrommistakesorothererrorsbythedriverandfromexternalfactorsontheroadsuchasvehicles,obstructions,ortrafficconflicts.ThehighertheGuardiancapability,thegreaterthenumberandtypesofcrashesitcanhelpprotectagainst.Forexample,atamodestlevelofGuardiancapability,systemslikeLaneDepartureAlert(LDA)andAutomaticEmergencyBraking(AEB)canhelppreventsomecrashes.Atthehighestlevel,Guardiancapabilitywouldhelpensureavehicledrivenbyahumanbeingwouldnevercauseacrash,regardlessofanyerrormadebythehumandriver,andsteeravehicletoavoidmanycrashesthatwouldotherwisebecausedbyothervehiclesorexternalfactors.

AlthoughChauffeurandGuardiancapabilitiesreflectdistinctconceptsforautomateddriving,theirdevelopmentbuildsonsimilarperception,prediction,andplanningtechnology.Indeed,thehardwareandsoftwarerequiredforGuardiancapabilityservesasthebackboneforChauffeurcapability.HumanDriverCapabilityandEnvironmentalDifficultyToyota’sworktodevelopautomateddrivingtechnologyisbroaderthanjustthecapabilitiesofthevehicleitself.Italsoconsidersthecapabilityofhumandriversandthedifficultyofthedrivingenvironment.Importantly,drivercapabilityanddrivingdifficultyarenotstatic.Theyinsteadriseandfallovertime–drivercapabilityadjustsbasedonfactorslikeskill,leveloffatigue,andlevelofdistraction;drivingdifficultyshiftsbasedonarangeofissuesincludingweather,traffic,orconstruction.Mostofthetime,drivercapabilitymaybesufficienttopreventacrash.Itisthetimeswhendrivingdifficultyrisesabovethedriver’sskillthatacrashislikely.

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Automateddrivingoffersthepotentialtohelpoffsetthoseperiodswhendrivingdifficultyishigherthanthedriver’scapabilitytonavigatesafelyandprovidesGuardiancapabilitywhennecessarytohelppreventacrash.What’smore,attimesoflowdrivingdifficulty,automateddrivingmightbeabletoprovideChauffeurcapabilitytorelievethedriverincertainconditions.Atpresent,Guardiancapability’stechnicalabilitiesmightbehigherthanthedriver’sskillonlyinsomecircumstances.Overtime,though,Guardiancapabilitywillgrowsteadilyastechnologyimproves,withagoalofcreatingavehicleneverresponsibleforacrashregardlessoferrorsmadebyahumandriver.Atthesametime,Chauffeurcapabilitywilladvancetowardagoalofbeingabletodrivesafelyinallconditionswithoutanyhumanresponsibilityforsupervisionorfallback.Importantly,drivingenvironmentscanbeextremelycomplexanddifficult,andnoautomateddrivingsystem–regardlessofhowcapableitmaybe–islikelytopreventcrashesentirely.Afundamentalquestionyettobeaddressedis“howsafeissafeenough?”Theanswerwilldependongovernmentregulation,liabilityrisks,societalacceptance,andwhatistechnicallypossible.Ingeneral,webelievesystemsprovidingChauffeurcapabilitywillneedtobesignificantlysaferthanaveragehumandriverstobeacceptedbysociety.Guardiancapability,bycontrast,maybejudgedagainstalowerstandard,whichis,onaverageandasoftenaspossible,to“donoharm.”

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5. AUTOMATEDDRIVINGTECHNOLOGYDEPLOYMENTSTRATEGYOURGUIDINGDEVELOPMENTPHILOSOPHY:THEMOBILITYTEAMMATECONCEPTToyota’soveralldevelopmentphilosophyforautomateddrivingtechnologyistheMobilityTeammateConcept(MTC),anapproachbuiltonthebeliefpeopleandvehiclescanworktogetherintheserviceofsafe,convenientandefficientmobility.TheMTCcombinesallofToyota’sresearchintoautomateddrivingcapability–theabilityofthehumandriver,anddrivingenvironmentdifficulty–andmergesthemintoavisioninwhichpeopleandvehicle“teamup”tomonitorandhelpeachotherwhenevernecessary.Inthenearterm,thisapproachcapitalizesonthedifferentskillsthathumansandmachinesbringtothechallengeofsafedriving.Indeed,thankstothepowerofconnectedsystemsandcloud-basedtechnology,thissharingofresponsibilitiesmeansintelligentvehicleswillimprovecontinually,witheverycarandtruckbenefitingfromtheexperienceofeachdriver.Astechnologyadvances,MTCwillallowforvehiclestoadaptandexpandtheirsupportbasedonthecapabilitiesofindividualdrivers,includingthosewhomightotherwisebeunabletodrivesafely.Importantly,MTCisaphilosophybuiltonthebeliefpeopleshouldhavechoices.Ratherthanremovinghumansfromanyengagementwiththeirownmobility,thisallowspeopletoenjoythefunandfreedomofdrivingwhenandiftheychoose,whilealsobenefitingfromthecapabilitiesofautomateddrivingwhentheywish.Indeed,underMTC,individualscanchooseChauffeurcapabilityinsomesituations,suchashighwayandlong-distancetravel,orthesupportofGuardiancapabilityinothers,suchasatlowerspeedsoronshortertrips.Finally,MTCexpandsitsfocusonhumanvehicleinteractiontogowellbeyondtherelationshipbetweenautomobileanddriver.Thisincludestheinteractionsamongvehiclesandotherssharingtheroad,includingpedestrians,bicyclists,andotherdrivers.PRIVATELY-OWNEDVEHICLESIn2003,ToyotaintroduceditsfirstmillimeterwaveradarbasedPre-CollisionSystem(PCS).LaterToyotarolledoutthesystemtomore-affordablevehiclessuchasPrius.Developingadvancedtechnologiesfirst,thenfindingwaystobringthemtoamorepopularandaffordablerangeofvehicles,continuestobeToyota’sstrategy.Thistwo-axisapproachalsoappliestoautomateddrivingtechnologies,whichinmanywaysareanextensionofourpreviousworkonadvancedsafetysystemsandwhichsharethesameultimategoalofzerocasualtiesfromtrafficaccidents.

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TheresultscanbeseenmostclearlyinToyotaSafetySenseandLexusSafetySystem+,whichmakeadvancedsafetytechnologiesavailableasstandardoroptionalequipmentonnewToyotaandLexusvehiclesinJapan,Europe,andtheUnitedStates.Indeed,futuregenerationsofbothsystemswillexpandtoincludeabroaderrangeofautomatedsafetysystemsandtechnologyasresearchanddevelopmentprogresses.Thisapproachofbeginningwithpersonallyownedvehiclesisaprovenandvaluablemethodfortechnologydevelopment,asitspeedstheintroductionofadvancedsystemsthatcanhelpimprovesafety,reduceaccidents,andeasetraffic.Today,thankstorapidcomponentandITtechnologydevelopments,wecanoftenreachmass-vehicledeploymentmuchfaster.Toyotaiscommittedintheneartermtobringingvehicleswithautomateddrivingcapabilitiestomarket.Thisincludestwoplannedvehiclesystems:

● HighwayTeammate,targetedforcommercialavailabilityin2020,isexpectedtoenabledriver-supervisedautomateddrivingonhighways.Thesystemwillevaluatetrafficconditions,makedecisions,andtakeactionduringhighwaydriving.Potentialcapabilitiesincludemergingontoorexitinghighways,maintainingorchanginglanes,andmaintainingdistancesbetweenvehicles.

● UrbanTeammate,targetedforcommercialavailabilityinthe2020s,willbuildonthecapabilities

ofHighwayTeammate.Inadditiontodetectingpedestrians,bicyclesandothervulnerableroadusersinandaroundthevehicle,thesystemisbeingdevelopedtooperateinaccordancewithlocaltrafficregulationsforsurfacestreets,includingnavigatingintersectionsandobeyingtrafficlights.

MOBILITYASASERVICE(MAAS)Throughitsownprogramsandinpartnershipwithvariouscompaniesinthemobilityservicesspace,ToyotaactivelyexploresMaaSmarketsandopportunities.Webelievetheseplatformswillaccelerateautomateddrivingtechnologydevelopmentandhelpbringitsbenefitstopeoplewhocan’tdrive.

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MaaSaddressesoneofthekeychallengesindevelopingautomatedvehiclesystems–theneedforsignificantdrivingdatatoimprovecoretechnologies.Initialcomponentcostsmeanvehicleswithautomateddrivingsystemsarelikelytobeexpensiveandsellinsmallnumbers.What’smore,thelowusageratesofprivatevehiclesmeaneachwilllikelygeneraterelativelylittledata.WithMaaS,thosecostscanbeamortizedacrossafleet,wherehigherutilizationratesincreasethedatagathered.ToyotabelievesMaaSprovidedbyvehicleswithautomateddrivingsystemscanhelplowercostsperpassengermile,creatingnewwavesofconsumerdemandandavirtuouscycleofaffordablemobility,safetyandconvenience.Itcanalsohelpimproveautomateddrivingtechnologyandsupportgreatersocietalacceptanceandconsumeradoption.Takentogether,thesystemwillbringforwardkeybenefitsofautomateddrivingmuchfasterthanthroughprivateownershipalone.Beyondautomateddriving,MobilityServicesalsoofferpromisingopportunitiesforToyotatoexpandtheservicesitcanoffercustomers.Tothisend,ToyotahasestablishedaMobilityServicePlatformtoenablecollaborationwithavarietyofservicesproviders.

6. ELEMENTSOFAUTOMATEDDRIVING

FUNDAMENTALSOFAUTOMATEDDRIVINGDrivingautomationoperatesthankstotheinteractionofseveralsystemsthatenablethevehicletounderstandthedrivingenvironment,makeintelligentdecisions,andsafelynavigatetoadestination:● LocalizationandMappingdetermineswherethevehicleislocatedwithinitsenvironment.This

requiresbuildingaspecializedmapofthesurroundingenvironment,eitherfromscratchorbydrawingfromabaselineofpriorknowledgethatiswell-understoodandtrustedtobemostlycorrect,andthenlocalizingthevehiclewithinthatmap.Thissystemhelpsavehiclecorrectlyinterpretthedataitssensorsgather.

● PerceptioncombinesinformationfromtheMappingandPositioningsystemwithdatafromvehiclesensors–includingcameras,LIDAR,RADAR,globalpositioningsystems(GPS),andinertialnavigationunits(INU),amongotherinputs–tocollectandinterpretinformationaboutthevehicle’scurrentsituationanditsrelationshiptoitsenvironment.Thisincludesthelocationandmovementofthefullrangeofobstacles,bothstaticanddynamic,includinginfrastructure,vehicles,pedestrians,bicycles,andmore.Theamountandcomplexityofdataforanalysismakesthisoneofthemostchallengingstepsinautomateddriving.

● Predictionhelpsthevehicleimaginewhereothervehicles,pedestrians,bicycles,etc.arelikelytobe

inthefuture.Oftentherearemultiplepossiblepredictions(knownashypotheses).

● Planningdeterminesoneormoresafecoursesoftravelforthevehicle,includingdecisionssuchaswhichlanetotravel,wheretopositionthevehiclerelativetootherdynamicobjects,andhowmuchspacetoaffordobstacles.Critically,thePlanningsystemmustmakedecisionsabouthowtosafelyguidethevehicleunderconditionsofuncertainty,suchaswhenothervehiclesontheroadmaybeblockedfromview,oriftheybehaveinunexpectedways.Multiplehypothesesmayleadtomultiple

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possibleplans,withtheultimatechoicedependingontheactionsofothervehicles,pedestrians,andmore.

● Controlexecutestheplanneddrivingtrajectoriessetbytheplanningsystem,whichareupdatedconstantlybasedonnewinformation.Thisisaccomplishedusingactuatorsthatdirectvehicledrivefunctions.

● Coordinationcommunicateswithothervehicles,theroadinfrastructure,andclouddatabases.

● ExternalHumanMachineInteraction(e-HMI)managesthecommunicationofinformationbetweenthevehicleandhumansinthetrafficenvironment.Importantly,whilecommunicationbetweendriverandvehicleisobviouslyimportant,particularlyinmanagingthehandoffofcontrol,sotooiscommunicationbetweenthevehicleandhumansoutsidethevehicle,suchasdriversandpedestrians.

KEYTOOLSFORAUTOMATEDDRIVINGAnoverlappingsetofcoretechnologiesandtoolsmakethefundamentalsofautomateddrivingpossible.Theseinclude:● ArtificialIntelligence(AI)isabroadtermfortechnologythatprocessesinformationandmakes

decisionstoachieveacertaingoal.Thismaybeaccomplishedviaarule-basedsystem,suchasifavehicleperceivesastopsignandfollowsaprogrammedcommandtostop,orviamachinelearning,inwhichasystemmightprocesslargevolumesofinformationtodifferentiateacarfromabicycle.

● ComputerVisionistheprocessofgatheringinformationfromsensorsandusingittoperceivethesurroundingenvironment.Thisprocessleveragesartificialintelligencetodrawknowledgefromthedata,identifyinganddifferentiatingindividualelements,suchascars,pedestrians,trees,androads.

● PredictiveAlgorithmsareusedtoanticipatethelikelybehaviorofotherobjectsintheroadenvironment,suchastheexpectedfuturepositionofanothervehicleontheroadbasedonitscurrenttrajectoryandproximitytoothervehicles.

● DecisionAlgorithmschoosethevehicle’sproperpathbasedonthepredictedbehaviorofotherson

theroad.Importantly,decisionalgorithmsmustoperatedespiteuncertainty,whichvariesbasedonconditionsincludingvisibilityandtrafficcongestion.

● Mapsarebaselinerepresentationsofthecoreelementsofthephysicalworldthevehicleoccupies.Theseincludebothhigh-definitionmaps,whichcanbegeneratedaheadoftimeandusedbyavehiclewhenitentersanenvironment,orgeneratedinrealtimeusingalgorithmssuchasSimultaneousLocalizationandMapping(SLAM).

● Sensorsgatherdatafromthedrivingenvironmentorfromthevehicleitself.Theseincludesystems

thatgatherdataabouttheworld,suchasvideocameras,LIDAR,andRADAR;thosethattracklocation,suchasGPS;andthosethatmonitorthemovementofthevehicleitself,suchasinertialmeasurementunits,orwheelspeedandanglemonitors.

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● Actuatorsareusedtocontrolthephysicaloperationofthevehicle,openingorclosingthethrottle,turningthewheels,orengagingthebrakes.Importantly,whilemuchofautomateddrivingisperformedbycomputersatveryhighspeed,actuatorsarelimitedbyphysicalconstraints,includingvehicledynamicsandthespeedoftheactuatoritself.Thus,automateddrivesystemsmustaccountforthelagbetweenissuingcommandsandthevehicle’sphysicalresponse.

● Simulationisusedtotesttheperformanceofautomateddrivingsoftwareinavirtualenvironment.

Datagatheredfromrealworldtestingisusedtorecreateavarietyoftrafficscenariosinsimulationtotestandmeasuresystemresponseandensureproperoperation.

● V2XCommunicationconsistsofadirectinformationexchangebetweenvehicles,withroadside

trafficmanagementsystems,andwithpedestriansviadigitalshort-rangecommunicationandviacellularnetworks.Thesevehicle-to-vehicle(V2V),andvehicle-to-infrastructure(V2I),andvehicle-to-pedestrian(V2P)communicationsshareinformationaboutroadsignals,signs,roadconditions,andothervehiclesorpedestriansthatmaybedifficulttosee.Theycanalsoalertdriversofapproachingvehicles,pedestrians,redlights,andsloworstationaryvehicles.Vehicle-to-network(V2N)supportsmapdatagenerationandmapdataupdates,aswellasvariouskindsofinformationdeliveryandremotecontrol.Together,V2Xcommunicationsprovideanadditionalmeansforautomatedvehiclestogainknowledgeaboutsurroundingtraffic.Theinformationobtainediscombinedwithdatafromon-boardsensorstoenablethevehicletomakebetterdecisionsforvehiclecontrol,trafficsafety,efficiency,anddriverinteraction.

7. CHALLENGESFACINGAUTOMATEDDRIVINGDEVELOPMENTWefacevariouschallengestorealizeandpopularizeautomateddriving.Theseincludelegal/regulatoryupdates,social-systemreform,andthetimeneededforsocietalacceptance,withthedetailedsituationvaryingbetweencountriesandregions.Automateddrivingtechnologyalsodependsonotherindustriesthatprovidekeytechnologiesthattogethermakeuptheautomateddrivingeco-system.Keysubjects,listedbelow,typicallyreflectgeographicalorculturaldifferences,globally,andregionally.Therefore,onekeyanduniquesuccessfactorforautomateddrivingishowwecollaborateandcooperatewithvariousstakeholderswhoarenotalwaysactorsinthetraditionalautoindustry.Torealizeandpopularizeautomateddriving,weneedtoappreciatetheirexpectations.Industrycollaborationinnon-competitiveareasthatactasafoundationofautomateddrivingsystemsandvehicles,suchasinfrastructureorsocialsystems,isaneffectivewayforward.Forexample,inJapan,SIP(CrossministerialStrategicInnovationPromotionProgram),undertheJapanCabinetOffice,identifiesareasofcollaborativeworkandpromotesresearchanddevelopmentamongrelevantstakeholders.SIPcollaborationscopeincludesdynamicmappingandcybersecurity.Forsometechnologies,regionalorglobalharmonizationandcollaborationacrossborderswouldberequiredtoestablishacommonsharedfoundation.Withsuchafoundation,wecanaccelerateourtechnologydevelopmenttowardsimprovingourcustomers’safety,andtowardenhancingfreedomandefficiencyofmobility.

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LEGAL/REGULATORYFRAMEWORKCHALLENGES• Infrastructure(TrafficDesignandManagement,RoadConstruction)• Cybersecurity• DataPrivacy• SafetyAssurance(Design,Construction,Performance)• Social System (Vehicle Registration, Licensing, Driving Education and Training, Traffic Rules,

Insurance,LawEnforcement,CrashInvestigation,SafetyandEmissionInspectionsetc.)SOCIALCHALLENGES• RegionalDifferences(Custom&Behavior,TacitDrivingMannerandRules,EthicalPerceptions).• SocialAcceptance(SafetyConcerns)• Sustainablesolutions(SmartCities,UrbanPlanning). TOYOTA’SAUTOMATEDDRIVINGPROGRAMS,PARTNERSHIPSANDINVESTMENTSTOYOTACOMPANIESWORKINGONAUTOMATEDDRIVINGTECHNOLOGYJAPAN

• ToyotaMotorCorporation:TMC’sAdvancedR&DandEngineeringCompanyleadsthecompany’seffortstodevelopautomateddrivingtechnologiesatthegloballevel,pullingtogethertheresourcesandworkofalltheotherentitieslistedhere,inadditiontoorganizingtheresearch,development,andtestingofthesetechnologiesbyallrelevantfunctionsatToyotaMotorCorporation.

● ToyotaCentralResearch&DevelopmentLaboratories:ToyotaCRDLcontributestothepresentandfuturebusinessesoftheToyotaGroupbyconductingresearchinavarietyoffields.Atthesametime,itsurveysglobaltechnologytrendsandexploresnewfieldsofsciencetoproposeavisionofthefuturethatwillleadtonewbusinesseswhilecontributingtotheadvancementofscience,technology,andindustry.

NORTHAMERICA

● ToyotaResearchInstitute(TRI):ToyotaResearchInstituteisawhollyownedsubsidiaryofToyotaMotorNorthAmericaunderthedirectionofDr.GillPratt.Thecompany,establishedin2015,aimstostrengthenToyota’sresearchstructureandhasfourinitialmandates:1)enhancethesafetyofautomobiles,2)increaseaccesstocarstothosewhootherwisecannotdrive,3)translateToyota’sexpertiseincreatingproductsforoutdoormobilityintoproductsforindoormobility,and4)acceleratescientificdiscoverybyapplyingtechniquesfromartificialintelligenceandmachinelearning.

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● ToyotaMotorNorthAmericaResearchandDevelopment(TMNAR&D):TMNAR&DhasbeenthedrivingforcebehindToyota'sNorthAmericanengineeringandresearchanddevelopmentactivities.BasedinYorkTownship,Mich.,TMNAR&Dengineers,scientistsandtechniciansworkprimarilyinthreemainareas:productdevelopment,advancedresearchandevaluation,andcrashworthiness.

● ToyotaCollaborativeSafetyResearchCenter(CSRC):CSRCpartnerswithleadinguniversities,

hospitals,researchinstitutionsandfederalagencies,withafocusonsafetyresearchprojectsaimedatdevelopingandbringingtomarketnewandadvancedsafetytechnologies.Researchareasincludeactive/passiveintegration,humanexperience,driverstatedetection,andbigdata/safetyanalytics,withtheresultssharedpubliclywithothercompaniesandacademia.

● ToyotaConnected:ToyotaConnectedlaunchedin2016withtwomandates:1)delivering

seamlessandcontextualservicesand2)usingcutting-edgedataanalyticstosupportproductdevelopmentforcustomers,dealers,distributors,andpartners.ToyotaConnectedprovidesarangeofdataandcomputerscienceservicesacrossToyota’soperations,includingsupportforongoingresearchintoartificialintelligenceandroboticsandtheToyotaResearchInstitute.ToyotaConnectedisbasedinTexasandJapan.

● ToyotaInfoTechnologyCenter:ToyotaInfoTechnologyCenter,U.S.A.,Inc.,isawhollyowned

subsidiaryofToyotaMotorCorporationandhasfiveresearchdivisions:NextGenerationMobilityandSocietyResearch,Cloud/InfraArchitecture,IntelligentComputing,Network,andSystem&Software.Projectsincludenextgenerationcloudplatformresearch,AIbaseddistributedprocessinganddataanalysisplatformresearch,andintelligentvehiclecommunicationnetworkresearch.ThecompanyhasheadquartersinCaliforniaandJapan.

EUROPE

● ToyotaResearchonAutomatedCarsinEurope(TRACE)ToyotaMotorEurope’sAdvancedResearchteaminBrusselscollaborateswithexpertsacrossEuropeinthefieldofcomputervisionforautomatedcars.ItisorganizedlooselyaroundalabstructurenamedTRACE(ToyotaResearchonAutomatedCarsinEurope).CurrentpartnersincludeKULeuven,UniversityofCambridge,CTUPrague,MaxPlanckInstituteSaarbrücken,andETHinZürich.Eachpartnercontributeswithuniqueresearchalgorithms,andallelementsareintegratedintotheexperimentalvehiclesundertheresponsibilityofKULeuven.Currentactivitiesincludestate-of-the-artdeeplearningalgorithmsforobjectdetection,robustandprecisetrackingandfullscenesegmentationandclassification.Monocularandstereo-cameraalgorithmsprovidelong-rangedepthmeasurements.Theobjectiveisrealtime-freespaceestimationforpathplanningandvehiclecontrol.

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TOYOTAAUTOMATEDDRIVINGRESEARCHDIVISIONS

TOYOTAPARTNERSHIPSFORAUTOMATEDDRIVINGTECHNOLOGYDEVELOPMENTToyotaResearchInstitute● MassachusettsInstituteofTechnology:TheCSAIL-ToyotaJointResearchCenterprojectsrangefrom

autonomytoself-awareness.Researchisaimedatfurtheringthedevelopmentofautomateddrivingtechnologies.

● StanfordUniversity:Stanford'sSAILlaboratoryisengagedinresearchprojectsthatincludehuman-

computerandhuman-robotinteractions.Thefocusisondevelopinginnovativeandimpactfulapproaches,algorithms,anddata.Theapproachincludesresearchinperception,learning,reasoning,andinteraction.

● UniversityofMichigan:TRI’sAnnArborresearchfacilitywithUniversityofMichigan(U-M)isfocused

onresearchintoenhanceddrivingsafety,partnerroboticsandindoormobility,automateddriving,andstudentlearninganddiversity.

CollaborativeSafetyResearchCenter● Children’sHospitalofPhiladelphia,UniversityofVirginia,OhioStateUniversity:Aprojectattempting

toquantifykeyoccupantresponses(kinematics,kinetics,andmuscleactivity)toevasiveswervingandemergencybrakingusingbothadultandchildsubjectsonatesttrack.

● VirginiaTech:AresearchstudyattemptingtoestimatetheResidualSafetyProblemafterIntegrated

SafetySystems(ISS)isdeployedin2025.ISSconsistsofallactive(autobrakingforvehicle,pedestrian,bicyclist,lanekeeping,etc.)andpassivesafetysystems(advancedairbag,curtainshieldairbag,roofstrength,pedestrianprotectionactivehood,etc.)

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● UniversityofMichiganTransportationResearchInstitute:AninvestigationintokinematicsofminimallyawareadultoccupantsexposedtoAutomaticEmergencyBraking(AEB)andevasivemaneuversonatesttrack.

● UniversityofIowa:Researchattemptingtomeasuretheresponsecharacteristicsandestimated

benefitwithrespecttoreductionininjury/fatalitiesofadaptiveheadlampsystemthathighlightsdetectedpedestriansandbicyclistsusingbothdriverandpedestrian/bicyclesimulatorstudy

● TASI–IndianaUniversity,PurdueUniversityatIndianapolis:Aprojectattemptingtodeveloptest

scenariosandmethodsfortheevaluationofvehicleroaddeparturewarningandassistandcontrolsystemsonatesttrack

● MassachusettsInstituteofTechnologyAgeLab:Aprojectattemptingtodevelopadeep-learning-

based,full-scenerecognitionofvehicleenvironmentfromavisionsensor.Examplesarevehicles,pedestrians,bicyclists,trafficsigns,buildings,curbs,etc.

● UniversityofWisconsin:Aprojectattemptingtoprovideatheoreticalandmathematicalframework

ofhowdriverscommunicatewitheachotherinanintersection. ● UniversityofCaliforniaatSanDiego:Aprojectattemptingtoprovideacomputationalprediction

modelforatransferofcontrolbetweentheautomationandthehumandriver.Themodelhasfactorsoriginatedfromhumanmotorandperceptualbehaviorsaswellasfromscenariosandenvironments

● UniversityofIowa–NationalAdvancedDrivingSimulator:Aprojectattemptingtoprovidea

meaningfulandusefuldatasetofdriverbehaviorswhenencounteringsituationswheretransferofcontrolbetweenautomationandthehumanisrequired.

TOYOTAINVESTMENTSINAUTOMATEDDRIVINGTECHNOLOGYCOMPANIESToyotainvestsinabroadrangeofcompanies,eitherdirectlythroughcapitalinvestment,throughinvestmentfundsestablishedinpartnershipwithfinancialinstitutions,orthroughthecorporateventurecapitalarmoftheToyotaResearchInstitute,calledToyotaAIVentures.Portfoliocompaniesinclude:ToyotaAIVentures● Nautoprovidesatechnologysystem,designedforprofessionaldriversandfleetmanagers,that

monitorsdriversandtheroadenvironmenttopreventcollisions,improvedriverbehavior,andlearnfromthediversedatasharedacrossitssmartcloudnetwork.TheNautodeviceispackedwithAI-poweredsensorsandmountedinsideavehicle'swindshield,whereitprovidespowerfulvisualcontextinsideandoutsidethevehicleandcollectsdatathatcanprovidemeaningfulinsights.

● IntuitionRoboticsisaleaderinthedevelopmentofsocialcompaniontechnology,includingitsElliQ

active-agingroboticcompanion.Thecompany’stechnologyisdesignedtopositivelyimpactthelivesofmillionsofolderadultsbyconnectingthemseamlesslywithfamilyandfriends,makingtechnologyaccessibleandintuitive,andpromotinganactivelifestyle.

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● SLAMcoredevelopsadvancedalgorithmsdesignedtohelptechnologyplatformslikeautonomouscars,drones,andAR/VRsystemstosimultaneouslybuildamapoftheirsurroundingsandpositionthemselveswithinit.Critically,SLAMcoreapproachesthischallengewithacorefocusonpowerefficiency,acrucialfactorforautonomousmobilityapplicationsgiventheneedtomaximizethepoweravailableforlocomotion.

8. AUTOMATEDSAFETYTECHNOLOGYONTOYOTAVEHICLESSomeofthefollowingfeaturesareonlyavailableinspecificmarkets,ormaybelimitedintheircapabilitiesonamarket-by-marketbasis.I. ToyotaSafetySenseandLexusSafetySystem+Features

● PRE-COLLISIONSYSTEM–VEHICLEDETECTION:AvailableonTSS-C,Pre-CollisionSystem–

VehicleDetectionusesaforward-facingradarandcameradesignedtoscantheroadaheadtohelpyouavoidapotentialfrontalcollisionincertainsituations.Whenapotentialcollisionisdetected,youarealertedwithaudibleandvisualwarningsonthedash,andbrakeassistanceisautomaticallyactivated.Ifyoudonotapplythebrakes,andthesystemdeterminesthecollisionisunavoidable,thebrakesareautomaticallyengagedinsomeconditions.

● PRE-COLLISIONSYSTEM-VEHICLEANDPEDESTRIANDETECTION:AvailableonToyotaSafety

SensePandLexusSafetySystem+,Pre-CollisionSystem-VehicleandPedestrianDetectionusesanin-vehiclecameraandradartohelpdetectavehicleorapedestrianinfrontofyouandcanhelptomitigateoravoidapotentialcollision.Ifthesystemdeterminesthatafrontalcollisionislikely,itpromptsthedrivertotakeactionusingaudioandvisualalerts.Ifthedrivernoticesthepotentialcollisionandappliesthebrakes,thesystemmayapplyadditionalforceusingBrakeAssist.Ifthedriverdoesn’tbrakeintime,thesystemmayautomaticallyapplythebrakestoreducespeed,helpingtominimizethelikelihoodofafrontalcollisionorreduceitsseverity.

● LANEDEPARTUREALERT:LaneDepartureAlerthelpsyoustayinyourlane.Usingaforward-

lookingcamera,thesystemisdesignedtodetectvisiblepaintedlanemarkingsontheroadandalertyouifyouareinadvertentlymovingoutofyourlane.Thesystemwillalertyouwithanaudiblebeepingsound,andanindicatorlightontheinstrumentpanelwillflashsothatyoucanthentakecorrectiveaction.

● LANEDEPARTUREALERTWITHSTEERINGASSISTFUNCTION:TheLaneDepartureAlerthelps

youstayinyourlane.Usingaspecializedcamera,thesystemisdesignedtodetectvisiblepaintedlanemarkingsontheroadandalertyouifyouareinadvertentlymovingoutofyourlane.Thesystemwillalertyouwithanaudiblebeepingsoundandindicatorlightontheinstrumentpanelwillflashsothatyoucanthentakecorrectiveaction.TheLaneDepartureAlertwithSteeringAssistsystembringsaddedfunctionality.Shouldthesystemdeterminethatthedriverisnottakingcorrectivesteeringaction,theSteeringAssistfunctionwillinitiateandprovidegentlecorrectivesteeringwhennecessarytohelpkeepthevehicleinthelane.

● AUTOMATICHIGHBEAMAutomaticHighBeamsisdesignedtohelpdriversseemoreofwhat's

aheadatnighttimewithoutdazzlingotherdrivers.Whenenabled,thisfeatureusesaforward-

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lookingcameratohelpdetecttheheadlightsofoncomingvehiclesandtaillightsofvehiclesinfrontofyou,thenautomaticallyswitchesbetweenhighandlowbeamstoprovidethemostlightpossibleandenhanceforwardvisibility.Byusinghighbeamsmorefrequently,AHBmayhelpdriver’searlierdetectionofvehiclesandobstacles.

● DYNAMICRADARCRUISECONTROL(DRCC):Whilestayingwithinapresetspeedrange,thesystemmaintainsanappropriatedistancebetweenvehicles,helpingmakelonghighwaydriveslesstiring.Thesystemoperatesatallspeeds,enablingthevehicletofollowthevehicleaheadinlowspeed.This,inturn,helpsreducedriverfatigueevenintrafficcongestion.

II. AdditionalFeaturesonmanyToyotaandLexusVehicles

• REARVIEWMONITOR：TheRear-ViewMonitordisplaysviewoftheareatotherearofthe

vehiclewhendrivinginreverse.Insomemodels,aguidancelineappearsbasedonthepositionofthesteeringwheel.Bylettingthedriverconfirmwheretheyaredriving,thisequipmenthelpsthedriverparksmoothly.

• PANORAMICVIEWMONITOR:High-resolutioncamerasmountedonthefront,sidesandrearof

thevehiclearedesignedtogivedriversa“bird's-eyeview”ofthenearenvironment.MovingViewandSee-ThroughViewoptionscreateacompositeimageofthevehicle'ssurroundingsason-screenguideshelpassistwithparkingandtightmaneuvering.

• PARKINGASSISTSONAR： ParkingAssistSonarutilizesultrasonicsensorsintegratedintothe

bumpersthataredesignedtodetectsurroundingobjects.Usingaudibletonesandanindicatoronthemultimediadisplay,thesystemcannotifyyouofadetectedobject'slocationandproximity,helpingwithroutinetaskslikeparallelparking.

• INTELLIGENTCLEARANCESONAR(ICS)：IntelligentClearanceSonarscansforstationaryobjects,likewallsorparkedcars.Shouldthesystemanticipateacollision,itwillemitanaudiblealert,reduceengineormotoroutput,andmayautomaticallyapplythebrakes.

• INTELLIGENTPARKINGASSIST(IPA):IntelligentParkingAssistusesultrasonicsensorstodetectsurroundingobjectsandidentifyparkingspaces.Thedriverstopsthecarbeforetheopenparkingspaceandbypushingasinglebutton,thesystemguidesdriverstotherightpositionforreverseparkingandassistsdriversinbackingintothespace.

• LANEKEEPINGASSIST(LKA)： WhentheRaderCruiseControlisactivatedandthesystemsenses

thevehicledeviatingfromitslane,LKAhelpsthecarstayoncoursenearthecenterofthelanebycontinuouslyapplyingasmallamountofcounter-steeringforcetokeepthevehicleinthecenterofthelane.

• BLINDSPOTMONITOR(BSM)： BSMisasystemwhichaimstoreduceaccidentsbyalertingthedrivertoothervehiclesinthevehicle’sblindspotdiagonallybehindthedriver’sseatwithandvisualdisplayinthesidemirrorswhilechanginglanes,byusingrearsideradars.

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• REARCROSSTRAFFICALERT（RCTA）： RCTAisdesignedtoprovideaudibleandvisualindicators,alertingthedriverwhenavehicleifavehicleapproacheswhilebackingoutofadrivewayorparkingspace.

• REARCROSSTRAFFICAUTOBRAKE(RCTAB)：RCTABisdesignedtodetectavehicleusingarear

camera,andinthecaseofapossiblecollision,helpstominimizesdamagesbyusingalertsandbrakecontrol.

• INTELLIGENTADAPTIVEFRONT-LIGHTINGSYSTEM(AFS）： IntelligentAFSisdesignedtoredirect

low-beamheadlampunitsinaccordancewiththesteeringangleandvehiclespeedatnighttoimprovevisibilityduringcornering.

• ADAPTIVEHIGH-BEAMSYSTEM（AHS）：AHShelpsprovideoptimizedforwardvisibilityduring

nighttimedrivingandautomaticallyturnsoffthehighbeamheadlampswhenanothervehicleisdetected.Whennoothervehicleispresent,thesystemturnsonthehighbeams.Thesystemalsoautomaticallyoptimizestheheadlamplightdistributionsothatthehighbeamsdonotdirectlyilluminateprecedingoroncomingvehicles.

• APPROACHINGVEHICLEAUDIBLESYSTEM(AVAS)： EV-operated(ElectricVehicle)hybridcars

runveryquietly.Whenthevehicleisdrivenat25km/horreversing,thesystememitsanalertsoundtohelpnotifypedestrians.

• ITSCONNECT:ITSConnectusesthededicatedITSfrequencyforroad-to-vehicleandvehicle-to

vehiclecommunicationtoobtaininformationthatcannotbeeasilycapturedwithonboardsensors.Atintersectionswithpoorvisibility,informationaboutoncomingvehiclesandpedestriansdetectedbysensorsabovetheroadwillbeconveyedviaroad-to-vehiclecommunication,andinformationaboutapproachingvehicleswillbeconveyedviavehicle-to-vehiclecommunication,withaudioandvisualalertswarningdriverswhennecessary.Inaddition,ITSConnectincludesCommunicatingRadarCruiseControlfeature,enablingthevehicletofollowtheprecedingvehiclemoresmoothly,obtainingitsaccelerationanddecelerationinformationviavehicle-to-vehiclecommunication.

• AUTOMATICCRASHNOTIFICATION(ACN)：ACNhelpsdriversreceivearesponsefromemergencyteams.Intheeventofeitheranairbagdeploymentorasevererear-endcollisioninanareawithcoverage,theresponsecenterwillbeautomaticallynotifiedviaembeddedcellulartechnologyandGPS.OncetheresponsecenteragentreceivesthevehicleIDandthevehicle’slocation,theagentcanspeakwiththedrivertoascertainthelevelofemergency.Ifthedriverisunabletocommunicate,theagentautomaticallytreatsthecallasanemergency.Theresponsecenteragentthenusesthevehicle’sGPSlocationtodeterminethenearestPublicSafetyAnsweringPoint(PSAP)availabletoprovideemergencysupportandwilloffertostayonthelineuntilemergencyassistancearrives.