A presentation given at the 2016 Traffic Safety Conference during Closing Session: Technologies Enhancing Transportation Safety. By Roger Berg, Vice President, North America Research and Development, Denso International America, Inc.

1. Roger Berg
Vice President
North America Research & Development
DENSO INTERNATIONAL AMERICA, INC.
Adoption of Connected Automated
Vehicles for Traffic Safety

2. DENSO Background
38,000 Active Patents Worldwide

3. 3/22
Future Mobility Society

4. Holistic ADAS – Automation Concept

5. Connected Automation Concept

6. Global ADAS Regulatory Trend
CIB (Car)
AEBS&LDW for truck
CIB (Car & Ped)
L Kids & Transportation
N
N
AEBS (Car) / LDWISA
AEBS (Ped)
14 15 16 17 18～～13
Rear cameraN
L LKA
AEBS-PD
LDW
AEBS for truck
AEBSTFCWT
L N TLaw (Mandatory) NCAP Top Safety Pick (IIHS)
L
N N
N
N
N
N
AEBS: Advanced Emergency Brake System
CIB: Crash Imminent Braking
FCW: Forward Collision Warning
LKA: Lane Keep Assist
LDW: Lane Departure Warning
ISA: Intelligent Speed Adaptation
cartalk.com
http://www.cvel.clemson.edu/
http://virtual.vtt.fi/

7. Global ADAS Use Case Trend
Comfort
Convenience
Collision
Avoid
Road
Departure
Prevent
Surround
Monitor
Application
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
detection
FLAD
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 ACC
LKA: Lane Keep Assist
LDW: Lane Departure Warning
TSR: Traffic Sign Recognition
FLAD: Freeway Limited Autonomous Driving
PCS: Pre-Crash Safety
AEBS: Advanced Emergency Brake System
RDP: Road Departure Prevention
CS: Clearance Sonar
ICS: Intelligent CS
APA: Advanced Parking Assist
BSW: Blind Spot Warning
CVW: Closing Vehicle Warning
RCTA: Rear Cross Traffic Alert
RPCS: Rear PCS
FCTA: Front Cross Traffic Alert
AHB: Auto High Beam
ADB: Adaptive Driving Beam
LDC: Lane Departure Controller

8. 8/22
Sensors – How Many and What Kind?

9. 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
GPS
Locator
mini stereo
camera
3D flash
LIDAR

10. 10/22
Sensors are Imperfect
On Board Sensor Capability
LIDAR 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
Robustness
Rain / Snow
Fog
Night
DetectionPerformance
detection&ranging
detection&ranging
monitoring&classification
information
information
Dynamic Static
*depends on coverage

11. 11/22
Combination of HW/SW ≈ CPS
Sensing Vehicle
Driver
autonomouscooperative
speed
yaw
throttle
brake
motion HMI
global
map
• road
• landmark
• traffic rule ...
sensor fusion processing
sensor
components
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
radarsonarV2X
radio
cellular
radio
GPS
locator
driver
monitor
bio
sensor
driver monitoring
open I/F
Sensor System
steer
open I/F
intervention from vehicle safety
gyro
ADAS App. #2

12. 12/22
Let’s not forget connectivity

13. Connected Drive in Unfavorable Conditions

14. Connected Automation

15. Connected Automation

16.  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

17. With connectivity comes…responsibility!
Infiltration end point is an ECU running a critical vehicle control function
Vehicle
ECU
ECU ECU ECU ・・・
uC
Remote
Agent
 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. 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. 19/22
Roger Berg
Vice President North America R&D
DENSO INTERNATIONAL AMERICA, INC.
roger_berg@denso-diam.com
(760) 597 - 7404

20. 20/22
Automated Drive Definitions

21. 2015 202X
Front Sensing
Radar(Front side & Rear Side)
Camera
Radar(Front)
Function&ObjectRecognitionRecognitionDomain
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
Ordinary
Road
・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 safety
Cooperative Safety Assistance
(e.g., V2X communication)
・Obscured vehicle・Crossing vehicle
・Oncoming vehicle
AEB Intersection Vehicle
ADAS – Automation Roadmap

22. 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