Driving Support System Description - Overview (2017)
Integrated Driver Support System
This vehicle is equipped with the Integrated Driver Support System, which integrates and analyzes the information transmitted from the millimeter wave radar and the multipurpose camera to recognize objects.
Roles of Each Function
The Integrated Driver Support System has two main categories of functions: Safety and Comfort functions. When the Integrated Driver Support System on the vehicle detects a hazard, an alarm and/or warning notification is triggered. The system provides safety functions that perform a hazard evasion assistance if the driver does not (or cannot) respond to the warning notification or alarm. The system also provides comfort functions controlling the vehicle behavior according to the road conditions to assist the driver.
| Safety Functions | Comfort Functions |
|---|---|
| CMBS, Road Departure Mitigation (RDM) |
ACC, LKAS |
| The driver can turn on and off these functions using the switch * | The function is selectable by the driver |
*: The status of these functions will be kept even after the vehicle is turned to OFF (LOCK) and ON mode again.
Operational priority of each function
Operational priority of each function is set among systems. The CMBS gets activated when risk of collision becomes greater while the ACC control is in operation. Once the CMBS becomes active, the ACC will be cancelled. When the RDM System is activated, its operation has higher priority than the LKAS. Between the CMBS and the RDM System, the brake control of the CMBS has higher priority.
Operation of the Millimeter Wave Radar
The millimeter wave radar uses millimeter wave bands to detect vehicles and pedestrians (leading and opposite vehicles) in front of the vehicle. The radar also calculates the relative speed of the objects and the distance between the objects and the vehicle by transmitting and receiving the millimeter waves.
Operation Conditions
| Item | Leading vehicle | Opposite vehicle | Pedestrian output | |
|---|---|---|---|---|
| Accuracy of horizontal field | Distance | 0.5 - 120 m (1.6 - 394 ft) | 1 - 120 m (3 - 394 ft) | 1 - 40 m (3 - 131 ft) |
Vehicle/Object Detection Process
The multipurpose camera unit determines if there is a leading vehicle and/or detected objects that are moving based on the outlines of the objects, relative position and speed of the objects. In order to distinguish between leading vehicles and pedestrians, the system uses the recognition result received from both the millimeter wave radar and the multipurpose camera as follows.
Pedestrian Image Processing
The multipurpose camera is able to detect pedestrians. When the system detects an object that could be a pedestrian, the system compares the object's characteristics against programmed characteristics for the system to determine if the object is likely a pedestrian or other object.
Function Failure Indication