This paper presents the TOYOTA's concept, experiments and future scope of Automated Vehicle/Highway System (AVHS) which could contribute to a possible solution to automobile traffic/transportation issues in the 21st century. This system enables smooth, automated cruising on highways by keeping the distance to the leading vehicle and by avoiding obstacles. Compact, light-weight actuators are designed from a practical viewpoint. The system is intended to have broad benefits for both vehicles with add-on devices and for automated vehicles. The prototype runs smoothly over 100 km/h with a simple control algorithm. CCD lane sensor with compensation to disturbances can detect the lane except under severe weather conditions. In order to make the system more reliable, misperception of vague lane is corrected by the onboard memory of three dimensional road curvature as a backup. Onboard laser radar is feasible for obstacle or distance sensing, and obstacle avoidance control with assistance of road side TV camera with computer image analyzer, which can detect smaller obstacles and is a key solution. This forms a cooperative intelligent vehicle infrastructure. With some compensation laser radar can detect the leading vehicle except under severeconditions such as small road curvature, bad weather, etcetera. AVHS is expected to penetrate effectively.
Abstract