`
`Autonomous intelligent Cruise Control (AlCC)
`
`
`
`Petitioner Nissan - Exhibit 1003 - Page 1
`
`Petitioner Nissan - Exhibit 1003 - Page 1
`
`

`

`DAIMLERBENZ
`
`Telefax
`
`PROMETHEUS
`
`CED 5 / AICC
`
`System Functions Group
`
`Nécker DB
`
`F A X L I S T
`
`Company names in alphabetical order.
`
`Name
`
`Company
`
`Telephone
`
`Telefax
`
`G.Geduld
`D.Kollbach
`G.Nocker
`W.Ziegler
`
`DB
`"
`"
`"
`
`+49 7111739753
`+49 7111748339
`+49 7111739724
`+49 7111720743
`
`+49 7111739831
`+49 7111748073
`+49 7111739831
`+49 7111752004
`
`A.Hutton
`
`Jaguar
`
`+44 203303080
`
`+44 203305988 *
`
`59445903
`
`C.Calesse
`J.M.Va1ade
`M.Bork
`
`Matra
`"
`Opel
`
`+33 130445724
`+33 130445749
`+49 6142666185
`
`+33 130440031
`+33 130440031+
`+49 614261137
`
`‘
`“94454141 EF/Z
`
`P.Jarri
`
`'PSA
`
`+33 141072141
`
`+33 141073378
`
`C.Couston
`E.Maldiney
`
`Renault
`"
`
`+33 147779528
`+33 147779446
`
`+33 147779201
`+33 147779201
`
`R.Gustafsson
`M.Lindgren
`
`E.Lissel
`
`Saab
`"
`
`VW
`
`+46 52084951
`+46 31724203
`
`f““7¢*"“"“§
`+46 52032796 5 @155,
`+46 31185916
`JVJM+urehnvmwcec
`
`+49 53619220404 +49 5361924263
`
`U.Pa1mquist
`A.Hallen
`
`Volvo
`"
`
`+46 31724078
`+46 31591317
`
`+46 31724086
`+46 31532167
`
`Petitioner Nissan - Exhibit 1003 - Page 2
`
`Petitioner Nissan - Exhibit 1003 - Page 2
`
`

`

` O
`
`
`
`~ 9 a a H s T H E U 5
`
`COMMON EUROPEAN DEMONSTRATOR
`
`AUTONOMOUS INTELLIGENT CRUISE CONTROL
`
`- AICC -
`
`WORKPLAN
`
`---===0000000===-~-
`
`DATE:
`
`April 11th,
`
`1991
`
`Version 2
`
`AICC workplan
`
`Petitioner Nissan - Exhibit 1003 - Page 3
`
`Petitioner Nissan - Exhibit 1003 - Page 3
`
`

`

`
`'
`
`paonnueus
`
`AICC
`
`H W
`
`.
`...................................................................................... 1
`I. CED description
`1.2 Mission statement.............................................................
`...................... I
`1‘2 AICC definitionllllltvlllIltllIIIIIlllllllollolllIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIIJOIAIIIIIIIIIIIIIIIIIIIIIIIII
`
`...................2
`13 Contributions to PROMETHEUS objcctivcs .........................
`.....................3
`2. CED Workplan..............................
`2.1 Active companies.............................
`.................................3
`2.2 Campany contnbutmnsS
`
`......................3
`.............
`DAIMLER BENZ .....................
`JAGUARW.........
`..........................................................................3
`MATRA..............................................................................3
`OPEL ................
`....................................................................................4
`PSA.............
`.......... .. ............................... . ..................................... .........4
`RENAULT.........................
`...............................
`.................... ....4
`SAAB .............................................................................4
`
`2.3 CED organizations
`
`AICC Project Managcmem Group.........................................................5
`System Functions Gmup ........................................................................5
`Systems Interconnection Group.........................................................5
`Sensor Group. ...........................................................................................6
`
`2.4 Strategy / Mil:ston=s........ ........................
`
`...............................................6
`
`2.5 Main doiiverabies.........................................................................................7
`2.6 Work plan”...............
`..................................................................................8
`
`2.6.1 Work breakdown structuro8
`2.6.2. Work packages description .............. . .............
`...................... 10
`2.6.3. Pianning.......................
`.................................................... 13
`2.7 Rcssourccsl4
`
`for common work............... 14
`2.7.1 Estimated necessary ressources
`2.7.2 Offered rcssources ...................................................
`................. 15
`2.8 Involvcmem of ER. 5&5. Thematic WGs..........................
`.................16
`Thematic Working Groups“...........................
`..... ................ .....16
`Basic Roscarchld
`E&s
`InduSIW'Ull‘lt'l"'U'.‘..’.."llll"'“""Vl"Il'lltllllblll|llll lllllllllllllllllllllllllllllII16
`
`AICC workplan
`
`,
`
`‘
`
`Page 2
`
`Petitioner Nissan - Exhibit 1003 - Page 4
`
`Petitioner Nissan - Exhibit 1003 - Page 4
`
`

`

`AICC
`
`1. CED DESCRIPTION
`
`1.1 Mission statement
`
`
`Upnonsrucus
`
`.
`
`The main function of the AICC system can be summarized as follows :
`The Autonomous Intelligent Cruise Control MICE} is on assisting system being able of
`controlling relative
`speed and distance between two adjacent vehicles
`in the
`same
`lane.
`
`The driver
`
`is
`
`still
`
`responsible for
`
`the
`
`531': control of his car,
`
`and can override the
`
`Driver Info.
`
`Supportive
`
`Figure 1
`: Functional decornposition of AICC system
`The AICC should be seen as an enhanced version of the existing Cruise Control sysrcm.
`not only keeping the speed but also a safe distance by adapting the speed of the own
`vehicle to that of a slower vehicle shes .
`
`remains fully responsible
`the driver
`system.
`As when using the present Cruise Control
`for the safe control of his car. The driver can override the system at any time by using
`his normal control devices.
`
`rely on communication between
`it does not
`in that
`The AICC vehicle is autonomous
`vehicles. nor does
`it
`require any equipment
`to be carried by other vehicles. All kinds
`of principles for sensing will be considered and evaluated against
`the requirements in
`terms of performances. cost and availability.
`When operating in AICC mode. all elements of
`are considered. but no element of lateral control.
`
`longitudinal control
`
`(throttle & brake)
`
`AlCC workplan
`
`Page 1
`
`Petitioner Nissan - Exhibit 1003 - Page 5
`
`Petitioner Nissan - Exhibit 1003 - Page 5
`
`

`

`
`AICC PROHETHEUSRE“
`
`The AICC program includes
`investigation of vehicle-following in all
`traffic scenarios.
`all kinds of illumination and weather conditions.
`AICC will operate in the velocity range of 0 - 130 km/h.
`it does not perform
`“1310118?!
`the AICC may have the adequate sensing capabilities.
`collision
`avoidance. Therefore
`the performance of
`the
`longitudinal
`controi‘ is
`restricted to certain predefined limits (such as maximum deceleration) due to physical
`and safety constraints and with respect
`to driver convenience.
`In case the system is
`not able to solve a certain situation within these limits,
`relevant
`information may still
`
`be provided.
`
`When the longitudinal control of the system is deactivated by the driver.
`may still he provided.
`
`information
`
`Transponder data acquisition may be
`
`AICC.
`
`included to
`
`allow enhanced operation of
`
`the
`
`External
`
`acquired.
`
`information such as
`
`speed limit or
`
`traffic signal changing patterns might be
`
`The AICC system design should be modular to facilitate for future improvement. by e.g.
`
`communication.
`
`external
`
`1.3 Contributions to PROMETHEUS objectives
`
`in front
`Safeguarding distance to car
`Eliminatiorz of shortcomings in the use of present Cruise Control systems
`Environmental
`benefits
`
`traffic flow
`for smoother
`Provisions
`encourages more
`Facilitated handling of Cruise Control
`induce
`smoother
`traffic
`Optional connection to green-wave systems
`
`extensive use which will
`
`Convenience
`
`engaging/disengaging
`of
`procedure
`the
`Eliminating
`system.
`Adapting speed automatically to demands of traffic flow
`
`the
`
`present Cruise Control
`
`Economy
`
`Reduction of unnecessary braking and accelerating manoeuvres
`
`AICC workplnn
`
`Page 2
`
`Petitioner Nissan - Exhibit 1003 - Page 6
`
`Petitioner Nissan - Exhibit 1003 - Page 6
`
`

`

`AICC
`
`E
`
`i'fieiency
`
`
`
`‘
`
`Psonsrusus
`
`‘
`
`.
`
`As a consequence of the elimination of accidents and related traffic jams, specially on
`
`a. can wonasaan
`
`2.1 Active
`
`companies
`
`As of today.
`
`the following elght companies are actively participating in the AICC CED :
`
`Daimler Benz
`Jaguar
`Matra
`Opel
`PSA
`Renault
`SAAB
`Volvo
`
`a brief description of
`Below follows
`of the participating companies
`:
`
`the contributions and planned work within each
`
`W T
`
`he DB contribution to AICC is based on their demonstrator MUSIC.
`Intelligent Control) which is also capable of lateral control.
`ft
`
`(MUlti Sensor
`
`eat? every
`
`The available Jaguar contribution to the AICC work is a sub-part of the LUCAS collision
`avoidance
`program.
`
`to be tested is a 94 GHz radar system which is physically integrated
`The first sensor
`with the processor and based on a VME system. A 3-bearn 94 GHz system will also be
`evaluated starting by spring '91.
`
`MAIRA
`
`AICC workplan
`
`Page 3
`
`Petitioner Nissan - Exhibit 1003 - Page 7
`
`Petitioner Nissan - Exhibit 1003 - Page 7
`
`

`

`
`PROHETHEUS
`‘ _
`AICC
`“\—
`A
`sensor is under realisation. based on laser pulsed illumination and CCD based sensor
`device. This
`sensor provides
`high accuracy 3D position of
`reflectors located in the
`field of view (20° at 15°), at 10 Hz for the first prototype.
`First prototype will
`run under
`informative mode in 91.
`
`Integration of full system will
`
`start at
`
`the end of 91.
`
`MEL
`
`integrate the AICC-funetions
`Opel will
`technology as Daimler Benz's.
`
`in two "general-purpose" CED-vehicles. Sensor
`
`BSA
`
`Not
`
`supplied.
`
`mm]:
`
`'91. The work is
`is aiming at having a complete AlC‘C-ear by the end of
`Renault
`performed in three groups : Sensors (own LIDAR & 94 GHz are being studied). Manage
`scenario (SCAN simulations. MMI design) and Actuators.
`SAM}
`
`titled Traffic Flow Keeping aiming at systems to improve
`SAAB is involved in a project
`the traffic flow with focus on emissioa reductions. The SAAB AlCC-vehicle will be the
`platform for these trials. Sensor types : COMPOSE and possibly IR.
`mm
`
`Based on the CAROSI demonstrator which provides road-side informatiou such as speed
`limits via a PHILIPS/PREMID 2.4 GHz transponder system. Volvo now develops AUTO-
`CRUISE which uses
`the acquired information fer
`longitudinal control. The full AICC-
`vehicle will be ready by mid '91 based on two different sensor systems
`- multi-besm
`LIDAR and the transponderbased COMPOSE system for
`identification and ranging.
`Volvo
`is
`also developing models
`for environment-optimal RPM control, based on
`measurements of
`transient emissions. These models will
`later be applied to the AICC
`control
`strategies.
`
`A!CC workpian
`
`Page 4
`
`Petitioner Nissan - Exhibit 1003 - Page 8
`
`Petitioner Nissan - Exhibit 1003 - Page 8
`
`

`

`
`
`Tasks
`
`:
`
`- Basic system specification of AICC functions
`to optimize the AICC work by
`- Over-all coordination of the CED work in order
`identifying redundant work and promoting common work
`- Organization of common events
`
`. CED administration and reports to SC
`
`Members
`
`:
`
`The AICC project
`
`Valade. MATRA.
`
`leader
`
`from each active car company,
`
`the group is
`
`led by L-M.
`
`WWW
`
`Tasks
`
`:
`
`- Definition of scenarios
`- Functional decomposition
`- Simulations
`- MMI strategies
`
`Members
`
`company plus
`active
`from each
`representative
`One
`Working Group 4. The group is led by G. Nocke. DB.
`
`representatives
`'
`
`from Thematic
`
`Wm
`
`Tasks .-
`
`- Definition of
`interfaces
`- Definition of common software and hardware platforms
`Members
`
`One representative from each active company. The group is
`who is also representing Thematic Working Group 3.
`
`led by M. Lindgren. SAAB
`
`AICC workplan
`
`Page 5
`
`Petitioner Nissan - Exhibit 1003 - Page 9
`
`Petitioner Nissan - Exhibit 1003 - Page 9
`
`

`

`.
`n,
`.V
`..
`2.1 o"? "=1 nzoa memo M52: QUPDRQN 33 1 “WW“
`
`PROHETHEUS
`AICC
`
`
`
`
`Ethane—Ema
`
`Tasks
`
`:
`
`- Forum for specifically discussing and evaluating AICC sensor
`- Other means of data aconisition
`- Data logging
`
`technology
`
`Members
`
`:
`
`company plus
`from each active
`representative
`One
`Working Group 1. The group is led by A. Hutton, Jaguar.
`
`representatives
`
`from Thematic
`
`.
`
`2.4 Strategy / Milestones
`
`the respective participating
`for
`for AICC‘ work was quite different
`The starting point
`companies.
`In some companies.
`there was
`already extensive work ongoing in this
`area, even before the CED program was established. As a consequence of this. not all
`company plans could be amended to match the AICC workpian. at
`least not for the first
`year(s).
`
`continue.
`running projects
`already
`the
`let
`to
`therefore
`is
`strategy
`The general
`possibly with some minor adjustments according to the ongoing definition work in the
`AICC-CED. These projects will
`result
`in
`the
`first-generation AICC.
`generally
`characterized by "bettcm-up"
`approaches
`to the problem but
`still providing valuable
`and early experience in the field of AICC.
`
`resulting in an
`run in parallel
`the work in the AICC Working Groups will
`Meanwhile.
`and harmonized
`agreed system definition. proposed common development platforms
`plans.
`in general. These second-generation AICC coming out of
`the top-down system
`engineering work will
`then be used for common evaluations
`as a basis
`for
`further
`refined
`specifications.
`
`Some companies will. already from the beginning.
`aiming
`at
`the
`second-generation. whereas
`the
`program step-by-step whenever
`suitable.
`
`start
`"early
`
`their AICC development work
`starters" will
`adapt
`their
`
`a commonly agreed PROMETHEUS
`there should be
`anards the end or the program.
`specification of the final AICC, which could be handed over to E&S suppliers.
`
`Also during the last years of the program will be taken to merge with the COPDRIVE-
`CED.
`to evaluate the additional benefits
`that could be achieved by using vehicle-to-
`vehicle communication as
`a complement
`to autonomous
`sensors only.
`
`W A
`
`ICC workplan
`
`Page 6
`
`Petitioner Nissan - Exhibit 1003 - Page 10
`
`Petitioner Nissan - Exhibit 1003 - Page 10
`
`

`

`24 RVP ’91 11:83 MQTRQ MSZI QUQDRQN '33 1 38448831
`
`AICC
`
`
`PROHETHEUS
`
`2.5 Main deliverabies
`
`Major steps of the CEDS program are synthetized on the following ylanning.
`
`1994
`1993
`‘i 9'92
`1991
`1990
`WW
`
`~~
`
`0
`
`60ml
`
`to
`pore
`"mm
`System museum \
`
`Sensors dev. one
`evaluation
`3
`Control Ih‘liaqifla
`Actuators I
`MMi
`
`Ergonomy
`Driver ”Diana
`
`
`
`: use 1
`intonation
`3““ “hm“
`evaluation
`
`CED!
`obleetivu——-—_
`
`
`
`System Ipeat
`introdueflen strut.
`Legal not:
`Benefits
`impact:
`
`Thematic groups
`results
`
`Figure 2 : AICC general planning
`
`Main results
`
`for
`
`the coming years are presented hereafter.
`
`Q3'90
`
`AICC SYSTEM DEFINITION
`
`The second-generation AICC defined by the Working Groups.
`-
`scenarios
`-
`functional decomposition
`- development platforms
`-
`sensor
`requirements
`
`in terms of
`
`Q4‘ 90
`
`SENSOR TEST RESULTS
`
`The
`respective
`
`firm sensor
`companies
`
`systems will be
`
`tested during the
`
`autumn '90 within the
`
`Q2‘91
`
`FIRST-GENERATION AICC VEHICLES
`
`First demonstrators
`
`running as Company Demonstrators or mixed versions
`
`Q3 '9 1
`
`C 0MPARATIVE EVALUATIONS
`
`All available AICC vehicles are brought
`and evaluation session
`
`together
`
`for an extensive common test
`
`Q4'91
`
`SECOND-GENERATION AICC VEHICLES
`
`First demonstrators based on common work
`
`WW
`AICC workpian
`Page 7
`
`Petitioner Nissan - Exhibit 1003 - Page 11
`
`Petitioner Nissan - Exhibit 1003 - Page 11
`
`

`

`
` PRDHETHEUS
`2.6 Work plan
`
`A1CC workplan
`
`Page 8
`
`Petitioner Nissan - Exhibit 1003 - Page 12
`
`Petitioner Nissan - Exhibit 1003 - Page 12
`
`

`

`24 QVR ’91 11:94 mm:
`
`-2
`
`AICC
`
`
`
`AICCwas
`
`
`
`Petitioner Nissan - Exhibit 1003 - Page 13
`
`

`

`
`
`
`
` I PROHETHEUS
`
`environments,
`
`CED definition
`
`Elaboration of a common AICC functional decomposition
`‘
`'
`functionali
`ties
`(support
`from infrastructure)
`Integration with other PROMETHEUS fl:
`‘
`
`- Sensors
`
`Tasks
`
`Outputs
`
`(sensor and preprocessing)
`Sensor module
`for sensors
`Test
`scenarios
`Performance
`evaluation of
`sensor:
`
`AICC workplan
`
`Page 10
`
`Petitioner Nissan - Exhibit 1003 - Page 14
`
`Petitioner Nissan - Exhibit 1003 - Page 14
`
`

`

`AICC
`
`- Strategy
`
`Tasks
`
`
`
`.
`
`Paonerueus
`
`strategies and identification of applicability conditions
`Specification of control
`Definition of control algorithms
`Evatnation of strategies by simulations traced on AICC scenarios
`Development of strategy moduie
`
`Outputs
`
`strategy specifications
`Control
`evaluation
`Strategy
`Strategy module
`
`oMan Machine
`
`Interface
`
`Tasks
`
`relevant data for
`the driver
`Identification of
`functioning modes between the driver
`Identification of
`according to the AICC scenarios
`Study of the presentation of the information to the driver
`Development of MM! module
`
`and the AICC system
`
`Outputs
`
`Specification of the interactions between driver and AICC system
`MMI module
`
`. Actuators
`
`Tasks
`
`'Set up of requirements for AICC actuators (brake and throttle)
`
`Outputs
`
`Specifications of actuators
`
`-Software
`
`and Hardware
`
`interfaces
`
`Tasks
`
`hardware
`and
`sofware
`the
`and
`architecture
`the AICC functional
`on
`Based
`specification
`of
`group.
`proposed
`by
`the
`Systems
`Interconnection
`components
`hardware and software interfaces for major components of the AICC system :
`-perception module
`(sensor
`and preprocessing)
`-atrategy module
`-actuator modules
`- MMI
`
`(actuator and control)
`
`AICC workpian
`
`Page )1
`
`Petitioner Nissan - Exhibit 1003 - Page 15
`
`Petitioner Nissan - Exhibit 1003 - Page 15
`
`

`

`AICC
`
`Outputs
`
`
`.
`
`.
`
`FROMETHEus
`
`Hardware and Software specifications for AICC subsystems
`
`
`
`Tasks
`
`In strong connection with thematic working group 3.
`architectures for AICC second generation CEDs covering :
`-hsrdware
`components
`-operating
`systems
`~eommunicstion
`services,
`exclusive of AICC application software and hardware
`
`identification of on-board
`
`Outputs
`
`Proposal
`
`for on-board architectures
`
`W T
`
`asks
`
`Integration of the different modules on vehicles
`
`Outputs
`
`Vehicles
`
`for
`
`common experimentations
`
`WW
`
`Tasks
`
`Definition of
`tests
`Identification of
`organisation. data
`Experimentations
`Analysis of results and assessment of the impact on system design
`
`and
`
`evaluation .(site,
`
`scenarios
`required components
`and video recording)
`
`for
`
`test
`
`realisation
`
`Outputs
`
`Torino
`Materials
`
`demonstration description
`for Torino demonstration (video. handout)
`
`Common evaluation test definition
`Common test evaluation
`
`A1 CC workplan
`
`Page 12
`
`Petitioner Nissan - Exhibit 1003 - Page 16
`
`Petitioner Nissan - Exhibit 1003 - Page 16
`
`

`

`
`
`Evalttatlon of AICC syatem eecordin
`- demonstration
`resuits
`- simulations
`
`Study of the side effects due to the introduction of AICC systems on traffic
`
`Analysis of AICC system in terms of :
`- safety and reliability
`- driver
`acceptance
`
`Establishment of common specifications for AICC systems
`Outputs
`
`Impact due to the introduction of AICC system in traffic
`Analysis of AICC system safety
`Evaluation of driver acceptance
`AICC common specifications and recommendations
`
`The major milestones and the planning of achievement of work packages
`in the next
`figures.
`
`are shown
`
`(to be finalized during next AICC management meeting on 25th of April)
`
`AICC workplan
`
`Page 13
`
`Petitioner Nissan - Exhibit 1003 - Page 17
`
`Petitioner Nissan - Exhibit 1003 - Page 17
`
`

`

`
`7”":— PROHETHEUS
`AICC
`“M
`
`2.7 Ressources
`
`W T
`
`his estimation is based on the common work to be performed for N, which should be
`also a good indicator for coming years;
`
`. Problem formulation : definition of CED and tests scenarios (4 m tn)
`0 System Engineering : Functional architecture (8 m to)
`
`Main activities in 1991 and corresponding manpower are described below :
`Jreectnos
`ref—".3190!
`aw 0/ Ac gee»
`wagers] 3!! Ow'c
`3/,72,’ gang
`document AM '4": _
`
`-
`
`(10 m tn)
`
`SensOrs
`
`:
`
`test scenarios and common experimentation:
`3,4,9; , of ache-“NC;
`(1'
`M; shoots.»
`: Specification of interaction with the driver Wm m)
`. MMI
`(hardware
`and
`- On-board
`architectures
`:
`description
`of potential
`architectures
`software components exclusive of AICC application)
`(4’ m m) mam: ’54 —-= ’92 W‘-
`2
`: Torino demonstration organisation (12 m m)
`
`- Demonstration and tests
`
`‘-/
`
`. Coordination with PRO-GEN for the analysis of the impact of AICC systems (2 m m)
`
`estimated to
`expected amount of work is
`The
`approximatively 0.5 man-year per company.
`
`51 man months. which represents
`
`for common work might be too heavy. which could induce some
`Such manpower level
`delay for
`the realisation of the objectives of the year. The TORIND demonstration is a
`primary objective this year and will
`require a
`large part of available manpower
`for
`common work.
`
`A!CC workplan
`
`Page )4
`
`Petitioner Nissan - Exhibit 1003 - Page 18
`
`Petitioner Nissan - Exhibit 1003 - Page 18
`
`

`

`...-a.u
`
`AICC
`PROHETHEUS
`
`
`
`
`2mm
`
`Resaoumes announced for the AICC CED by participants are indicated hereafter.
`
`Campaniea
`
`Dmcaii
`
`hA
`
`ICC warkplan
`
`Page 15
`
`Petitioner Nissan - Exhibit 1003 - Page 19
`
`Petitioner Nissan - Exhibit 1003 - Page 19
`
`

`

`Pnonernsus
`AICC
`MM
`
`
`
`2.8 Involvement of ER, E&S, Thematic WGs
`
`The expertise and assistance provided by other actors is used in the following way :
`Wm
`
`WGl
`55/150“
`W62
`IQCTHRTDIZ
`WG3
`
`W64
`mu
`WGS
`JAR—7V
`
`W66
`
`W67
`
`for distance and relative speed measurements.
`Sensors
`involved via. the AICC Sensors Group (A. BUTTON, Jaguar)
`An AICC-contact has been appointed by W02 (M. DELPIERRE, Renault)
`PROMETHEUS proposals for Basic Structure.
`Interconnection Group.
`WES-members are active in the AICC Systems
`The crucial MMI considerations
`is discussed with WG4-representatives
`participating in the Systems Functions Group.
`The safety check-list proposed by WGS is applied.
`Involved via M. CALESSE (MATRA)
`
`Not applicsbie
`
`Not
`
`applicable
`
`3W1:
`
`PRO-GEN
`
`PRO-CHIP
`PRO-ART
`
`(Benz)
`traffic flows. car-following situations
`Simulations of
`Safety aspects (Gabard. Hyden. Nilsson)
`Liaison coordinator is M. KLYNHOU’I‘ (RYKSWATERSTAAT - Nederlends)
`Sensor
`technology (Institute of Microelectronics)
`No identified collaboration yet
`
`PRO—COM
`
`Not applicable
`
`for measuring relative distanc:
`Sensors
`E-GAS and Brake actuator systems
`Hardware and software for MCI! platforms
`
`and speed
`
`W S
`
`ENSORS
`ACI‘UA'IORS
`ARCHITECTURE
`
`AICC workpian
`
`Page )6
`
`Petitioner Nissan - Exhibit 1003 - Page 20
`
`Petitioner Nissan - Exhibit 1003 - Page 20
`
`

`

`.___
`
`l-UE’UJ
`
`AICC
`
`Autonomous
`
`Intelligent Cruise Control
`
`1. Problem to
`
`be
`
`solved
`
`assisting system for controlling
`an
`is
`intelligent Cruise Controi
`The Autonomous
`relative speed and distance between two adjacent vehicles in the same lane,
`AICC is an extension of the classical cruise control
`sysrerns
`through the measurement
`of
`the distance to the preceding vehicle by an on-board sensor and the control of
`relative speed and distance based on
`this
`information.
`
`2. System
`
`functionalities
`
`The system corresponding to AICC CED have been identified :
`It
`includes distance sensor and full acceleration control capabilities. based on throttle
`and brake actuators. with a
`limitation on deceleration capabilities
`(no hard braking).
`At
`this
`level,
`the AiCC manages
`completely (when activated by
`the driver)
`the
`longitudinal
`control
`task.
`and hence
`is
`the most
`sensitive in terms of
`safety and
`reliability. The driver
`remains
`responsible
`for
`the
`safety of
`the vehicle
`and can
`deactivate the
`system when necessary.
`
`autonomous
`alternative
`An
`has been identified
`
`intelligent
`
`cruise control
`
`system with less
`
`functionalities
`
`actuation,
`and throttle control
`sensor
`includes distance
`It
`distance control. Such a
`system is
`similar
`to the usual
`intervention on the vehicle dynamics.
`
`speed and
`active
`the
`for
`cruise control
`in terms of
`
`3. Evaluation
`
`Benefits
`
`The AICC systems address the following Prometheus objectives
`-comfort. as
`the primary objective of the AICC system;
`-efficiency,
`economy and environment
`through the harmonization of
`reduction of unnecessary accelerations
`and brakings.
`~safety,
`through distance information and distance keeping
`
`speeds
`
`and the
`
`Petitioner Nissan - Exhibit 1003 - Page 21
`
`Petitioner Nissan - Exhibit 1003 - Page 21
`
`

`

`__
`
`....._i vaudvul‘ln‘l—J
`
`H yawn
`
`19.83/85
`
`Risk
`
`Internal
`
`Technology and know-how are available today. as well as ressources.
`
`demonstrated through different
`been
`feasibility has
`The
`which are now to be compared and evaluated.
`
`technological
`
`approaches.
`
`No studies on cost effectiveness have been undertaken at
`
`the moment.
`
`External
`
`Legal aspects are to be studied in the case of the AICC systems. which involve actual
`control of
`the longitudinal behaviour of
`the car.
`
`and driver acceptance are good for AICC systems. which
`success
`for market
`Chances
`address at
`least
`the same customer segment as
`the present cruise control systems.
`
`4. Further
`
`research
`
`and
`
`development
`
`needs
`
`Industry/E&S Industry/Basic Research
`Automotive
`—man-machine
`interface
`
`-vchlcle detection and
`
`tracking,
`
`wautomation of
`
`longitudinal
`
`control.
`
`E&S Industry
`
`~sonsors
`
`and
`
`actuators.
`
`S.Steps,
`
`requirements
`
`and
`
`timeframe
`
`towards
`
`implementation
`
`Requirements
`
`-rcgultttion changes
`
`as
`
`to "safe distance“ definition,
`
`-"driver
`otechnical
`vehicles.
`
`responsibility"
`requirements
`
`systems.
`semi~ttutonomous
`extension to
`for
`the
`introduction of
`technology (laser
`
`-
`
`radar) onnboard
`
`Timeframe
`
`Medium term
`
`Petitioner Nissan - Exhibit 1003 - Page 22
`
`Petitioner Nissan - Exhibit 1003 - Page 22
`
`

`

`______
`
`_- ._
`
`Ht— IIHII\|"|
`
`l'lUCl wUHUKHNlb
`
`R DB>+<>+<
`
`P. 214/85
`
`Autonomous
`
`Intelligent CruiSe
`
`Control
`
`systems
`
`SENSORS
`
`;
`
`i
`
`CONTROL
`MMI
`
`
`
`1.
`
`Relative dismncc
`
`Throttle
`
`Own Speed
`
`_
`Outputs
`Indication on safc interval
`Alarm
`
`Status
`
`Inputs
`
`Activation
`
`Speed set-up
`
`Brake/Gas pedals
`indicators
`
`Relative distance
`
`Throttle
`
`Own speed
`
`Brakes
`
`Outputs
`
`Indication on safe interval
`Alarm
`
`Status
`
`Inputs
`
`Activation
`
`Speed set—up
`
`Comfort
`
`set-up
`
`Brake/Gas pedals
`Indicators
`
`Further Evolutions
`
`and Improvements
`
`to AICC systems
`
`:
`
`-Friction coefficient
`
`detection
`
`oVisibiliLy
`
`range
`
`~Lane
`
`geometry dctectiori
`
`0Communication with
`
`infrastrucwrc
`
`Petitioner Nissan - Exhibit 1003 - Page 23
`
`Petitioner Nissan - Exhibit 1003 - Page 23
`
`

`

`Distance warning system
`
`1.Problern to
`
`be
`
`solved
`
`To provide the driver with an indication on the level of criticity of
`distance he is applying with the preceding car.
`
`the following
`
`To generate alarms in case of the occurcnce of a critical situation not yet perceived by
`the drivcr
`(for example large spccd differential with the preceding vehicle)
`This
`functionality is
`an on-board equivalent
`to horizontal markings existing on some
`highways
`(in France for example). With this
`approach. when driving with a correct
`interval with the preceding car,
`a driver can always
`see
`two markings on the road
`bctwccn his vehicle and tho preceding one.
`
`2. System
`
`functionalities
`
`it provides the driver
`The system is based on a distance sensor only without actuators.
`with advices
`and warnings
`related to the
`safe distance to the preceding vehicle. The
`longitudinal control of the car
`is performed by the driver only.
`As compared with markings painted on the road,
`the system is operational without any
`support provided by the infrastructure. Also it
`takes
`into account
`the actual
`speed of
`cars and thus delivers
`information more adapted to the driving situation.
`
`3. Evaluation
`
`Benefits
`
`The AICC Systcms address the following Prometheus objcctivcs
`Asafcty,
`through
`distance
`information
`long term through
`the
`in
`-possibie impact on efficiency.
`economy and environment
`a better driving behaviour
`(better adoquation of speed with th edriving situation)
`
`Risk
`
`Technology and know-how are available today. The feasibility has been demonstrated
`through
`different
`technological
`approaches.
`the moment.
`No studies on cost effectiveness have been undertaken at
`Some
`studies
`on
`driver
`acceptance
`of
`a
`purcly
`informative
`system have been
`performed in the past
`for
`rcstricwd driving conditions. Results
`show that drivers are
`very sensitive to
`false
`alarms
`as wall
`as unnecessary alarms
`("the driver
`is already
`aware of thc
`situation). Also the ratio of drivers interested in such systems was rather
`10w.
`
`Petitioner Nissan - Exhibit 1003 - Page 24
`
`Petitioner Nissan - Exhibit 1003 - Page 24
`
`

`

`,..~.::,~:er—‘—-4 t‘
`
`' n “1-.
`
`n
`
`.
`
`,.-v_-v.. E‘a-Ef‘fi'ffffi'ufli”
`
`:H'éfifihwflfit-ztwtx ‘
`
`. @flfil PROMETHEUS
`
`
`
`CED 5: Autonomous
`
`inteiligent
`Cruise
`
`'
`
`Control
`
`Report No. 1 tot the
`
`System Functions Group
`
`February 1991
`
`Petitioner Nissan - Exhibit 1003 - Page 25
`
`Petitioner Nissan - Exhibit 1003 - Page 25
`
`

`

`~ 4:563:17“
`
`PROMETHEUS
`
`
` System Functions Group — Report No. l
`
`CED 5 / AICC
`
`G. PREFACE
`
`The work on the CED 5 / AICC started in the last quarter of 1989.
`A working structure as follows was established:
`
`AICC Management Group
`AICC System Function Group
`
`AICC Sensor Group
`
`AICC System Interconnection Group
`
`following companies
`The
`AICC-CED.
`
`are actively participating in
`
`the
`
`Daimler—Benz
`Matra
`Renault
`Volvo
`
`Jaguar
`Opel
`Saab
`
`This report describes the work of the AICC—System—Function-Group
`done in 1990 and during three meetings in Stuttgart, Gothenbourg
`and Paris:
`
`Stuttgart, Feb. 1991
`
`Nocker
`
`PembnerNBsan-EXMbH1003-Page26
`
`Petitioner Nissan - Exhibit 1003 - Page 26
`
`

`

`PROMETHEUS
`
`System Functions Group - Report No. 1
`
`CED 5 / AICC
`
`la QBJECIIVES
`
`
`
`AlCC main function:
`
`Autonomous intelligent cruise control being able of controlling
`relative speed and distance between two vehicles in the same lane
`
`AlCC will improve:
`
`comfort
`
`by adapting speed automatically to
`demands of traffic flow
`
`safety
`
`by driving in a safe distance
`
`traffic flow
`
`by communication with infrastructure
`
`economy
`
`by reduction of unnecessary braking and
`accelerating manoeuvres
`
`PembnerNBsan-EXMbH1003-Page27
`
`Petitioner Nissan - Exhibit 1003 - Page 27
`
`

`

`
`
`PROMETHEUS
`
`System Functions Group - Report No. l
`
`CED 5 / AICC
`
`20 BASES STRUCTURE
`
`An AICC-System consists of the following parts:
`
`vehicle sensors
`distance sensor
`control computer
`Man—Machine-Interface
`actuator system
`
`Block diagram:
`
`(for speed, steering angle, etc.)_
`(for distance from leading vehicle)
`(ruggedized for vehicle use)
`(for driver warnings and informations)
`(electronic throttle and brake control)
`
`MM!
`
`
`
`Longhudhai
`Control
`
`Compmer
`
`Amumor
`acmm
`
`
`
`
`
`Vehicie
`83505
`
`Dsmmce
`Semmr
`
`
`
`_ 3 _
`
`Petitioner Nissan - Exhibit 1003 - Page 28
`
`Petitioner Nissan - Exhibit 1003 - Page 28
`
`

`

`PROMETHEUS
`
`System Functions Group - Report No. 1
`
`CED 5 / AICC
`
`39 TDEICS ARE ¥ASES
`
`For establishing an Autonomous Intelligent Cruise Control a wide
`field of theoretical work has to be covered.
`
`1. Legal Demands
`
`legal demands in the European Community
`kind of punishment
`
`Safe Distance
`
`reaction time of the driver
`physical constraints
`computed equation
`.additional safe distance because of measurement noise and
`uncertenties
`'
`
`Driving Manoeuvres
`
`classification of basic manoeuvres for simulation
`of sensors and control laws
`
`AICC—Structure
`
`modular design
`function blocks and interconnections
`signalflow blockdiagramm
`
`Vehicle Dynamics
`
`theoretical vehicle model, maximum order of the model
`identification and estimation of velocity dependent parameters
`and nonlinearities from results of road tests
`evaluation of the model by road test procedures
`
`MMI
`
`driver’s acceptance
`responsibility sharing
`override situations
`
`displays and operating elements
`expected driving comfort
`
`PembnerNBsan-EXMbH1003-Page29
`
`Petitioner Nissan - Exhibit 1003 - Page 29
`
`

`

`PROMETHEUS
`
`System Functions Group — Report No. 1
`
`CED 5 / AICC
`
`7. Sensor Simulation
`
`— modelling of a simple environment with multi targets
`- modelling of ideal and realistic sensor properties
`—
`simulation of different traffic situations and driving
`manoeuvres
`
`,
`
`— developing and evaluation of strategies for target detection,
`target tracking and target change
`
`8. Signal Filtering
`
`—
`
`—
`-
`
`reconstruction filters for distance and relative velocity out
`of distance measurements with bad resolution and velocity of
`own vehicle
`,tracking filters
`state observers and/or Kalman—Filters
`
`/
`
`9. Controller Design
`
`robust control for a class of vehicle models
`—
`— nonlinear controllers
`
`— aoceleration/velocity/distance control
`-
`convoy stability
`—
`test functions considering simple dynamic velocity for the
`target vehicle
`smooth.and safe transitions between different speed levels,
`between velocity— and distance-control and when switching
`between driver control and AICC control mode
`— controller parameters for AICC with minimum fuel consumption
`and emissions
`-
`
`—
`
`PembnerNBsan-Exmbfl1003-Page30
`
`Petitioner Nissan - Exhibit 1003 - Page 30
`
`

`

`PROMETHEUS
`
`System Functions Group - Report No. 1
`
`CED 5 / AICC
`
`4. AICC SCENARIOS
`
`Working out of AICC Scenarios is necessary because of:
`1 common evaluation of systems
`- identification of a lack of technologies (i. e sensors, etc}
`- information for supplier industries
`
`Procedure:
`
`A catalogue of keywords was discussed, completed and reworked.
`This led to a scenario description as follows.
`
`4.1 Defintion of AICC:
`
`is an assisting
`(AICC)
`"The Autonomous Intelligent Cruise Control
`system being able of controlling relative speed and distance
`between two adjacent vehicles in the same lane."
`
`Important scopes of AICC:
`
`"AICC will not enhance the safety margins."
`"The driver is responsible for the safe control of his car."
`"The driver can override the system at any time."
`
`All scenarios have in common:
`
`AICC will work:
`
`- under good visibility ( >= stopping distanc