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Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS) are being actively developed to prevent traffic accidents. As the complexity of AD/ADAS increases, the number of test scenarios increases as well. An efficient development process that meets AD/ADAS quality and performance specifications is thus required. The European New Car Assessment Programme (Euro NCAP®1) and the Japan Automobile Manufacturers Association (JAMA®2) have both defined test scenarios, but some of these scenarios are difficult to carry out with real-vehicle testing due to the risk of harm to human participants. Due to the challenge of covering various scenarios and situations with only real-vehicle testing, we utilize simulation-based testing in this work. Specifically, we construct a Model-in-the-Loop Simulation (MILS) environment for virtual testing of AD/ADAS control logic.

This paper describes the development of a compact and low cost millimeter wave doppler radar sensor (77 GHz band), which can measure the vehicle ground speed precisely. The sensor has three unique features: First, all the radio frequency components are integrated into a single chip, including a millimeter wave transceiver and an on-chip antenna. Then, the chip package is made of plastic resin without use of expensive ceramic. Finally, a tiny dome-shaped resin lens is attached to the chip to collimate waves. These technologies enable the sensor to measure 53 x 71 x 65 mm₃, to weigh 115 grams. Compared to a conventional optical measuring instrument, for example, the sensor weighs only about fifteenth and is one-fifth of the size, while the measurement accuracy is almost comparable. So this sensor seems to have a variety of potential applications. In this paper, we also considered the feasibility of some other applications than just measuring ground speed.

The concept of a “controller grid”, which makes effective use of computational resources distributed on a network while guaranteeing real-time operation, is proposed and applied to realize highly advanced control. It facilitates the total optimization of a plant control and achieves the high efficiency that is not acquired by individual plant optimization. To realize this concept, migration of a control task customized to be executed on one particular microcontroller to another microcontroller is necessary while strictly observing the required response time. Two techniques to meet this requirement are proposed: “task migration” for a control system and “real-time guaranteed scheduling of task migration and execution”. The effectiveness of the controller grid is assessed by applying it in experiments with electronic-throttle-body (ETB) advanced control.