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A 24 GHz doppler speed sensor for skid controls has been developed. The microwave sensor is designed using both waveguide and thin-film technologies and assembled into a small integrated unit measuring 27 x 10 x 9 mm. The radar unit and the control circuitry are housed in a waterproof module of 94 x 140 x 78 mm. Part of the casing forms a horn antenna, which radiates a vertically polarized beam incident at 45° on the road surface, when mounted on the vehicle. The error in speed measuring is usually less than 10 percent.

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.