Collision Mitigation break system (CMS)

What is CMS? How it works System Configuration Warning Devices Collision Avoidance Maneuvers Conclusions

References:
Honda Motor: Science & Education. Trends in Japan 2003 Autoweb.com.au: Honda Develops New Collision Avoidance Safety System. 2003 Francois Granet, Rosella Picado, Lauren Smith: Longitudinal Avoidance. 2003

What is CMS?
CMS is the world's first Collision Mitigation Brake System (CMS). The technology predicts rear-end collisions and assists brake operation to reduce the impact. CMS anticipates a collision based on driving conditions, distance to the vehicle ahead and relative speeds. It then uses visual and audio warnings to prompt the driver to take preventative action and also initiates braking if the driver fails to respond to the warnings.

How it Works?
First, the radar measures the distance between the car and other vehicles up to 100 meters ahead and any differences in speed, and an onboard computer judges the risk of a collision based on this information and on data about the course of the car. Then if the system judges that there is a risk of a crash, such as when the car gets too close to the vehicle in front, it alerts the driver by sounding an alarm and lighting up a BRAKE warning on the dashboard. This is the first warning stage, aimed at alerting the driver to the danger and encouraging the driver to slow down.

The system works in conjunction with the "E-Pretensioner" seatbelt retraction system. If the car continues to get closer to the other vehicle and the computer decides that it will be hard to avoid a collision, it tightens the seatbelt more firmly and applies the brakes forcibly and hard.
The CMS has three staged modes: An audible warning, An audible warning, light braking and light seat-belt retraction. An audible warning, strong braking and strong seat-belt retraction.

CMS configuration:
Millimeter-wave radar: Detects vehicles within a range of about 100 meters ahead, in a 16-degree arc. Sensors: The system determines driving conditions using a range of sensors that detect factors such as yaw rate, steering angle, wheel speed, and brake pressure. CMS Electronic Control Unit (ECU): Based on distance to the vehicle ahead and relative speed obtained from radar information, the ECU calculates the likelihood of a collision, and warns the driver, and in some cases activates the braking function.

E-Pretensioner ECU: Sends instructions to the motorized E-Pretensioner to retract the seatbelt, based on braking instruction signals from the CMS ECU and electronically controlled brake assist signals. E-Pretensioner: Retracts the seatbelt using an internal motor, based on instructions from the E-Pretensioner ECU. Used in combination with conventional pretensioners. Meter unit: Receives signals from the CMS ECU, and warns the driver of potential danger using a buzzer and a visual warning.

Figure: Autoweb.com.au, CAS 2003

CMS Warning Devices

Visual head-up displays: warnings are displayed on the windshield in the driver's field of view. Audio/Voice signals: auditory signals appear to be less intrusive on driving tasks.

CMS Collision Avoidance Maneuvers:

Headway distance control: the system warns the driver whenever his/her car is following the leading car too closely Hazard warning: the system warns the driver of an object within its projected path, so that the driver has sufficient time to avoid a crash. Automatic vehicle control: the system controls the vehicle's brakes and steering wheel

Precise breaks Actuator Systems depend a lot on sensors:

Sensors fulfill the tasks of headway control and obstacle detection, which are the basis of Collision Avoidance Systems (CAS) Sensing.

Table 2 Sensor Devices' Measures of Performance

Sensor Ultrasonics Passive Infrared Laser radar (lidar) FMCW Radar Impulse Radar Capacitive Vision Systems Sensing Range 1 m. (max) 0 1 m. (max) 0 1 m. (max), 00 0.5 m. (min) 1 m. 50 50 m. (max) 2 m. (max) 1 m. 00 Resolution 1 mm. 0 poor 1mm. (min) 1 mm. 0 1 mm. 0 1 mm. 0 poor Directional Response ity Time speed of 30 deg. (min) sound 90 deg. 1deg. 2 deg. or wider 25 deg. 90 deg. Or wider good 1sec. fast (1 0 msec.) fast (1msec) Fast (1msec) fast (1msec) 1 msec. 00 Cost $1 5 under $1 0 over $50 over $200 over $1 00 $1 Over $200 Size 30 mm. diameter 20 mm. square 50 mm. x 1 00 mm. 250 mm. x 1 50 mm. 250 mm. x 1 00 mm. small 40 mm. x 1 00 mm.

Source: Stobart and Upton, 1 995

Indicators:
Sensing range: the maximum range over which the technique can be used Resolution: the relative change in distance that can be measured Directionality: the width of the beam over which the sensor is sensitive Response time: how quickly the sensor can respond to a change in distance

Conclusion
Automatic braking systems can detect an obstacle and bring the car to a complete halt just before impact. The technology has reached the level where the systems can even detect the speed of a vehicle in front, compare it with the speed of the user's car, and stop the car to avoid an accident. Honda and Toyota are applying and testing these Automatic braking systems nowadays and will continue improving this type of technology.