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Intelligent Driver Assistance System by Using Individual Adaptation of Haptic Shared Control

Research Project

Project/Area Number 15K05854
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Dynamics/Control
Research InstitutionTokyo University of Agriculture and Technology

Principal Investigator

Raksincharoensak Pongsathorn  東京農工大学, 工学(系)研究科(研究院), 准教授 (30397012)

Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2017: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Keywords運動力学 / 運転支援 / 予防安全 / 人間機械協調 / 自動運転 / ヒューマンインタフェイス / ドライバモデル / 車両制御
Outline of Final Research Achievements

This research aims to construct a shared control system in ADAS to assist the driver in improving his/her driving performance by using haptic interface. In Risky driving situation, the driving risk potential is defined and used for the path planning of the vehicle. We have investigated the reference driver model which calculates the steering wheel angle and longitudinal acceleration command simultaneously. To design the share rate of human and machine from the viewpoint of vehicle dynamics, the assist torque gains which express the intensity of the assist torque are theoretically determined.
The major understandings from the experimental results can be summarized as follows. The proposed control system results in better stabilization of the driving route by the driver, and the resulting steering angle input becomes smoother. It is observed that the unsteadily oscillatory motion of the vehicle with respect to the target path is reduced by introducing the longitudinal speed control.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (10 results)

All 2018 2017 2016 2015 Other

All Int'l Joint Research (1 results) Journal Article (3 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 3 results,  Open Access: 1 results) Presentation (4 results) (of which Int'l Joint Research: 2 results) Remarks (2 results)

  • [Int'l Joint Research] Continental Automotive Corporation(ドイツ)

    • Related Report
      2017 Annual Research Report
  • [Journal Article] Study on Risk Predictive Driver Assistance System for Collision Avoidance in Intersection Right Turn2018

    • Author(s)
      Yohei Fujinami, Pongsathorn Raksincharoensak, Dirk Ulbricht and Rolf Adomat
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: Vol.30 Pages: 5-14

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] 直接ヨーモーメント制御による超小型電気自動車の耐転覆性能向上に関する研究2017

    • Author(s)
      吉川尚杜,加藤篤,ポンサトーン・ラクシンチャラーンサク,岡本裕之,大島康平,曽根原努
    • Journal Title

      自動車技術会論文集

      Volume: Vol.48 Pages: 363-369

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 潜在リスク予測ドライバモデルに基づくブレーキ制御支援システムの設計と有効性評価2016

    • Author(s)
      齊藤 裕一,三本喬之,ポンサトーン・ラクシンチャラーンサク
    • Journal Title

      自動車技術会論文集

      Volume: 47 Pages: 1417-1424

    • Related Report
      2016 Research-status Report
    • Peer Reviewed
  • [Presentation] 曲線路走行時における操舵のシェアードコントロールと加減速支援制御2017

    • Author(s)
      相川弘幸、ポンサトーンラクシンチャラーンサク、井上慎太郎
    • Organizer
      第26回日本機械学会交通・物流部門大会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Study on Haptic Steering Shared Control between Driver and ADAS by Using Risk Potential Optimization Theory2017

    • Author(s)
      Shintaro Inoue, Toshiki Kinoshita, Masahiro Mio, Pongsathorn Raksincharoensak, Masao Nagai, Hideo Inoue
    • Organizer
      4th International Symposium on Future Active Safety Technology toward zero-traffic Accidents(FAST-zero’17)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Effectiveness of a Risk Predictive Shared Steering Control Based on Potential Risk Prediction of Collision with Vulnerable Road Users2016

    • Author(s)
      Yuichi Saito, Takayuki Mitsumoto, Pongsathorn Raksincharoensak
    • Organizer
      13th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems HMS 2016
    • Place of Presentation
      The Sodoh Higashiyama Kyoto(京都府京都市東山区)
    • Year and Date
      2016-08-30
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 軌跡追従走行時における人間と運転支援系のシェアード・コントロールに関する研究2015

    • Author(s)
      小澤 拓巳,井上慎太郎, 井上 秀雄,ポンサトーン ラクシンチャラーンサク
    • Organizer
      第58回自動制御連合講演会
    • Place of Presentation
      神戸大学 六甲台第2キャンパス(工学部)
    • Year and Date
      2015-11-14
    • Related Report
      2015 Research-status Report
  • [Remarks] http://web.tuat.ac.jp/~pong/

    • Related Report
      2017 Annual Research Report
  • [Remarks] ポンサトーン研究室

    • URL

      http://web.tuat.ac.jp/~pong/

    • Related Report
      2015 Research-status Report

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Published: 2015-04-16   Modified: 2019-03-29  

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