| 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)
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| 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.
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