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Supervisory Driver Assistance Control and Its Verification

Research Project

Project/Area Number 16H02353
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering/System engineering
Research InstitutionNagoya University

Principal Investigator

Suzuki Tatsuya  名古屋大学, 工学研究科, 教授 (50235967)

Co-Investigator(Kenkyū-buntansha) 田崎 勇一  神戸大学, 工学研究科, 准教授 (10547433)
山口 拓真  名古屋大学, 未来社会創造機構, 特任助教 (30745964)
三輪 和久  名古屋大学, 情報学研究科, 教授 (90219832)
村瀬 洋  名古屋大学, 情報学研究科, 教授 (90362293)
Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥43,160,000 (Direct Cost: ¥33,200,000、Indirect Cost: ¥9,960,000)
Fiscal Year 2018: ¥12,090,000 (Direct Cost: ¥9,300,000、Indirect Cost: ¥2,790,000)
Fiscal Year 2017: ¥15,210,000 (Direct Cost: ¥11,700,000、Indirect Cost: ¥3,510,000)
Fiscal Year 2016: ¥15,860,000 (Direct Cost: ¥12,200,000、Indirect Cost: ¥3,660,000)
Keywords知能化自動車 / 高齢者 / 運転行動 / 人間機械協調 / 制約充足 / 運転支援 / 行動変容 / 制約充足型 / スーパーバイザ型 / モデル予測 / 知能化機械 / 運転行動支援 / 制約充足判定 / 制御介入 / 高度運転支援 / 制御工学 / 知能機械 / システム工学
Outline of Final Research Achievements

Safety and acceptability are main concerns in the design of driver assistance system. In fact, these two requirements sometimes may conflict with each other depending on e situation and driver. This conflict is more emphasized particularly in the case of considering elderly driver. In order to solve this problem, this paper proposes a new driver-vehicle cooperation scheme, a `supervisory cooperation control' which consists of model predictive constraint satisfaction and multimodal human-machine interface. The proposed cooperation scheme enables us to realize the safety without loosing acceptability.In addition, we have verified that the proposed assistance system improve the driver's original driving characteristics, i.e., the driver can learn how to realize the safety driving.

Academic Significance and Societal Importance of the Research Achievements

近未来の知能を持った自動車とドライバの協調関係において、安全性の確保や受容性の向上は喫緊の重要な課題である。しかしながら、通常は支援をすればするほどドライバ自身の運転能力は劣化するとされており(認知的廃用性萎縮)、この点は知能を持った機械と人間の関係を考えるうえで重要なポイントとなる。本研究では、高齢者の実時間での運転支援と運転者自身の運転能力向上を両立させる新しい支援手法を提案した。研究の最終段階では、その特徴に鑑み、提案手法を「指導員型の運転支援」と名付けた。これにより近未来の知能を持った機械と人間の関係に関する新たな一つの形態を示すことができた。

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (24 results)

All 2019 2018 2017 2016

All Journal Article (15 results) (of which Peer Reviewed: 15 results) Presentation (8 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] 人と共生する知能化自動車の設計2019

    • Author(s)
      鈴木達也
    • Journal Title

      自動車技術

      Volume: 73 Pages: 22-27

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 自動運転のための運転知能と今後の展開2019

    • Author(s)
      鈴木達也,赤井直紀,出口大輔
    • Journal Title

      人工知能

      Volume: 34 Pages: 206-214

    • NAID

      130007917601

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Sampling Based Predictive Control with Frequency Domain Input Sampling for Smooth Collision Avoidance2018

    • Author(s)
      Hiroyuki Okuda ; Yingqi Liang ; Tatsuya Suzuki
    • Journal Title

      Proceedings of International Conference on Intelligent Transportation Systems (ITSC)

      Volume: 1 Pages: 2426-2431

    • DOI

      10.1109/itsc.2018.8569984

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Simultaneous Realization of Planning and Control for Lane-change Behavior Using Nonlinear Model Predictive Control2018

    • Author(s)
      Nobuto Sugie ; Hiroyuki Okuda ; Tatsuya Suzuki ; Kentaro Haraguchi ; Zibo Kang
    • Journal Title

      Proceedings of International Conference on Intelligent Transportation Systems (ITSC)

      Volume: 1 Pages: 2406-2411

    • DOI

      10.1109/itsc.2018.8569973

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 高度運転支援システムのユーザビリティ評価要因に関する検討2018

    • Author(s)
      前東晃礼, 三輪和久, 青木宏文, 鈴木達也
    • Journal Title

      認知科学

      Volume: 25 Pages: 310-323

    • NAID

      130007604520

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 情報機器の操作に使用される知識 -ACT-R を用いた検討2018

    • Author(s)
      松室美紀・三輪和久
    • Journal Title

      認知科学

      Volume: 25 Pages: 86-99

    • NAID

      130007479780

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 運転教習員型運転支援の提案とその評価2017

    • Author(s)
      山口 拓真, 奥田 裕之, 鈴木 達也, 早川 聡一郎, 池浦 良淳, 武藤 健二, 伊藤 隆文
    • Journal Title

      自動車技術会論文集

      Volume: 48 Pages: 717-724

    • NAID

      130006734310

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Parking Trajectory Planning Using Multi-resolution State Roadmaps2017

    • Author(s)
      Yuichi Tazaki, Hiroyuki Okuda, Tatsuya Suzuki
    • Journal Title

      IEEE Transactions on Intelligent Vehicles

      Volume: Vol.2, No.4 Issue: 4 Pages: 298-307

    • DOI

      10.1109/tiv.2017.2769882

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Identification of Time-Varying Parameters of Hybrid Dynamical System Models and Its Application to Driving Behavior2017

    • Author(s)
      Thomas WILHELEM, Hiroyuki OKUDA, Tatsuya SUZUKI
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E100-A Pages: 2095-2105

    • NAID

      130006109877

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Regression of Feature Scale Tracklets for Decimeter Visual Localization2017

    • Author(s)
      David Robert Wong, Daisuke Deguchi, Yasutomo Kawanishi, Ichiro Ide, Hiroshi Murase
    • Journal Title

      Image and Vision Computing

      Volume: 68 Pages: 53-63

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 個人適合型ポテンシャル法に基づく障害物回避アシスト制御 (第 2 報),2017

    • Author(s)
      佐藤大地, 山口拓真, 奥田裕之, 鈴木達也
    • Journal Title

      自動車技術会論文集

      Volume: 48 Pages: 97-102

    • NAID

      130006734170

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 自動化システムのユーザビリティ評価アンケートの開発2017

    • Author(s)
      前東晃礼・三輪和久・小島一晃・寺井仁・鈴木達也
    • Journal Title

      電子情報通信学会論文誌

      Volume: J100-A

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 運転教習員型運転支援の提案とその評価2017

    • Author(s)
      山口拓真、奥田裕之、鈴木達也、早川聡一郎、池浦良淳、武藤健二、伊藤隆文
    • Journal Title

      自動車技術会論文集

      Volume: 48

    • NAID

      130006734310

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Implementation and verification of supervisory cooperative control by model predictive method2017

    • Author(s)
      Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki, Soichiro Hayakawa, Ryojun Ikeura, Kenji Muto, Takafumi Ito
    • Journal Title

      Proc. of 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC

      Volume: - Pages: 1180-1185

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of a usability questionnaire for automation system2016

    • Author(s)
      Akihiro Maehigashi, Kazuhisa Miwa, Kazuaki Kojima, & Hitoshi Terai
    • Journal Title

      Lecture Notes in Computer Science

      Volume: 9731 Pages: 340-349

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Presentation] スーパーバイザ型運転支援による運転行動改善の検証2017

    • Author(s)
      山口 拓真, 神谷 貴文, 松林 翔太, 奥田 裕之, 鈴木 達也, 三輪 和久
    • Organizer
      自動車技術会学術講演会2017年春季大会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Real-Time Collision Avoidance Control Based on Continuation Method for Nonlinear Model Predictive Control with Safety Constraint2017

    • Author(s)
      Hiroyuki Okuda,Nobuto Sugie, Tatsuya Suzuki
    • Organizer
      Proceedings of The 2017 Asian Control Conference
    • Related Report
      2017 Annual Research Report
  • [Presentation] Pedestrian Detection from Sparse Point-Cloud using 3DCNN2017

    • Author(s)
      Yoshiki Tatebe, Daisuke Deguchi, Yasutomo Kawanishi, Ichiro Ide, Hiroshi Murase, Utsushi Sakai
    • Organizer
      International Workshop on Advanced Image Technology (IWAIT)
    • Related Report
      2017 Annual Research Report
  • [Presentation] Autonomous Driving Based on Accurate Localization Using Multilayer LiDAR and Dead Reckoning2017

    • Author(s)
      Naoki Akai, Luis Yoichi Morales, Takuma Yamaguchi, Eijiro Takeuchi, Yuki Yoshihara, Hiroyuki Okuda, Tatsuya Suzuki, Yoshiki Ninomiya
    • Organizer
      2017 IEEE 20th International Conference on Intelligent Transportation Systems
    • Related Report
      2017 Annual Research Report
  • [Presentation] Efficient Pedestrian Scanning by Active Scan LIDAR2017

    • Author(s)
      Taiki Yamamoto, Fumito Shinmura, Daisuke Deguchi, Yasutomo Kawanishi, Ichiro Ide, Hiroshi Murase
    • Organizer
      International Workshop on Advanced Image Technology (IWAIT)
    • Related Report
      2017 Annual Research Report
  • [Presentation] 先読み運転を可能にするスーパーバイザ型運転支援の提案2016

    • Author(s)
      山口拓真, 奥田裕之, 鈴木達也, 早川聡一郎, 池浦良淳, 武藤健二, 伊藤隆文
    • Organizer
      自動車技術会 2016年秋季大会 学術講演会
    • Place of Presentation
      札幌
    • Year and Date
      2016-10-19
    • Related Report
      2016 Annual Research Report
  • [Presentation] 運転支援方法とユーザビリティ・行動変容の関係に関する実験的検討2016

    • Author(s)
      松林翔太, 三輪和久, 山口拓真, 神谷貴文, 鈴木達也, 池浦良淳, 早川聡一郎, 伊藤 隆文, 武藤 健二
    • Organizer
      日本認知科学会第33回大会
    • Place of Presentation
      札幌
    • Year and Date
      2016-09-16
    • Related Report
      2016 Annual Research Report
  • [Presentation] スーパーバイザ型協調制御の実験的検証2016

    • Author(s)
      神谷貴文, 山口拓真, 奥田裕之, 鈴木達也, 松林翔太, 三輪和久, 武藤健二, 伊藤隆文
    • Organizer
      自動車技術会 2016年春季大会 学術講演会
    • Place of Presentation
      横浜
    • Year and Date
      2016-05-25
    • Related Report
      2016 Annual Research Report
  • [Patent(Industrial Property Rights)] 運転支援装置2018

    • Inventor(s)
      山口拓真,奥田裕之,鈴木達也,田崎勇一
    • Industrial Property Rights Holder
      山口拓真,奥田裕之,鈴木達也,田崎勇一
    • Industrial Property Rights Type
      特許
    • Filing Date
      2018
    • Related Report
      2018 Annual Research Report

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Published: 2016-04-21   Modified: 2020-03-30  

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