Development of Autonomous Obstacle Avoidance System for Micro Electric Vehicles

• Project/Area Number: 23760201
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Dynamics/Control
• Research Institution: Tokyo University of Science (2013); Tokyo University of Agriculture and Technology (2011-2012)
• Principal Investigator: HAYASHI RYUZO 東京理科大学, 工学部, 講師 (80505868)
• Project Period (FY): 2011 – 2013
• Project Status: Completed (Fiscal Year 2013)
• Budget Amount: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2013: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2011: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
• Keywords: 交通機械制御 / 自動車 / 予防安全 / 障害物回避 / 自動運転

Research Abstract

This study aims at developing the autonomous collision avoidance system using steering which can evade a frontal obstacle that appears in front of the vehicle. Methods to improve the trajectory tracking performance and to revise the desired avoidance trajectory which enables to deal with the change of behavior of the obstacle like a pedestrian were proposed in this study. In addition, applicability of the system to ordinary passenger cars were discussed. The effectiveness of the proposed methods were shown and the relationship between the specification of the motor for autonomous steering and performance of avoidance was revealed from the results of the numerical simulations and the experiments using a real micro electric vehicle.

Research Products

• [Journal Article] Autonomous Collision Avoidance System by Combined Control of Steering and Braking using Geometrically-Optimized Vehicular Trajectory (2012)
  • Author(s): 林隆三,磯谷十蔵,ポンサトーン・ラクシンチャラーンサク,永井正夫
  • Journal Title: Vehicle System Dynamics Volume: Vol.50, Supp. 1 Pages: 151-168
  • Peer Reviewed
• [Journal Article] Autonomous Collision Avoidance System by Combined Control of Steering and Braking using Geometrically-Optimized Vehicular Trajectory (2012)
  • Author(s): 林隆三，磯谷十蔵，ポンサトーン・ラクシンチャラーンサク，永井正夫
  • Journal Title: Vehicle System Dynamics Volume: Vol. 50, Supp. 1 Issue: sup1 Pages: 151-168
  • DOI: 10.1080/00423114.2012.672748
  • Peer Reviewed
• [Presentation] 操舵系の制約が前方障害物自動回避システムの性能に及ぼす影響の検討 (2014)
  • Author(s): 藤森晋平,林隆三,永井正夫
  • Organizer: 日本機械学会関東学生会第53回卒業研究発表講演会
  • Place of Presentation: 小金井市
  • Year and Date: 2014-03-14
• [Presentation] 操舵系の制約が前方障害物自動回避システムの性能に及ぼす影響の検討 (2014)
  • Author(s): 藤森晋平，林隆三，永井正夫
  • Organizer: 日本機械学会 関東学生会第５３回学生員卒業研究発表講演会
  • Place of Presentation: 東京農工大学（小金井市）
• [Presentation] Improvement of Trajectory Tracking Performance in Autonomous Collision Avoidance by Steering (2013)
  • Author(s): 林隆三，チャットポーンタナドゥル・プーワデート，永井正夫
  • Organizer: 7th IFAC international symposium on advances in automotive control (AAC)
  • Place of Presentation: 国立オリンピック記念青少年総合センター（渋谷区）
• [Presentation] The autonomous collision avoidance system by combined control of steering and braking with limited steering angular velocity (2012)
  • Author(s): チャットポーンタナドゥル・プーワデート,林隆三,永井正夫
  • Organizer: The 11th International Symposium on Advanced Vehicle Control(AVEC 2012)
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2012-09-09
• [Presentation] The autonomous collision avoidance system by combined control of steering and braking with limited steering angular velocity (2012)
  • Author(s): チャットポーンタナドゥル・プーワデート，林隆三，永井正夫
  • Organizer: The 11th International Symposium on Advanced Vehicle Control (AVEC 2012)
  • Place of Presentation: Seoul（韓国）
• [Presentation] 前方障害物自動回避システムのための回避軌道の逐次修正法の検討 (2011)
  • Author(s): ロートワンナホ?ン・ニフ?ン,林隆三,永井正夫
  • Organizer: 第20回交通・物流部門大会
  • Place of Presentation: 川崎市
  • Year and Date: 2011-12-07
• [Presentation] 操舵角速度の限界を考慮した前方障害物自動回避システムの検討 (2011)
  • Author(s): チャットホ?ーンタナト?ゥル・フ?ーワテ?ート,林隆三,永井正夫
  • Organizer: 第20回交通・物流部門大会
  • Place of Presentation: 川崎市
  • Year and Date: 2011-12-07
• [Presentation] Improvement of Trajectory Tracking Performance in Autonomous Collision and Braking Control using Geometrically-Optimized Vehicular Trajectory (2011)
  • Author(s): 林隆三,チャットホ?ーンタナト?ゥル・フ?ーワテ?ート,永井正夫
  • Organizer: IAVSD 22nd Symposium
  • Place of Presentation: Manchester, UK
  • Year and Date: 2011-08-17
• [Presentation] Autonomous Collision Avoidance System by Integrated Steering and Braking Control using Geometrically-Optimized Vehicular Trajectory (2011)
  • Author(s): 林隆三,磯谷十蔵,ポンサトーン・ラクシンチャラーンサク,永井正夫
  • Organizer: IAVSD 22nd Symposium
  • Place of Presentation: Manchester, UK
  • Year and Date: 2011-08-17
• [Presentation] Autonomous Collision Avoidance System by Integrated Steering and Braking Control using Geometrically-Optimized Vehicular Trajectory (2011)
  • Author(s): 林隆三，磯谷十蔵，ポンサトーン・ラクシンチャラーンサク，永井正夫
  • Organizer: IAVSD 21th Symposium
  • Place of Presentation: Manchester（英国）
• [Presentation] 前方障害物自動回避システムのための回避軌道の逐次修正法の検討 (2011)
  • Author(s): ロートワンナポン・ニプン，林隆三，永井正夫
  • Organizer: 日本機械学会 第20回交通・物流部門大会
  • Place of Presentation: 川崎市産業振興会館（神奈川県）
• [Presentation] 操舵角速度の限界を考慮した前方障害物自動回避システムの検討 (2011)
  • Author(s): チャットポーンタナドゥル・プーワデート，林隆三，永井正夫
  • Organizer: 日本機械学会 第20回交通・物流部門大会
  • Place of Presentation: 川崎市産業振興会館（神奈川県）