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Autonomous collision avoidance control system design based on driving environment risk potential prediction

Research Project

Project/Area Number 24560251
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) 2012-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2012: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords交通機械制御 / 予防安全 / 自動運転 / 自動車の運動力学 / 運転支援 / 最適制御 / ポテンシャルフィールド / 障害物回避 / 機械力学・制御 / 電気自動車 / 交通事故 / 知能ロボティクス
Outline of Final Research Achievements

This paper proposes a motion planning and a braking/steering control for autonomous vehicles based on the combination of the optimal control theory and the potential field. This paper focuses on a parked car overtaking scenario as one of typical scenarios which the concept of risk potential can be applied. In the lateral motion control, the performance index in terms of the artificial risk potentials of road boundaries and an obstacle is optimized with respect to a number of candidate lateral accelerations. The artificial potential field is defined based on experienced driver characteristics analysis. In the longitudinal motion control, the performance index in terms of the artificial risk potential of the occluded pedestrian is optimized with respect to a number of candidate decelerations. The desired vehicle motion is calculated by optimizing the defined performance index and the results fit well with the data of the experienced drivers who drive defensively in urban roadway.

Report

(4 results)
  • 2014 Annual Research Report   Final Research Report ( PDF )
  • 2013 Research-status Report
  • 2012 Research-status Report
  • Research Products

    (14 results)

All 2015 2014 2013 2012 Other

All Journal Article (5 results) (of which Peer Reviewed: 5 results) Presentation (7 results) Remarks (2 results)

  • [Journal Article] リスクポテンシャルを考慮した最適制御理論による自律運転知能システムに関する研究2015

    • Author(s)
      長谷川隆裕,ポンサトーン・ラクシンチャラーンサク,山崎彬人,毛利宏,永井正夫
    • Journal Title

      自動車技術会論文集

      Volume: 46 Pages: 497-502

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Study on Autonomous Intelligent Drive System based on Potential Field with Hazard Anticipation2015

    • Author(s)
      Ryosuke Matsumi, Pongsathorn Raksincharoensak and Masao Nagai
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 27 Pages: 5-11

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of Autonomous Intelligent Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers2013

    • Author(s)
      Ryosuke Matsumi, Pongsathorn Raksincharoensak and Masao Nagai
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 25 Pages: 966-972

    • Related Report
      2013 Research-status Report
    • Peer Reviewed
  • [Journal Article] 熟練運転者の走行データに基づく無信号交差点における危険予測型ブレーキ支援システムに関する研究2013

    • Author(s)
      ポンサトーン・ラクシンチャラーンサク,岩澤一成,永井正夫
    • Journal Title

      日本機械学会論文集C編

      Volume: JCR-0580 Pages: 1-16

    • Related Report
      2013 Research-status Report
    • Peer Reviewed
  • [Journal Article] 交差点右折時の歩行者衝突回避のための超小型電気自動車の制駆動トルク制御に関する研究2012

    • Author(s)
      松實良祐,ポンサトーン ラクシンチャラーンサク,永井正夫
    • Journal Title

      日本機械学会論文集C編

      Volume: 78/785 Pages: 102-113

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Presentation] リスクポテンシャルを考慮した最適制御理論による自律運転知能システムに関する研究2014

    • Author(s)
      長谷川隆裕,ポンサトーン・ラクシンチャラーンサク,山崎彬人,毛利宏,永井正夫
    • Organizer
      自動車技術会秋季大会学術講演会
    • Place of Presentation
      仙台国際センター(宮城県仙台市)
    • Year and Date
      2014-10-22 – 2014-10-24
    • Related Report
      2014 Annual Research Report
  • [Presentation] Risk-Potential Based Motion Planning and Control of Proactive Driving Intelligence System for Enhancing Active Safety2014

    • Author(s)
      Takahiro Hasegawa, Pongsathorn Raksincharoensak and Masao Nagai
    • Organizer
      12th International symposium on advanced vehicle control (AVEC’14)
    • Place of Presentation
      東京農工大学(東京都小金井市)
    • Year and Date
      2014-09-22 – 2014-09-26
    • Related Report
      2014 Annual Research Report
  • [Presentation] Autonomous Driving Intelligence Systems for Collision Avoidance Based on Expertised Anticipatory Driving Behaviour,2014

    • Author(s)
      Ryosuke Matsumi, Pongsathorn Raksincharoensak and Masao Nagai
    • Organizer
      FISITA World Automotive Congress
    • Place of Presentation
      マーストリッヒ(オランダ)
    • Year and Date
      2014-06-02 – 2014-06-06
    • Related Report
      2014 Annual Research Report
  • [Presentation] 潜在リスク予測ドライバモデルを用いた自律運転知能システムの運動制御~駐車車両回避時の経路生成~2014

    • Author(s)
      長谷川隆裕,ポンサトーン・ラクシンチャラーンサク,永井正夫
    • Organizer
      自動車技術会学術講演会
    • Place of Presentation
      パシフィコ横浜(神奈川県横浜市)
    • Year and Date
      2014-05-20 – 2014-05-22
    • Related Report
      2014 Annual Research Report
  • [Presentation] Study on Autonomous Intelligent Driving System Based on Risk Potential of Road Environment2013

    • Author(s)
      Takahiro Hasegawa, Pongsathorn Raksincharoensak and Masao Nagai
    • Organizer
      Proceedings of the 3rd Japan-Korea Joint Symposium on Dynamics and Control
    • Place of Presentation
      Fukuoka
    • Related Report
      2013 Research-status Report
  • [Presentation] 熟練運転者の走行データに基づく自律運転知能システムの開発2013

    • Author(s)
      ポンサトーン・ラクシンチャラーンサク,長谷川隆裕,赤松湧太,永井正夫
    • Organizer
      ADVANTY 2013シンポジウム
    • Place of Presentation
      金沢大学
    • Related Report
      2013 Research-status Report
  • [Presentation] Hazard-Anticipatory Pedestrian Collision Avoidance System by Autonomous Braking2012

    • Author(s)
      Ryosuke Matsumi, Pongsathorn Raksincharoensak, Masao Nagai
    • Organizer
      11th International Symposium on Advanced Vehicle Control (AVEC)
    • Place of Presentation
      COEX, Seoul, Korea
    • Related Report
      2012 Research-status Report
  • [Remarks] http://www.tuat.ac.jp/~pong

    • Related Report
      2013 Research-status Report
  • [Remarks] http://www.tuat.ac.jp/~pong

    • Related Report
      2012 Research-status Report

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Published: 2013-05-31   Modified: 2019-07-29  

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