| Project/Area Number |
15K05896
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Nagoya University (2017)
Kyoto University (2015-2016) |
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Principal Investigator |
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| Co-Investigator(Renkei-kenkyūsha) |
WADA Takahiro 立命館大学, 情報理工学部, 教授 (30322564)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| 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: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Keywords | Haptic guidance / Haptic shared control / 衝突回避横加速度 / 自動衝突回避制御 / タイヤ摩擦円 / ドライビングシミュレータ / 衝突回避減速度 / Shared control |
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| Outline of Final Research Achievements |
This study aimed to construct a collision avoidance assist system, which consists of the following functions; 1) it encourages a driver to decelerate the vehicle early by providing a haptic guidance without conflict between the driver and the system, and 2) it performs automatic collision avoidance with consideration for tire force saturation when the manual collision avoidance becomes difficult. First, this study proposed the calculation method of a lateral acceleration for collision avoidance, which is a required lateral acceleration to avoid collision with a preceding vehicle. Second, it proposed an automatic control law to avoid a collision by the combination of braking and steering with consideration for tire force saturation. Finally, it constructed a haptic guidance system to encourage the driver to perform avoidance maneuver without conflict between the driver and the system. The driving simulator experiments were conducted to verify the effectiveness of the proposed system.
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