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Design Method of Autonomous Vehicle Control System that Operate Similar to a Human based on Human Behavior Model

Research Project

Project/Area Number 26330298
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent robotics
Research InstitutionMie University

Principal Investigator

Hayakawa Soichiro  三重大学, 工学研究科, 准教授 (50288552)

Research Collaborator Kojima Yusuke  
Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Keywordsハイブリッドシステム / 人間行動 / 運転行動 / システム同定 / 行動モデル / 行動解析
Outline of Final Research Achievements

The aim of this research is to realize the design technique of the control system that operate similar to a human driver for autonomous vehicle. To achieve this aim, the turning operation model with a feedback control based on the hybrid system was proposed. By using driving simulator, highly accurate turning operation was verified. Then, it is necessary to realize driving behaviors for the target long time driving situations by using these driving behavior models. To realize it, the multi driver model that include many driving behavior models and the design method were proposed. The effectiveness of the proposed model was verified by using the driving simulator.
From these results, the vehicle control system that operates similar to a human driver was realized.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Research-status Report
  • 2014 Research-status Report

Research Products

(10 results)

All 2017 2016 2015 Other

All Presentation (9 results) (of which Int'l Joint Research: 1 results) Remarks (1 results)

  • [Presentation] 複数運転行動モデルを有するドライバ運転行動モデルの有効性検証2017

    • Author(s)
      竹中慶二, 水谷謙太, 早川聡一郎, 池浦良淳
    • Organizer
      日本機械学会東海支部第66期総会・講演会
    • Place of Presentation
      静岡大学浜松キャンパス(静岡県浜松市)
    • Year and Date
      2017-03-14
    • Related Report
      2016 Annual Research Report
  • [Presentation] 外部環境情報選択に基づくドライバ旋回行動モデルの構築と有効性検証2016

    • Author(s)
      小嶋友輔, 早川聡一郎, 水谷謙太, 池浦良淳
    • Organizer
      第17回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      札幌コンベンションセンター(北海道札幌市)
    • Year and Date
      2016-12-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] 外部環境情報選択に基づくドライバ旋回行動モデルの構築2016

    • Author(s)
      小嶋友輔, 早川聡一郎, 水谷謙太, 池浦良淳
    • Organizer
      自動車技術会2016年秋季大会学術講演会
    • Place of Presentation
      札幌コンベンションセンター(北海道札幌市)
    • Year and Date
      2016-10-19
    • Related Report
      2016 Annual Research Report
  • [Presentation] 複数運転行動モデルを実装した自律走行車車両運動制御システムの有効性検証2016

    • Author(s)
      水谷謙太, 早川聡一郎, 小嶋友輔, 池浦良淳
    • Organizer
      平成28年度電気・電子・情報関係学会東海支部連合大会
    • Place of Presentation
      豊田工業専門学校(愛知県豊田市)
    • Year and Date
      2016-09-12
    • Related Report
      2016 Annual Research Report
  • [Presentation] 外部環境情報選択に基づくドライバ旋回行動モデル同定と有効性検証2016

    • Author(s)
      小嶋友輔, 早川聡一郎, 水谷謙太, 池浦良淳
    • Organizer
      日本人間工学会第57回大会
    • Place of Presentation
      三重県立看護大学(三重県津市)
    • Year and Date
      2016-06-25
    • Related Report
      2016 Annual Research Report
  • [Presentation] 外部環境情報選択に基づくドライバ旋回行動モデルの同定2016

    • Author(s)
      小嶋友輔, 早川聡一郎, 水谷謙太, 池浦良淳
    • Organizer
      ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      パシフィコ横浜(神奈川県横浜市)
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] クロソイド曲線に基づいたドライバ旋回操作モデルのハイブリッドシステム表現2016

    • Author(s)
      水谷謙太、小嶋友輔、鈴木崇恭、池浦良淳、早川聡一郎
    • Organizer
      日本機械学会東海支部第65期総会・講演会
    • Place of Presentation
      愛知工業大学八草キャンパス(愛知県豊田市)
    • Year and Date
      2016-03-17
    • Related Report
      2015 Research-status Report
  • [Presentation] Identification of the Driver Turning Operation Model based on the Clothoid Curve2015

    • Author(s)
      Takaaki Suzuki, Soichiro Hayakawa and Ryojun Ikeura
    • Organizer
      International Conference on Mechatronics and Information Technology 2015
    • Place of Presentation
      Del Pino Resort(Korea)
    • Year and Date
      2015-12-02
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] クロソイド曲線に基づいたドライバ旋回操作モデルの ハイブリッドシステム表現2015

    • Author(s)
      小嶋 友輔、早川 聡一郎、鈴木 崇恭、池浦 良淳
    • Organizer
      平成27年度 電気・電子・情報関係学会東海支部連合大会
    • Place of Presentation
      名古屋工業大学(名古屋市昭和区)
    • Year and Date
      2015-09-28
    • Related Report
      2015 Research-status Report
  • [Remarks] システム設計研究室ホームページ

    • URL

      http://www.ss.mach.mie-u.ac.jp/member/hayakawa/

    • Related Report
      2016 Annual Research Report

URL: 

Published: 2014-04-04   Modified: 2018-03-22  

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