2014 Fiscal Year Final Research Report
Autonomous collision avoidance control system design based on driving environment risk potential prediction
| Project/Area Number |
24560251
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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 |
Dynamics/Control
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| Research Institution | Tokyo University of Agriculture and Technology |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| 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 |
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| 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.
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| Free Research Field |
機械力学・制御工学
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