1213 操舵を用いた自動衝突回避システムへのモデル予測制御の適用(OS3-3 制御I,OS3 交通・物流システムのダイナミクスと制御,TRANSLOG 2006)

概要

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This paper proposes the Collision Avoidance System (C.A.S.) using steering angle input. To reduce traffic accident, many assistance systems using the brake system are developed but systems using the steering system are not build as the sophisticated theory. Conventional front steering angle for the collision avoidance use the sine wave input, but open loop control performance is not good for mounting on real vehicle. The automated C.A.S. focus on the steering input using the Model Predictive Control (M.P.C.) is developed. The C.A.S. with steering system have to deal with many constraints, so that the servo control like a LQI theory is not suitable for these problems. Desired control performance of C.A.S. is conducted by the M.P.C approach with the constraint conditions. Potential advantage of C.A.S. with steering input compared to C.A.S. with braking input is estimated.
一般社団法人日本機械学会の論文
2006-12-13