1214 左右独立制動による路面状態に適応した前方障害物衝突回避に関する研究(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 describes forward-collision avoidance adapted for road condition by independent braking. The algorithm that estimates vehicle state and road condition based on the Interacting Multiple Model (IMM) algorithm. This algorithm estimates it by number of models. This algorithm is evaluated in simulation study. Forward collision avoidance was done by independent braking. It is made to control the braking force and to follow to lateral acceleration of the target. Simulation results show that IMM algorithm is effective in the state estimation of vehicle and road condition, and on low road condition braking distance was able to be shortened.
一般社団法人日本機械学会の論文
2006-12-13