3206 車群構成車両の車間距離及び車速の動的推定手法の定式化(OS2-2 交通・物流システムのダイナミクス(自動車),OS2 交通・物流システムのダイナミクス,オーガナイズド・セッション)

概要

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This paper aims to formulate a method of estimating distances and velocities between platooning vehicles from a few vehicles' accelerations in the platoon by using Kalman filter. At the beginning of this paper, seven vehicles are assumed to they are platooning in a row, and two of them are able to measure their accelerations. Secondly, a state and measurement equations of Kalman filter are formulated by defining the distances and velocities of all seven vehicles as state variables and the accelerations of two vehicles as measurement variables. Besides the formulating, the coefficient matrices of the two equations are analytically derived. Although the estimate accuracy of this approach has not been confirmed, this paper theoretically establishes a method of estimating the distances and velocities between platooning vehicles from the measured accelerations in the platoon.
一般社団法人日本機械学会の論文
2008-12-09