1114 周囲状況を考慮した障害物自動回避システムに関する研究(OS3-3 自動回避システム,OS3 交通・物流システムの制御,オーガナイズド・セッション)

概要

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This paper proposes an automatic collision avoidance system adapting to the environmental situation, as one of active safety technologies against accidents. Active safety technologies are required to prevent the accident and reduce the number of accidents itself. Avoidance by braking is effective for prevention of rear-ender collision. But avoidance by steering is more effective, for forward obstacle avoidance when environment changes suddenly or at high-speed driving. Therefore this paper proposes a system making appropriate avoidance depending on the situation. In this paper, the authors derive the avoidance trajectory considering surroundings of the vehicle, and propose the automatic collision avoidance system using the derived trajectory. The performance of the system is examined by numerical simulation. The results indicate that the proposed system is effective.
一般社団法人日本機械学会の論文
2008-12-09