2102 前方障害物自動回避システムのため回避軌道の逐次修正法の検討(OS5-2 運転支援,OS5 安全・安心・防災,オーガナイズド・セッション(OS))

概要

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This paper proposes a function extension of the forward obstacle avoidance system. Based on the background, in previous paper the authors proposed a system that the avoidance trajectory is derived against the predicted collision position based on obstacle motion. However, the system calculated avoidance trajectory by first-order prediction of obstacle position. In realistic, change of movement of obstacle must be considered. Therefore, in this paper, the authors resolved this problem by sequential prediction, that obstacle position will be predicted and avoidance trajectories will be generated in every sampling time. The appropriate avoidance trajectory will be modified by the newly method, so-called trajectory modification method. Then, the newly proposed system is verified by numerical simulation.
2011-12-06