2A1-Q07 ハイブリッドシステムモデルに基づくモデル予測型前方車追突回避アシストシステムの設計(【交通・物流部門】自動車分野におけるロボティクス)

概要

論文の詳細を見る
This paper presents verifications of proposed personalized assisting control using an actual car. A single-seated small electric vehicle is used to log driver's behavior in vehicle following tasks. Driver model is expressed as a PieceWise AutoRegressive eXogeneous(PWARX) model widely recognized as hybrid dynamical system. First, the braking assistance system with the model is designed and examined on a driving simulator. The optimum assisting control is based on model predictive control and given by solving Mixed Integer Programming(MIP) on-line. After implementation of the assistance system on the electric vehicle, it is aimed to verify the effect by comparing actual car's and simulated results.
2011-05-26