2A1-Q08 市街地の走路境界認識に基づく車線自動追従制御に関する研究(【交通・物流部門】自動車分野におけるロボティクス)

概要

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This paper proposes an automatic path tracking system for lane departure prevention in urban road by using a micro electric vehicle. Lateral deviation from the desired path which correlates to the relative distance with respect to the car and the road boundary is measured by using a LIDAR. Depending on the deviation, a restoring force to bring the vehicle back to the desired path is determined by an imaginary spring and an imaginary damper attached at the sides of the vehicle. Next, the steering wheel is automatically controlled to obtain the determined force which prevents lane departure. Finally, the effectiveness of the proposed autonomous path tracking control system is verified by experiments using the micro electric vehicle.
一般社団法人日本機械学会の論文
2011-05-26