Advanced Deceleration Control Considering Driving Resistance by Predicting the Position of Pedestrians

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2019/03/01

タイトル(英語): Advanced Deceleration Control Considering Driving Resistance by Predicting the Position of Pedestrians

著者名: Yusuke Nakamura (Keio University), Toshiyuki Murakami (Keio University)

著者名(英語): Yusuke Nakamura (Keio University), Toshiyuki Murakami (Keio University)

キーワード: Autonomous Emergency Braking System (AEBS)，Model Predictive Control (MPC)，Driving Force Observer (DFOB)，Kalman filter

要約(英語): This study aims to realize an automated deceleration system to avoid the collision of a vehicle with a pedestrian. The proposed system can predict a pedestrian's future position from the current position, and detect the collision probability. Furthermore, the controller employing model predictive control, which can compensate the driving resistance and the modeling error is also proposed. The effectiveness of the proposed method is verified through a simulation and experiment.

本誌: IEEJ Journal of Industry Applications Vol.8 No.2 （2019） Special Issue Ⅰ on “Motion Control and its Related Technologies”　Special Issue Ⅱ on “IPEC-Niigata 2018”

本誌掲載ページ: 334-341 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/8/2/8_334/_article/-char/ja/