TY - GEN
T1 - A fusion control of master steering input and automatic assisted control for teleoperated electric vehicle
AU - Sakai, Kotaro
AU - Murakami, Toshiyuki
PY - 2016/12/21
Y1 - 2016/12/21
N2 - The driving of unmanned vehicle has been realized step by step by the automatic vehicle in recent years. On the other hand, it is difficult to drive the unmanned vehicle full automatically in the environment in which the information is insufficient. Therefore, people have to drive the vehicle proactively in such an environment, and the teleoperated vehicle is one solution. The defect of teleoperated vehicle is its poor operability, so assist control should be added to drive the teleoperated vehicle safely. However, there is a problem that the effectiveness of assisted control depends on the sensor accuracy. In this paper, a driver assistance system that does not depend on the sensor accuracy heavily is proposed by fusing the human input and the automatic assisted control based on potential method and virtual impedance control. Steer-by-wire is introduced into the steering wheel of the vehicle so as to realize vehicle teleoperation and assisted control. The validity of proposed method is verified by simulations.
AB - The driving of unmanned vehicle has been realized step by step by the automatic vehicle in recent years. On the other hand, it is difficult to drive the unmanned vehicle full automatically in the environment in which the information is insufficient. Therefore, people have to drive the vehicle proactively in such an environment, and the teleoperated vehicle is one solution. The defect of teleoperated vehicle is its poor operability, so assist control should be added to drive the teleoperated vehicle safely. However, there is a problem that the effectiveness of assisted control depends on the sensor accuracy. In this paper, a driver assistance system that does not depend on the sensor accuracy heavily is proposed by fusing the human input and the automatic assisted control based on potential method and virtual impedance control. Steer-by-wire is introduced into the steering wheel of the vehicle so as to realize vehicle teleoperation and assisted control. The validity of proposed method is verified by simulations.
KW - Electric vehicle
KW - Measurement error
KW - Potential method
KW - Steer-by-wire
KW - Vehicle teleoperation
KW - Virtual impedance control
UR - http://www.scopus.com/inward/record.url?scp=85010065644&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010065644&partnerID=8YFLogxK
U2 - 10.1109/IECON.2016.7793501
DO - 10.1109/IECON.2016.7793501
M3 - Conference contribution
AN - SCOPUS:85010065644
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 469
EP - 474
BT - Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PB - IEEE Computer Society
T2 - 42nd Conference of the Industrial Electronics Society, IECON 2016
Y2 - 24 October 2016 through 27 October 2016
ER -