Advanced deceleration control considering driving resistance by predicting the position of pedestrians

Yusuke Nakamura, Toshiyuki Murakami

Research output: Contribution to journalArticle


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.

Original languageEnglish
Pages (from-to)334-341
Number of pages8
JournalIEEJ Journal of Industry Applications
Issue number2
Publication statusPublished - 2019 Jan 1



  • Autonomous Emergency Braking System (AEBS)
  • Driving Force Observer (DFOB)
  • Kalman filter
  • Model Predictive Control (MPC)

ASJC Scopus subject areas

  • Automotive Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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