Development of obstacle avoidance system using co-operative control

Yukihiro Fujiwara, Yasushi Shoda, Shuichi Adachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes a new driver support system which assists driver's operation in an obstacle avoidance scene. The proposed system has actuator systems which are Electric Power Steering (EPS) and Direct Yaw-moment Control (DYC). The obstacle is detected as a differential feature value by using a micro-wave radar instead of a camera. Co-operative control is constructed to manage the actuators by frequency weighting functions. By experiments using an actual vehicle, it is shown that the proposed system has effectiveness for assistance the driver's operation for an avoidance task and for improving vehicle dynamics.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
Pages170-175
Number of pages6
Publication statusPublished - 2005 Dec 1
Externally publishedYes
Event16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague, Czech Republic
Duration: 2005 Jul 32005 Jul 8

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume16
ISSN (Print)1474-6670

Other

Other16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005
CountryCzech Republic
CityPrague
Period05/7/305/7/8

Keywords

  • Automotive control
  • Co-operative control
  • Vehicle dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Fujiwara, Y., Shoda, Y., & Adachi, S. (2005). Development of obstacle avoidance system using co-operative control. In Proceedings of the 16th IFAC World Congress, IFAC 2005 (pp. 170-175). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 16).