TY - JOUR
T1 - Advanced deceleration control considering driving resistance by predicting the position of pedestrians
AU - Nakamura, Yusuke
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2019 The Institute of Electrical Engineers of Japan.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
KW - Autonomous Emergency Braking System (AEBS)
KW - Driving Force Observer (DFOB)
KW - Kalman filter
KW - Model Predictive Control (MPC)
UR - http://www.scopus.com/inward/record.url?scp=85064846634&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85064846634&partnerID=8YFLogxK
U2 - 10.1541/ieejjia.8.334
DO - 10.1541/ieejjia.8.334
M3 - Article
AN - SCOPUS:85064846634
SN - 2187-1094
VL - 8
SP - 334
EP - 341
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
IS - 2
ER -