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EVALUATION OF FOUR-WHEEL-STEERING SYSTEM FROM THE VIEWPOINT OF LANE-KEEPING CONTROL
Raksincharoensak, P.,Mouri, H.I,Nagai, M.I The Korean Society of Automotive Engineers 2004 International journal of automotive technology Vol.5 No.2
This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.
EVALUATION OF FOUR-WHEEL-STEERING SYSTEM FROM THE VIEWPOINT OF LANE-KEEPING CONTROL
P.RAKSINCHAROENSAK,H.MOURI,M.NAGAI 한국자동차공학회 2004 International journal of automotive technology Vol.5 No.2
This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.
Driver Behavior Modeling Based on Database of Personal Mobility Driving in Urban Area
Kazunari Inata,Pongsathorn Raksincharoensak,Masao Nagai 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper proposes the modeling of longitudinal driving behavior based on urban driving data of one-person micro-scale electric vehicle for developing the pernsonalized driver adaptive assistance system. The system enables us to realize a practical cooperative safety system that suits individual maneuvering behavior in real-world traffic situation. First, the urban driving data is collected by on-road experiments using continuous sensing drive recorder equipped in the micro-scale electric vehicle. Next, the human pedal operation for longitudinal vehicle control is divided into several modes. Consequently, the driver model is formulated by setting up the input-output relationship of each operation mode and the mode switching rules based on the collected urban driving data. It is proved that the proposed driver model is effective to express driver pedal operation. Finally, the proposed driver model is applied to detect hurry driving by comparison between the model-based estimated pedal operation and the measured value in hurry driving situation.
Study on Forward Collision Warning System Adapted to Driver Characteristics and Road Environment
Masumi Nakaoka,Pongsathorn Raksincharoensak,Masao Nagai 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Forward collision warning systems target a major crash type: rear-end crashes with a moving or parked vehicle which covers 30% of all accidents in Japan. The development of this system contributes to the reduction of road accidents. Many collision warning algorithms have recently been proposed and developed in automobile markets but they are based on Pre-Crash Safety system concept which activates in critical driving situation. In future, the collision warning device should be designed to be activated earlier than the current pre-crash safety system in order to induce driver’s own braking maneuver to prevent collision as well as near-miss incident. This paper focuses on a forward collision warning algorithm based on road friction coefficient and driver characteristics. The effectiveness of the algorithm is verified by using driving simulator experiments and experimental car in urban area.
Study on Effectiveness of Active Safety Devices on Low Friction Road Using Driving Simulator
Yoshimichi Terashima,Yuya Ishizaki,Ryuzo Hayashi,Pongsathorn Raksincharoensak,Masao Nagai 한국자동차공학회 2008 한국자동차공학회 Symposium Vol.2008 No.9
In recent years, various active safety devices have been developed for the prevention of accidents such as rear-end collision and skidding. The representative device for the collision prevention is the forward collision warning system, and the one for the stability control is the direct yaw-moment control (DYC) system using distributed braking forces. In this study, we aim to evaluate the performance of these devices by experiments using driving simulator reconducting critical and dangerous driving situations. Regarding the forward collision warning system, we propose a new algorithm of warning system adapted to road condition, and conduct experiments to verify its effectiveness with the driving simulator. The results of the experiment indicate that the proposed system is more effective than the conventional system. Regarding the DYC, we develop a DYC system for the driving simulator to verify the effectiveness of DYC on low friction road, including human driver in the closed-loop evaluation. The DYC algorithm is designed by model-matching control method. From the results of the experiment of obstacle avoidance, it reveals that the DYC system is very effective to stabilize the vehicle on low friction road.
Development of Steering Behavior Recognition Method by Using Sensing Data of Drive Recorder
Hideki Tsunai,Kozo Maeda,Ryuzo Hayashi,Pongsathorn Raksincharoensak,Masao Nagai 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper proposes the steering behavior, e.g. lane keeping, lane changing, recognition method by using sensing data of drive recorder. To reduce traffic accidents, it is necessary to improve not only active safety technology, but also the driver awareness about driving safety. One of the methods to increase the driver awareness is to inform the degree of safety of driving behavior. To realize the system, it is necessary to develop the driving behavior recognition algorithm by sensing data of drive recorder. Therefore, this study focuses on lane change recognition method and develops the algorithm by sequential labeling method based on boosting framework; Boosted Conditional Random Fields. To develop the algorithm, four features are focused here to train the model: those are, velocity, steering wheel angle, moving variance and moving standard deviation. Finally, the recognition results are shown, and the best features in machine learning process for recognition algorithm are examined.