Yoshikazu Hattori

Vehicle dynamics integrated control for four-wheel-distributed steering and four-wheel-distributed traction/braking systems

In this article, vehicle dynamics integrated control algorithm using an on-line non-linear optimization method is proposed for 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems. The proposed distribution algorithm minimizes work load of each tire, which is controlled to become the same value. The global optimality of the convergent solution of the recursive algorithm can be proved by extension to convex problems. This implies that theoretical limited performance of vehicle dynamics integrated control is clarified. Furthermore, the effect of this vehicle dynamics control for the 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems is demonstrated by simulation to compare with the combination of the various actuators.

Optimum Vehicle Trajectory Control for Obstacle Avoidance Problem

This paper discusses an obstacle avoidance problem. A new control algorithm for obstacle avoidance within the shortest possible distance is proposed. The algorithm is composed of two steps. In the first step, optimal trajectory and a corresponding force and moment are determined based on a second-order cone programming. In the second step, the computed force and moment are realized through the controlling brake and steering systems while using a sequential quadratic programming with pseudo-inverse matrix for the derivation

ANALYSIS OF DRIVER'S DECELERATING STRATEGY IN A CAR-FOLLOWING SITUATION

SUMMARY This report describes a decelerating driver-model expressed by driving mode transition in car-following situations. The assumptions for constructing the model are that decelerating strategy of a driver is classified into several simple driving modes and that a driver changs his driving modes based on his perceptible characteristics and experiential rules. Deceleration action is divided into three states; following, standing and braking, which are applied to the model. The model has two paths for drivers decelerating action, one of which is selected by the driver based on the perceptible characteristics and experiential rules. The suitability of the model has been experimentally verified.

Proposal for a new localisation method using tightly coupled integration based on a precise estimation of trajectory from GPS Doppler

Driver assistance systems require the function of precise localisation. However, the accuracy of standard global positioning system (GPS) is inadequate for this. In this paper, a new method for precise localisation using the tightly coupled integration of inertial navigation system (INS) and raw GPS data is investigated. GPS Doppler corresponds to the relative velocity between the satellite and the receiver. Our new method enables us to make a robust and accurate estimation of the vehicle trajectory based on INS and GPS Doppler. Furthermore, the total optimisation by combining GPS pseudorange data with the accurate trajectory enables us to estimate the position of the vehicle precisely.