Evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator
In aging society, welfare personal vehicles have been widely used to improve the quality of life of elderly and handicapped persons. However, it is difficult for the users to steer the vehicle in narrow buildings. Accordingly, platoon driving of welfare personal vehicles has attracted attention as o...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2016-07-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/82/840/82_15-00690/_pdf/-char/en |
| _version_ | 1811221213906731008 |
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| author | Tatsuya SUGANO Yusuke DAN Hiroshi OKAJIMA Nobutomo MATSUNAGA |
| author_facet | Tatsuya SUGANO Yusuke DAN Hiroshi OKAJIMA Nobutomo MATSUNAGA |
| author_sort | Tatsuya SUGANO |
| collection | DOAJ |
| description | In aging society, welfare personal vehicles have been widely used to improve the quality of life of elderly and handicapped persons. However, it is difficult for the users to steer the vehicle in narrow buildings. Accordingly, platoon driving of welfare personal vehicles has attracted attention as one of the effective leading methods. The platoon driving system consists of the longitudinal control and the lateral control. The longitudinal control is based on Adaptive Cruise Control. If the vehicle parameters are adjusted for each user’s driving ability, the longitudinal control will be string unstable in the worst case. As for the lateral control, the following vehicle tracks the preceding vehicle according to the target point following algorithm. The following vehicle may collide with a wall due to the large tracking error at a sharp corner in buildings. In this paper, the robust and precise platoon driving system is proposed to realize the safe platoon driving. Firstly, the longitudinal controller stably keeps the inter-vehicle distance regardless of the short time-headway. Secondary, the lateral controller precisely tracks the wheel track of preceding vehicle by using way-points. Thirdly, the robust platoon control for the different vehicle dynamics is designed by Model Error Compensator. Finally, the effectiveness of our proposed system is evaluated by the driving experiments. |
| first_indexed | 2024-04-12T07:55:31Z |
| format | Article |
| id | doaj.art-5917e8aa9be54ab48428dcb972da3549 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-12T07:55:31Z |
| publishDate | 2016-07-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-5917e8aa9be54ab48428dcb972da35492022-12-22T03:41:30ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612016-07-018284015-0069015-0069010.1299/transjsme.15-00690transjsmeEvaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensatorTatsuya SUGANO0Yusuke DAN1Hiroshi OKAJIMA2Nobutomo MATSUNAGA3Graduate School of Science and Technology, Kumamoto UniversityGraduate School of Science and Technology, Kumamoto UniversityGraduate School of Science and Technology, Kumamoto UniversityGraduate School of Science and Technology, Kumamoto UniversityIn aging society, welfare personal vehicles have been widely used to improve the quality of life of elderly and handicapped persons. However, it is difficult for the users to steer the vehicle in narrow buildings. Accordingly, platoon driving of welfare personal vehicles has attracted attention as one of the effective leading methods. The platoon driving system consists of the longitudinal control and the lateral control. The longitudinal control is based on Adaptive Cruise Control. If the vehicle parameters are adjusted for each user’s driving ability, the longitudinal control will be string unstable in the worst case. As for the lateral control, the following vehicle tracks the preceding vehicle according to the target point following algorithm. The following vehicle may collide with a wall due to the large tracking error at a sharp corner in buildings. In this paper, the robust and precise platoon driving system is proposed to realize the safe platoon driving. Firstly, the longitudinal controller stably keeps the inter-vehicle distance regardless of the short time-headway. Secondary, the lateral controller precisely tracks the wheel track of preceding vehicle by using way-points. Thirdly, the robust platoon control for the different vehicle dynamics is designed by Model Error Compensator. Finally, the effectiveness of our proposed system is evaluated by the driving experiments.https://www.jstage.jst.go.jp/article/transjsme/82/840/82_15-00690/_pdf/-char/enwelfare personal vehicleplatoon drivingmodel error compensatoradaptive cruise controlstring stabilitytarget point followingway-point |
| spellingShingle | Tatsuya SUGANO Yusuke DAN Hiroshi OKAJIMA Nobutomo MATSUNAGA Evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator Nihon Kikai Gakkai ronbunshu welfare personal vehicle platoon driving model error compensator adaptive cruise control string stability target point following way-point |
| title | Evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator |
| title_full | Evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator |
| title_fullStr | Evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator |
| title_full_unstemmed | Evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator |
| title_short | Evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator |
| title_sort | evaluation of robust indoor platoon driving system of welfare personal vehicles by using model error compensator |
| topic | welfare personal vehicle platoon driving model error compensator adaptive cruise control string stability target point following way-point |
| url | https://www.jstage.jst.go.jp/article/transjsme/82/840/82_15-00690/_pdf/-char/en |
| work_keys_str_mv | AT tatsuyasugano evaluationofrobustindoorplatoondrivingsystemofwelfarepersonalvehiclesbyusingmodelerrorcompensator AT yusukedan evaluationofrobustindoorplatoondrivingsystemofwelfarepersonalvehiclesbyusingmodelerrorcompensator AT hiroshiokajima evaluationofrobustindoorplatoondrivingsystemofwelfarepersonalvehiclesbyusingmodelerrorcompensator AT nobutomomatsunaga evaluationofrobustindoorplatoondrivingsystemofwelfarepersonalvehiclesbyusingmodelerrorcompensator |