Automatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equation
In recent years, an automatic collision avoidance system has been put into practical use by various automotive companies. In this study, we propose an automatic collision avoidance system for a four-wheel independent drive vehicle using the state-dependent Riccati equation. By designing the state-de...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2018-05-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/84/862/84_17-00583/_pdf/-char/en |
| _version_ | 1797989181803200512 |
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| author | Naoto YOSHIDA Masahiro IEZAWA Kazuhiro NISHIWAKI Masaki TAKAHASHI |
| author_facet | Naoto YOSHIDA Masahiro IEZAWA Kazuhiro NISHIWAKI Masaki TAKAHASHI |
| author_sort | Naoto YOSHIDA |
| collection | DOAJ |
| description | In recent years, an automatic collision avoidance system has been put into practical use by various automotive companies. In this study, we propose an automatic collision avoidance system for a four-wheel independent drive vehicle using the state-dependent Riccati equation. By designing the state-dependent weighting functions, a control gain is automatically determined, based on the relative relationship with a preceding vehicle and the system can properly perform automatic braking and automatic steering. Moreover, by updating the state-dependent linear representation obtained from a nonlinear vehicle model in each control cycle, we design a control system in consideration of a change in vehicle dynamics due to vehicle velocity. Therefore, this study verifies the effectiveness of the automatic collision avoidance system using the state-dependent Riccati equation. We compare the performance of the proposed method with constant weight cases. The simulation results show that the proposed method can automatically adjust the control gain and properly avoid a collision by braking and steering to change the relative relationship with a preceding vehicle. |
| first_indexed | 2024-04-11T08:15:02Z |
| format | Article |
| id | doaj.art-99864a254475425cbc7bf7f59e8f092d |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T08:15:02Z |
| publishDate | 2018-05-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-99864a254475425cbc7bf7f59e8f092d2022-12-22T04:35:11ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612018-05-018486217-0058317-0058310.1299/transjsme.17-00583transjsmeAutomatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equationNaoto YOSHIDA0Masahiro IEZAWA1Kazuhiro NISHIWAKI2Masaki TAKAHASHI3School of Science for Open and Environmental Systems, Keio UniversityAdvanced R&D Center, Mitsubishi Electric CorporationAdvanced R&D Center, Mitsubishi Electric CorporationDepartment of System Design Engineering, Keio UniversityIn recent years, an automatic collision avoidance system has been put into practical use by various automotive companies. In this study, we propose an automatic collision avoidance system for a four-wheel independent drive vehicle using the state-dependent Riccati equation. By designing the state-dependent weighting functions, a control gain is automatically determined, based on the relative relationship with a preceding vehicle and the system can properly perform automatic braking and automatic steering. Moreover, by updating the state-dependent linear representation obtained from a nonlinear vehicle model in each control cycle, we design a control system in consideration of a change in vehicle dynamics due to vehicle velocity. Therefore, this study verifies the effectiveness of the automatic collision avoidance system using the state-dependent Riccati equation. We compare the performance of the proposed method with constant weight cases. The simulation results show that the proposed method can automatically adjust the control gain and properly avoid a collision by braking and steering to change the relative relationship with a preceding vehicle.https://www.jstage.jst.go.jp/article/transjsme/84/862/84_17-00583/_pdf/-char/envehicle dynamicsautomatic collision avoidance systemstate-dependent riccati equationoptimal controlnonlinear control |
| spellingShingle | Naoto YOSHIDA Masahiro IEZAWA Kazuhiro NISHIWAKI Masaki TAKAHASHI Automatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equation Nihon Kikai Gakkai ronbunshu vehicle dynamics automatic collision avoidance system state-dependent riccati equation optimal control nonlinear control |
| title | Automatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equation |
| title_full | Automatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equation |
| title_fullStr | Automatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equation |
| title_full_unstemmed | Automatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equation |
| title_short | Automatic collision avoidance system for four-wheel independent drive vehicle by state-dependent Riccati equation |
| title_sort | automatic collision avoidance system for four wheel independent drive vehicle by state dependent riccati equation |
| topic | vehicle dynamics automatic collision avoidance system state-dependent riccati equation optimal control nonlinear control |
| url | https://www.jstage.jst.go.jp/article/transjsme/84/862/84_17-00583/_pdf/-char/en |
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