Abstract
Various driving assistance systems have been developed to reduce the number of automobile accidents. However, the control laws of these assistance systems differ based on each situation, and the discontinuous control command value may be input instantaneously. Therefore, a seamless and unified control law for driving assistance systems that can be used in multiple situations is necessary to realize more versatile autonomous driving. Although studies have been conducted on four-wheel steering that steers the rear wheels, these studies considered the role of the rear wheels only to improve vehicle dynamics and not to contribute to autonomous driving. Therefore, in this study, we define the risk potential field as a uniform control law and propose a rear-wheel steering control system that actively steers the rear wheels to contribute to autonomous driving, depending on the level of the perceived risk in the driving situation. The effectiveness of the proposed method is verified by a double lane change test, which is performed assuming emergency avoidance in simulations, and subject experiments using a driving simulator. The results indicate that actively steering the rear wheels ensures a safer and smoother drive while simultaneously improving the emergency avoidance performance.
Highlights
Autonomous driving systems have been practically used for normal driving as well as emergency avoidance driving to realize a safe and comfortable traffic system
To achieve more versatile autonomous driving, it is necessary to develop a driving assistance system that can be designed with a uniform control law for both normal driving and emergency avoidance driving
In the simulation sideslip angle tended to increase when the risk potential field was applied, itdescribed attained in th comparison with that observed in the cases without control and with a zero-sideslip angle tion, the values of driver parameters were set as follows: hd = 0.4 rad/m, Tp value of7296 approximately
Summary
Autonomous driving systems have been practically used for normal driving as well as emergency avoidance driving to realize a safe and comfortable traffic system. The simulation results showed that the dynamic risk potential could reproduce merging behavior identical to that of an expert driver [3]. As an another example of previous work, Inoue et al applied the risk potential field to a shared control:. Planning for obstacle avoidance based on the risk potential field and proposed a control method that combined steering torque control with the direct yaw moment control. The results confirmed an improvement in the steering cooperativity between the driver and machine [4] This series of papers describes how active chassis control technologies can potentially improve the safety of a vehicle in lane keeping and obstacle avoidance driving scenarios while keeping good cooperative driving between the driver and the machine. The control inputs are torque to the steering wheel or the braking and driving force to the tires in these control laws, and they do not control the rear steering angle
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