Proceedings of the Japan Joint Automatic Control Conference
THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : FrA6-2
Conference information

Evaluation of Driving Assistance Control for SSV using Model Error Compensator
*T. TanakaH. MiyamotoH. OkajimaN. Matsunaga
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract

Recently, welfare vehicles are widely used by patients and elders indoors. In order to expand driving area for welfare vehicles, the skid steer mechanism is focused on. However, the skid steer vehicle(SSV) has disadvantage that the maneuvering assistance is required because its steering is highly affected by road condition. This study aims to propose driving assistance controller consisted of Model Error Compensator (MEC), Extended Kalman Filter (EKF) and estimation of cornering power of SSV. The effectiveness of the proposed control system using on-line cornering power estimator is confirmed by the outdoor driving experiment comparing asphalt and gravel roads.

Content from these authors
© 2016 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top