Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences, The Institute of Electrical Engineers of Japan
Co-host: Technically Cosponsored by 51 Societies and Institutes
Name : THE 59TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Location : [in Japanese]
Date : November 10, 2016 - November 12, 2016
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.