G101033 A Control System for Automatic Vehicle to Avoid an Emergency : A Method of Designation of Yaw Angle at Stopping Using Immune Algorithm

Abstract

This report proposes a floating type disk brake model,and a real number type immune algorithm(IA).It aims to find an operation which can avoid an obstacle,which is found in colliding distance only by a braking operation,by a combination of steering and braking in the highway.IA has been used to find plural solutions of operations.The effectiveness of the braking model is verified through a sudden braking simulation.A real number type expression is adopted in substitution for a conventional binary type as a coding method of IA.The usefulness of the proposed methods is demonstrated through an emergency avoidance simulation with a directed final yaw angle of a vehicle.