曲線路走行時における操舵のシェアードコントロールと加減速制御

ー逐次目標曲率生成に基づく規範ドライバモデルの構築ー

抄録

Recently, the number of elderly drivers is increasing in japan. Although the driving performance of the elderly drivers generally tend to decreased due to the decrease of the physical ability, they still have high motivations to drive a vehicle. A shared control based driver assistance system is a promising approach to maintain skillful driving performance. This system allows both driving maneuver input from the human and the system simultaneously. The key feature of the shared control system is the expert driver model which is embedded to indicate the reference maneuvers to the actual drivers. The actual expert drivers perform the driving maneuvers which are combined with lateral control and speed control appropriately. However, the conventional steering shared control systems are focused on the lateral control without considering the speed control. I am order to enhance the shared control system, this paper proposed the expert driver model which calculate the reference steering behavior with longitudinal control by using the reference curvature. The effectiveness of the proposed expert driver model is evaluated by comparing with the experimental results which is conducted by an actual expert driver in curved path tracking maneuvers.