A Cooperative Auto-driving System Based on Fuzzy Instruction

抄録

This paper deals with control of auto-driving cooperative system considering the safety of vehicle. Fuzzy instruction is fuzzy set of control instruction which could be as control command candidates. According to the current situation of the vehicle the fuzzy instruction is calculated and auto-driving system is constructed. The cooperative control system was purposed to support the human's operation based on the fuzzy instruction, and the support is shown through the variable reaction force to human. An impedance controller was designed for the human's operation, and the controller which can most effectively represent the safety of the running vehicle was identified. The cooperative control system is evaluated by an experiment using driving simulator, and the validity of the proposed design procedure is confirmed.