Advanced Automatic Collision Notification (AACN) is a notification system that uses data about previous accidents to predict the extent of passenger injuries. The purpose of this study is to develop injury prediction model based on 2.8 million cases of Japanese car accident data. This accident data was split into a training data and a validation data. Receiver operating characteristic (ROC) curves were generated by evaluating serious injury risks from the 1.3 million cases data, and the best models were selected to maximize the Area Under the Curve (AUC) of ROC. Each prediction models of this study has good possibility injury risk ,witch predicted by delta v pseudo, impact direction, seat belt use, occupant age, multiple impacts and vehicle type.

抄録全体を表示

Nihon University and Nippon Medical School be doing real world in-depth accident study. All injury number has been present 770 exist, thoracic injury the number of 197, 28% rate. Also abdominal injury the number of 107, 14% rate. In this study to analyzed the relationship between the thoracic/abdominal injury of belted occupant by in-depth accident study data. In addition, revealed a detailed data of Equivalent barrier speed(EBS), injury source, and MS. The results show that rib fracture in the thoracic, mesentery in the abdomen has many occurred. Thoracic injuries occupant behavior and deformation of the seat had a significant impact. Correlation occurs in age difference abdomen from thoracic.

抄録全体を表示

Motorcycle is a very effective transfer because of less energy consumption and flexibility. However, it tends to turn over when cornering, and unstable when speed is slow. Single vehicle accidents are caused by these faults. We therefore study the gyro system to solve these problems. The gyro effect is a phenomenon in which a posture is maintained. The body of motorcycle is controlled using this gyroscope effect. We use MATLAB/Simulink as a method for the analysis of the gyro system and simulate the system by BikeSim. In this paper, we report effect of the control parameters of the gyro system for prevention of the motorcycle turnover.

抄録全体を表示

Driver's over-dependence on an active safety system for a car is concerned in recent years. This behavior can cause dangerous driving. Many researchers are studying about brake timing and deceleration of an active safety system. However, a deceleration pattern is also closely related with over-dependence. It is necessary to reveal an optimal deceleration pattern of an active safety system in order to prevent over-dependence. First, we analyzed the relation between deceleration pattern and driver's pupil size by an experiment using a driving simulator and eye mark recorder. This paper deals with a collision avoidance system against the car in front.

抄録全体を表示

In order to recognize the obstacle ahead of vehicles for AEBS (Advanced Emergency Braking System), the milliwave radar is used. But the 'upper structure', such as a large signboard over the road, may be detected and recognize as an obstacle. Moreover, it is difficult to build a high-precision judgment method which judges the upper structure as a mom-obstacle from the actual measured data. Then, the judgment method of the upper structure was built from large amount of data using machine learning technique, and significant improvement in the judgment accuracy was obtained.

抄録全体を表示

ASV services using vehicle-to-vehicle communication between tramcars and private cars are proposed as a solution to the safety cooperation between tramcars and vehicles harnessing each merit and to the challenge of increasing penetration rate of vehicle-to-vehicle communication devices. To confirm the ASV services are feasible, a field operation test was held. Taking the result of the field operation test, the evaluation tests of the effect of the ASV services were proposed. This paper reports the result of the field operation test and introduces the concept of evaluation tests.

抄録全体を表示

Running safety is judged by the derailment quotient calculated using lateral force and wheel load under the condition that contact point lies between the wheel and rail surface. When there is a small lateral force and/or a stabile wheel load the possibility of derailment is low. Our goal is to achieve low valued quotient by reducing lateral force and stable wheel load along a curved section of track. We developed a bogie for reduce risk of derailment (RRD-bogie). RRD-bogie has two mechanical features. One is a assist steering system of wheelset with two actuators on both side axle box working yaw motion for relatively bogie frame. The other feature is a twist track follow-up mechanism which has pin-supported side beams on a cross beam. These mechanisms get successful results on reducing small lateral force and stable wheel load in an for curve running. This paper describes RRD-bogie's mechanism and experimental results.

抄録全体を表示

Mobile cranes are heavy machinery used in construction sites. Sufficient bearing capacity is required in the supporting ground to keep the machinery horizontal. However, overturning accidents frequently occur because of ground penetration at the foundations of lower careers. A differential settlement ΔS makes machinery unstable because an overturning moment increases whereas a moment of stability decreases. Thus, the machinery overturns by reaching the limit equilibrium of moment. Therefore, a value of the acting pressure through the foundations pa should be less than a value of the ultimate bearing capacity of ground q_d so that ΔS can be reduced to negligible small values. In addition, a tall super structure of the machinery takes high center of gravity. Then, the rotational energy induced by a quick tilt causes the machinery quite unstable by reaching the limitation of kinetic equilibrium earlier than that of static equilibrium. Accordingly, brittle failure is dangerous characteristics of ground for the stability rather than ductile failure introducing the slow penetration. Then, it is important to survey the potential risk of rapid penetration at ground investigations. A value of difference between pa and q_d is considered as the margin of safety that is also identified by a safety factor of bearing capacity F_s, which is defined as the ratio q_d divided by pa. Bearing safety of the supporting ground is ensured by verification of F_s by a threshold value of SR. As this type of machinery is usually placed on construction grounds for a short period, 1.5 of SR is referred for the temporary placements. However, a limiting depth of penetration decreases in the ground that composes the potential risk of rapid penetration. Therefore, authors propose to use the higher value of 3.0 for safety unless nothing of the potential risk of rapid penetration is confirmed. This paper describes safety requirement for prevention of the overturning for machinery.

抄録全体を表示

Life cycle inventory analysis was performed on the FRP boat of VaRTM molding, and superiority of hand-lay-up molding FRP boat has been revealed. Target boat is a limited coastal pleasure boat of 2.8 tons gross tonnage. Hand lay-up FRP boat also has the same geometry. The analysis was implemented by the following procedure. (1) process flow creation of manufacturing, operation and dismantlement stage. (2) data acquisition of the source and waste on each process, (3) aggregation. As a result, CO_2 emissions of VaRTM boat was 95% of the conventional boat. The VaRTM boat was also predominant about styrene and the solid waste emission.

抄録全体を表示

Aircraft engine noise is one of the main factors of ground level noise. Mounting the engines above the wing can reduce the ground level noise below the aircraft by using noise shielding effect. In this paper, a ray-tracing method and a calculation of scattered pressure are developed for estimating the noise shielding level below the aircraft. By using the developed methods, effect of the engine position on ground level noise is analyzed. It is shown that the sound directivity and maximum Sound Pressure Level below the aircraft is strongly related to the engine position.

抄録全体を表示

A new steering interface was designed to develop an innovative steering system for our assisted human powered vehicle. In order to evaluate the steering maneuverability of the innovative steering system, we had conducted ergonomics study by Electromyography (EMG). The EMG signals of the human driver's shoulder and upper limb muscles were acquired via experiments to investigate the physiological behaviors of the steering maneuvers. From the analysis, we had identified the main muscles and characteristics involve in the steering maneuver of this innovative steering system.

抄録全体を表示

Drivers will operate various driver assist systems in the future. In that case, it is important to apply input device for the driver assist systems which are no interfering with driving operations. In this paper, we apply a tablet device and suggest gesture input. This input operation can be practiced without seeing or looking tablet. Driving simulator experiment is conducted to compare gesture input with button input as conventional method. Finally, specification of gesture input is considered from experimental data and questionnaire investigation.

抄録全体を表示

We studied the steering operation problems in order to reduce drivers' effort during low speed driving. At first, we developed the steering grip position detector in order to record the steering behavior of drivers. This device was equipped pressure sensors on a steering wheel surface to detect steering grip position. In addition,hall effect sensors was embedded in the steering wheel surface to distinguish right or left of hand. Driver put a ring which was equipped a magnet on his fingers. N poles was placed a downward direction on right-hand ring. On left-hand ring, S poles are downward. Thus, the direction of the magnetic flux changes depending on whether right-hand or left-hand, and it can detect which hand a driver is gripping. As a result of comparing steering operation of beginner driver and skilled driver using this device, beginner driver generated changing of steering grip position many times and gripped at a various position on the steering wheel. In addition, meandering driving was observed. From this reason, we concluded that one of the problems in the steering operation is changing of steering grip position, and we develop the new steering system to solve the problem.

抄録全体を表示

The authors have proposed a driving assistant system which is referred to as PRE3 (prediction by pre-preceding vehicle) and confirmed through a driving simulator (DS) and a traffic simulator (TS) experiments that it is efficient for the following driver to anticipate the pre-preceding vehicle in order to make the platoon stable. This paper evaluated the ability of the PRE3 for stabilizing the shockwave (SW) that propagates backward the 3-vehicle platoon. Numerical analyses based on the shockwave theory showed that the PRE3 helps to reduce the generation of SW backpropagation, alleviate the SW speed and minimize the deviation of car-following states among the platooned vehicles. Also, the PRE3 makes the time headway increased more from the brake initiation until the SW speed is maximized. It was concluded that PRE3 is significantly efficient in alleviating the shockwave backpropagation and avoiding the risk of rear-end collision when decelerating.

抄録全体を表示

This study is construction of a decision-making model for merging car driver on the highway junction. The decision-making model needs to consider characteristics of drivers. To describe of model we use the Analytic Hierarchy Process method: AHP. To construct of model we use result of traffic volume survey, an experiment at highway junction and a questionnaire survey. To check on the reliability of model, we analyze the merging car behavior by using decision-making model. As the simulation results, it shows that this model can reproduce the decision-making of the real drivers.

抄録全体を表示

This study proposes the deriver assistance system to judge whether a passage (GO) or a stop (NOGO) at a signalized intersection ahead. The assistance system informs a driver visually of the distance which the vehicle can forward by maintaining the present velocity until the red signal. If the indicated distance is shorter than the distance to the intersection from the vehicle, the system also indicates a stopping distance by assuming the ordinary deceleration. By examining the driver simulator experiments, the assistance system realizes the earlier deceleration before the amber signal and prevents the emergency braking behavior.

抄録全体を表示

A relation between a level of brain activity and pleasant and unpleasant emotions has been studied using Near-infrared Spectroscopy (NIRS). In this study, the relation between the brain activity and the pleasant and unpleasant emotions was evaluated using International Affective Picture System(IAPS) and MRS. Based on the NIRS recording for 21 participants, the effect of pleasant and unpleasant emotion on the brain activity was measured. The detection of pleasant and unpleasant emotion from MRS signal was conducted using Neural Network. It was shown that the pleasant and unpleasant emotion can be detected with the accuracy of 96% (the highest) and 75% (average).

抄録全体を表示

This study examines a driver assistance system to predict driving behavior considering the pre-preceding vehicle behavior. The assistance system indicates the evaluation index at the rear end of the preceding vehicle. Driving simulator experiments are conducted with participants who are required to follow the past two vehicles immediately ahead with/without the assistance system. The participants with the assistance system realize the driving behavior with the small relative velocity to the pre-preceding vehicle and the small acceleration. These effects make it possible to suppress the variation of the collision risk to the preceding vehicle and to reduce fuel consumption of the following vehicle. In addition, the proposed assistance system improves drivers' reactions to the emergency deceleration of the preceding vehicle in comparison with the conventional assistance system, which is indicated at the onboard monitor in the following vehicle.

抄録全体を表示

The installation of various driving safety support systems has been mandatory. However these systems may interfere with driver's operation and this problem leads the driver to distrust the system. If driver's intention is detected accurately, these systems will be more acceptable for the drivers. The purpose of this study is detecting driver's intention of lane departure. The lateral velocity during lane change in driving simulator was analyzed. The results revealed that the lateral velocity was higher in intentional lane departure than unintentional case. In addition, that of lane departing to the right was higher than to the left.

抄録全体を表示

Authors are developing a simulation program to evaluate the effect of preventive safety assistance systems. In the program, a driver model conducts brake operation to avoid a collision. In the process there are two factors to be determined; the braking timing and the brake pedal force after starting brake operation. In this paper, the algorithm for determining the brake operation start timing by use of the brake pedal force is examined. The time when the brake pedal force surpasses the threshold value is set as the start timing of brake operation. This algorithm was validated by the experimental data in the car following situation.

抄録全体を表示

It is known that road roughness make drivers feel uncomfortable and sometimes has an effect on their deriving behavior. There are several researches on the influence of road roughness; however, most of them focus on the amplitude of vibration caused by the roughness. To investigate the response of the driver, electromyography (EMG) of brachioradialis and flexor digitorum superficialis, is utilized to evaluate the response of the driver to the road roughness. In the experiment using a real car, the EMG of the driver was measured when driving on the rough and the flat road. The results show the muscle activities increase in travelling on the rough road.

抄録全体を表示

Aging rate of Japan society, especially in remote islands area, has been increasing. In those remote islands area, it is important to keep public transportation system and the system should be more accessible for elderly people. Then we .have been developing the new small-craft transportation system that passengers don't have to change vehicles/vessels between land and sea. We report that the concept and the outline of the field experiment of the new transportation system.

抄録全体を表示

Some commercial types of the pure electric vehicle (PEV) have been on the market of Japan a couple of years before. It, however, is found some insufficient points in the time of battery charge and its cruising range, etc. on the current PEV which can get the customers decline their purchase. This presentation will show a new chart called "Charge boundary chart" which can be used to consider the uses and charge performance of PEV at the same time.

抄録全体を表示

Age-related decline in cognitive function is one of the causes of traffic accidents of scooter. Therefore, it is important to develop an education system considering cognitive ability of scooter users for reducing the occurrence of such accidents. It is necessary to clarify the relationship between cognitive ability and driving behavior of elderly drivers for developing said education system. This paper proposes a new user coaching system using touch panel screen device based on a naturalistic driving behavior database stored by drive recorder. We found the possibility that elderly scooter users can drive safely by improving the abilities of risk-compensation strategies.

抄録全体を表示

This paper presents a monitoring system that predicts bed-leaving behavior patterns. We originally developed a vibration sensor using piezoelectric film. We obtain vibration from a bed frame to predict the bed-leaving behavior .This sensor can occur a voltage corresponding to vibration. We conducted an evaluation experiment targeting 10 subjects to evaluate the system. As a result, our system correctly detected behavior patterns of lateral sitting, which is the position that occurs when a patient tries to leave a bed, and terminal sitting, which is the position immediately before bed-leaving.

抄録全体を表示

This paper deals with rider's behavior for longitudinal direction to adjusting target velocity. We assume that human ride controls longitudinal direction using deviation between target speed and vehicle speed. For such control, we construct a feedback rider model described by PID controller, and the feedback parameters are determined by the multiple regression analysis. Finally it is shown that the model to possible to control the vehicle as a real human rider.

抄録全体を表示

The final goal of this research is to develop an autonomous wheel chair that is able to go up and down stairs. Previous study proposed an 8-wheel type mobile robot which was able to go up and down stairs, constructed by a mechanism with an arm and 2 wheels. For realizing autonomous mobility and ascending and descending ability in living space, in this paper an autonomous prototype articulated 4-wheel robot is developed and the autonomous ability by the control system is shown by the experimental data in Tsukuba Challenge 2014. As a result, this robot using articulated steering mechanism achieved autonomous running for 27 minutes on a rout of 1.47km. Mean error from the way point lines was 0.28m in this experiment.

抄録全体を表示

Roads make a crucial contribution to economic development and growth and bring important social benefits. Regular road maintenance is economic and social importance. A major cause of road damage is a heavy-duty vehicle. Therefore, weight of vehicle is limited by law. Crackdown on overloaded vehicles is social issues, and perform simulations for weight estimation based on natural frequency. In this study, we focus on natural frequency change of a vehicle caused by change in the weight. Simulation results of natural frequencies are shown as basic study for weight estimation based on natural frequency.

抄録全体を表示

The steering reactive torque of an automobile is one of the important information for a driver to judge the vehicle behavior and road conditions. This paper describes an empirical model of a friction characteristics of a steering gear for a steering torque simulator. In order to evaluate the friction characteristics, the authors conducted a test using the steering gear of the experimental vehicle. The friction characteristics were evaluated to the angular velocity and the rack force. Moreover, a curved surface approximation were performed to the experimental results using a spline surface, and the most suitable friction model of the steering gear was examined by changed a control point and an order of a spline surface.

抄録全体を表示

Our study deals with the development and evaluation of motorcycle simulator for understanding rider's control mechanism. For that purpose, we have been putting much effort for spherical screen visual system, since the effect to the rider's subject evaluation is shown in previous study. Adding to spherical screen, we made it clear that solid angle from rider's eyes should be wider enough to cover eyesight along the rider's range of head motion. To verify this, rider's subjective evaluations are analyzed by our proposal methodology. The quantitative results show usefulness for riding simulator design study.

抄録全体を表示

Performing the test using the actual structures is effective. But it is difficult to test in practice if the specimen giant or dangerous. On the other hand, in recent years, simulation technology including "HILS" has developed by the advent of high-performance processor. Then, the method to split the structure , carry out the simulation and experiment on each part of structure, and use the analysis results have been studied. This method is called "hybrid testing" in this study. We examined the unstable phenomenon due to delay of the actuator, which is a problem in hybrid testing. To resolve them ,we designed a controller using the DMM method and verified the performance by simulation and experiment.

抄録全体を表示

The dependence rate of cars in all transportation in Japan is increasing. In addition, about 70% of usage by cars for one trip is less than 10km. Furthermore, the average number of passengers on one vehicle is 1.3 persons. Therefore, it seems that compact vehicles are enough from a viewpoint of environmental load as these means of transport. We propose a personal mobility vehicle as one of the automobile. However, the vehicles is not currently available on the market, conformance to the driver has not been confirmed. In this paper, therefore, in order to verify this compatibility we will consider acceptable using for such vehicles using for the owning simulator.

抄録全体を表示

In this study, methodologies for estimating the accident mitigation ratio using the collision avoidance system are discussed. In these methodologies, the driver's braking or steering and viewing behavior are investigated in a driving simulator. Braking or steering behaviour was identified in terms of the reaction time for braking or steering in order to avoid a collision or lane deviation and viewing behaviour was identified in terms of the duration from looking off a leading vehicle to looking back. Next, to investigate the combined effect based on the reliability of driver and the reliability of system, two different kinds of reliability-estimation model simulating its operating status were constructed. The effectiveness of the system with different control setting can be quantitatively compared as the collision frequency or lane-deviation frequency calculated through time series Monte Carlo simulations or statistical calculations based on the reliability-estimation model.

抄録全体を表示

In this study, in order to construct a quantitative and easy evaluation method of determining car sickness, we have investigated the sway of a subject by paying attention to the movements of human body. In order to determine what effects swaying the center of gravity have on the subject, we stimulated the subject in the roll direction and observed what effects appeared before and after the sway oscillation. We report the results of the analysis.

抄録全体を表示

When a disaster occurs, we must escape by walk. But, congestion has occurred because a lot of people were evacuated by the car. Therefore, tsunami struck the congestion. This shows that evacuation procedure for the car have not been established. The purpose of this study is to establish evacuation procedure for the car. The establishment of evacuation procedures is utilized the driving simulator. This driving simulator has motion platform, it is possible to cause the earthquake shaking during driving. Driver is measured behavior during an earthquake with/without information. There were only 4 subjects in 20 subjects that were stopped in only the earthquake shaking. However, 13 subjects were changed to stop if there are provided information an earthquake occurs.

抄録全体を表示

The design of the driver assistance system which considered the driver characteristic is expected for realization of high-precision driver assistance system. This research examines the driver model construction by driver's steering torque. The proposed driver model considers the lateral deviation in the front preview point of regard as the model input, and the steering function for changing to two models which based on the reaction torque also designs. The experimental results by a driving simulator are shown.

抄録全体を表示

The maintenance management of the superannuated society's infrastructure in Japan has been an important subject. Moreover, landslide disasters by guerrilla downpours or typhoon have occurred frequently. Using robot technology for these correspondences is expected. This paper describes research and development of robot technology for infrastructure maintenance and management, and disaster correspondence in the National Institute of Advanced Industrial Science and Technology (AIST).

抄録全体を表示

This paper presents a laser-based tracking of people in a group. Our method consists of people-detecting and people-tracking procedures. From the data taken by the two-layered laser scanner (LS), the position data of people is taken by background subtraction. By using the position data of people, heuristic-rule-based and global-nearest-neighbor (GNN)-based data association identifies multiple people in crowded environments. Their identified people are tracked via model-based tracker; the interacting-multi-model(IMM) estimator is applied to tracking people with sudden changes in motion; walking, running or stopping. People located in the vicinity with similar motions are grouped. When people are occluded by other people in the same group, the occluded people are tracked based on laser measurements related to the nearest-neighbor person in the group. Then the tracking lost can be reduced and the tracking performance can be improved. Experimental result validates the effectiveness of our method.

抄録全体を表示

We tried to control quadrotor helicopter which is one of the multirotor helicopters by reinforcement learning. Quadrotor helicopter is a very simple machine which consists of four rotor blades and rigid cross airframe. However, the nonlinear dynamic behavior of quadrotor helicopter requires a more advanced stabilizing control. On the other hand, reinforcement learning agent acquires optimal action by itself for a purpose of maximizing reward through trial and error. In this paper, we try to apply Q-learning to quadrotor helicopter in order to easily control. We verified that quadrotor helicopter with Q-learning could acquire optimal action by itself to keep target altitude in flight experiment.

抄録全体を表示

This report presents a history of a technical committee for Vehicle Automation, established in 1978 in Japan Association of Automatic Control Engineers (currently, the Institute of Systems, Control, and Information Engineers). Vehicle automation is a research and technical field related to automation and system integration of various kinds of land-sea-and-air vehicles such as mobile robots, automobiles, ships, and airplanes. The member consists of researchers and engineers in government, industry, and academia. Since 1978, we have been holding symposiums and technical visits every year in order to contribute to progress of the related area through discussions and information exchanges about state-of-the-art technologies and business.

抄録全体を表示

This paper addresses HV warm up control that reduces warm up time and fuel consumption by balancing coolant temperature and SOC (State Of Charge) of battery. The basic concept is predictive control whose input signals are request vehicle driving torque, vehicle speed, heat power of electrical heat device and heater core, coolant temperature and SOC. This control predicts future state variables from engine, MG & battery and coolant models, and decides manipulation values, request engine power and engine operation signal (ON/OFF) as minimizing cost function including warm up time and fuel amount. As a result of verification with simulation, the proposed control achieves notable effect especially at the condition that small SOC margin is remained for its upper limit.

抄録全体を表示

Steer-by-wire technology has possibility to generate new steering assist that cannot be realized formerly. The steering assist that adapts the properties to running situation and driver conditions may bring relief and safety to emergency avoidance even if the driver is a novice. We have been studying variable characteristics steering system as one of the steering assist systems with steer-by-wire. In this study some control methods have been considered. This paper compares the differences by the control methods in the emergency avoidance.

抄録全体を表示

In recent years, a ratio of owner passenger cars in all car-registrations in Japan exceeds more than 70%. Therefore, the owner-cars are as very important means of transportation system. On the other hand, the boarding rate per a vehicle decreases gradually, and, recently, it has become about 1.3 persons per one vehicle. From these situations, a development of the personal mobility vehicle as one of the transportation tools is effective. From the reasons, various kinds of personal mobility vehicles are proposed in recent years. From a viewpoint of road share reduction and of energy consumption, we propose a personal mobility vehicle with rolling-motion such as two-wheeled vehicles. Since the steering system is connected by linkages between steering system and rolling suspension system, driver controls not only steering angle but also rolling angle at the same time using steer angle. As the result, it is shown that the link ratio realizes very large characteristic region by changing according to speed.

抄録全体を表示

We think that motion characteristics that easily to drive in the lane change is different for each driver. This study discussed driver's acceptability to the vehicle response, by using four-wheel steering vehicle modified small electric vehicle. We changed the frequency response characteristics of the yaw rate to the steering wheel operation, by changing the control parameters of the four-wheel steering system. And we conducted some experiments using this experimental vehicle. As a result, there was a difference in the control results, driving behavior and maneuverable characteristics for each subject. In addition, it was found that sometimes when it easy to drive subjectively, mental load increases.

抄録全体を表示