Autonomous steering control with Adaptive mechanism by MMAC

Author

Aoki, Takashi ; Sugimachi, Toshiyuki ; Fukao, Takanori ; Kawashima, Hiroki

Author_Institution

Grad. Sch. of Eng., Kobe Univ., Kobe, Japan

fYear

2012

fDate

20-23 Aug. 2012

Firstpage

203

Lastpage

210

Abstract

A project to develop a platoon system, called ”Energy ITS”, has been proceeding by NEDO (New Energy and Industrial Technology Development Organization) in Japan. In a platoon, several vehicles run as one group. Smaller inter-vehicular distance saves energy consumption because of less air drag. Also traffic capacity increases. In this paper, a new steering control method which does not require the information of a road, such as the cant and the curvature, is proposed. MMAC (Multiple Model Adaptive Control) is applied to design the feedforward part of the controller by estimating the information. The effectiveness of the feedforward control part is evaluated by experiments on highway and test course.

Keywords

adaptive control; automated highways; control system synthesis; drag; estimation theory; feedforward; mobile robots; road traffic control; road vehicles; MMAC; NEDO; New Energy and Industrial Technology Development Organization; adaptive mechanism; air drag; autonomous steering control; energy ITS; energy consumption; feedforward control part; feedforward controller design; information estimation; intervehicular distance; multiple model adaptive control; platoon system; road information; steering control method; traffic capacity; Adaptation models; Axles; Computational modeling; Feedforward neural networks; Mathematical model; Roads; Vehicles; Autonomous Steering Control; Multiple Model Adaptive Control; Platoon;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2012 Proceedings of

Conference_Location

Akita

ISSN

pending

Print_ISBN

978-1-4673-2259-1

Type

conf

Filename

6318434