| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2023-04-06 |
| タイトル |
|
|
タイトル |
シェアードコントロールオーソリティ遷移則の実機適用基本構想 |
| タイトル |
|
|
タイトル |
Basic concept for application of shared control authority law to actual Vehicle |
|
言語 |
en |
| 言語 |
|
|
言語 |
jpn |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Shared control, Authority transition, Steering power, override, Haptic |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
departmental bulletin paper |
| 著者 |
髙畑, 健二
太田, 利夫
Kenji, TAKAHATA
Toshio, OHTA
|
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
Shared control is a system that performs coordinated control in which the vehicle and the driver are integrated, and the steering input of the vehicle is automatically controlled by sharing the steering input from the driver and the steering input from the automatic driving system. Focusing on the steering power （steering torque × steering angular velocity） with steering torque as an independent variable, we adopted a method to gradually decrease the authority of automatic driving torque, which is a dependent variable. The use of steering power, which is the basis of the energy required for steering, is based on the findings of previous research and the steering angular velocity （across variable）, which has a time dimension as a dual physical quantity treated in the physical function model, to express the agency of the driver more effectively and the steering torque （through variable）, which does not have a time dimension, are dual, and the product of them is the steering power that expresses the time-series causality system.
In this paper, the feasibility of the override and the authority transition method for realizing shared control by experimental equipment. The basic concept of application is shown. |
| 書誌情報 |
広島工業大学紀要. 研究編
巻 57,
p. 49-56,
発行日 2023-02-05
|
| 出版者 |
|
|
出版者 |
広島工業大学 |
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
1346-9975 |
| 書誌レコードID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AA11599110 |
| フォーマット |
|
|
内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
| 著者版フラグ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
research57_049-056.pdf (2.8 MB)
