車線変更時における衝突回避のための車両運動制御に関する研究

Abstract

Active safety systems that recognize potential danger and take avoidance measures attracting much attention. It has been proposed that automatic braking system and crash avoidance system be used for lane changes on straight roads. However, there is problem of poor avoidance performance during lane change in which the traveling locus changes remarkably. In this study, we aimed to develop a system with good avoidance performance on the traveling locus changes remarkably. When the driver proceeds to change lanes where the running locus varies considerably despite the presence of parallel traveling vehicles, the proposed system controls the vehicle to avoid a collision. We investigate the performance of system using vehicle motion simulations and a model car experiment.