Development of foreground obstacle detection system — Detection of crossing pedestrian

Abstracts / JSAE Review 18 (1997) 185-209 BDC strategy, which controls rear wheel brake pressures based upon wheel slip ratios, was developed. The effects of BDC were confirmed by actual vehicle tests using a hydraulic brake actuator. Vehicle deceleration was improved independently of loading conditions and vehicle stability while braking in a severe turn was enhanced. 9636961 The Method of Optimizing Traction Control System (TCS) and an Application to Vehicle Dynamics Control System Tomohiro Fukumura, Toru Iwata, Terukiyo Murakami (Nissan Motor Co. Ltd.) This paper describes our latest Traction Control System (TCS), equipped on the new NISSAN CIMA. The subjects described are (1) a method of estimating the vehicle speed and tire slip at each wheel, (2) a method of estimating road co-efficient (3) a method of controlling driving forces based on the use of an actuator model and also (4) a method of applying TCS to a vehicle dynamics control system. 9636970 Improvement of Semi-trailer Braking Performance with Direct Yaw M o m e n t Control Yoshio Kant, Makoto Sawai, Takahiro Sato, Hitoshi Nanba, Masato Abe (Kanagawa Institute of Technology) A computer simulation considering the non-linearity of tire forces was carried out to examine the basic characteristics of tractor jackknife and trailer swing. A control Law in which the distribution ratio of the braking force of the tractor wheels (left and righ0 is proportional to the lateral acceleration of the tractor was applied to the Direct Yaw Moment Control (DYC) to improve the braking performance of the tractor semi-trailer vehicle. Using a light weight tractor semi-trailer model, the effect of the DYC was studied on a low friction road. The experimental results show that the DYC has a high performance to prevent tractor jackknife maneuvers. 9636989 On-Board-Tire-Model Reference Control for Cooperation of 4WS a n d Direct Yaw Moment Control for Improving Limit Performance of Vehicle Handling Yoshimi Furukawa (Honda R & D), Masato Abe (Kanagawa Institute of Technology) A control law for the direct yaw moment control (DYC) as a cooperative control with 4WS is introduced. The control strategy is based upon the tire lateral forces estimated by using the on-board-tire-model. The significant effects of the chassis control on improving the limit handling performance is proved with the computer simulation. The robustness of the vehicle motion with the control to the roughness of the lateral force estimation, as well as the effect of the control parameters on the reference model in the control algorithm, is discussed. 9636998 The Effect of 4WS with H ~ Control System Theory in Comparison with Conventional 4WS Hiroshi Konomi, Yoshio Kant, Masato Abe (Kanagawa Institute of Technology) A control law for 4ws in which H ~ control system theory is applied is presented. For the control system, a two-degree-of freedom control system is adopted. Feed forward controller is designed based on the two-degrees-of freedom model. Feedback controller is designed with H ~ control system theory. This paper points out both the advantages and the disadvantages of the two degree of freedom/H ~ control theory for 4WS vehicles. In order to improve the disadvantages, an adaptive structure is attached to the two-degree-of freedom control system. 9637005 An Adaptive LQ Control System Design for Front and Rear Wheel Steering Vehicle Yoshihiro Shimada, Shinya Nohtomi, Shinichiro Horiuchi, Naohiro Yuhara (Nihon University) .This paper proposes a new design method for a front and rear wheel steering control system that can always realize a desirable yaw rate response under the condition of zero side slip angle regardless of changes in vehicle dynamics due to operating conditions. The proposed system consists of a feed-forward and a feedback controller which are designed using the Self-Tuning Control (STC) theory and the Linear Quadratic (LQ) Control theory. A series of computer simulations verified the

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practical usefulness of the proposed control system on the open-loop and closed-loop performance in which the driver dynamics are taken into account. 9639085 A Study on the Brake Characteristics for Full Air Brake System of Heavy Duty Vehicles Masaharu Harada, Katsushi Matsuda, Kunio Sakata (Mitsubishi Motors Corp.) The brake characteristics of a full air brake system of heavy duty vehicles is inferior to that of passenger cars in the point of ease of braking control. The main factor is the time lag of the air line and hysteresis of brake valves, and the change of vehicle characteristics (change of vehicle mass etc.). This paper describes the system for electoronic control of brake air line and braking force control to accommodate vehicle mass and deceleration. 9637014 A Study on Automatic Braking System for a Heavy Duty Vehicle - Simulation of Behavior of 10 Vehicles Shinjiro Endo (Isuzu Advanced Engineering Center, Ltd.), Kazushi Sanada, Ato Kitagawa (Tokyo Institute of Technology) A control technique of air over hydraulic brake for heavy duty vehicles has been developed by the authors. This was examined for a single vehicle. In this paper, the dynamic behavior of a group in which each vehicle has the controller installed, and the behavior of ten vehicles having the controller, was simulated. The relationship between initial distance and the maximum deceleration is obtained. The critical initial distance is computed through the simulation. 9637023 Development of Foreground Obstacle Detection System - Detection of Crossing Pedestrian Nozomi Kitagawa, Masaynki lmanishi (Nippon Soken, Inc.), Tetsuya Mizuno (Nippondenso Co., Ltd) We have been developing a system that watches in front of a car using a CCD image. This system consists of three functions, i.e. lane mark detection, distance measurement and optical flow measurement. We have developed an algorithm that detects an object moving into the path of a host vehicle from a sidewalk such as a crossing pedestrian, by limiting the area of pedestrians occupying the whole image, calculating horizontal motion with optical flow and revising it with vehicle yaw rate. We confirmed its performance in a vehicle on curved roads. 9637032 Development of Collision Warning System and Evaluation of Collision Avoidance Effect Hiroyuki Nakaue, Yasunori Yamamoto, Ayumu Doi, Takamasa Suetomi (Mazda Motor Corporation) We have developed a new collision warning system that gives quick warning to drivers while reducing unnecessary alarms. This system recognizes the approach of a preceding vehicle in three states by observing the variance pattern of headway distance data from a scanning laser radar. We verified the effect of collision avoidance with this new system using a test car and a driving simulator. 9637041 Development of the Vehicle Dynamics Control Simulator Jun Nagase, Shingo Sugiura (Aisin Newhard Co., Ltd.), Hiroaki Kawai, Katsutoshi Sato (Aisin Seiki Co., Ltd.), Ryuta Terashima, Kinichi Wada (Toyota Central R & D Labs., Inc.) For effective development of vehicle dynamics control systems such as Anti-lock Braking System, user-oriented and easy-to-use computer simulation tools are desired by electronic control system engineers. We have therefore developed the easy-to-use and accurate vehicle dynamics control simulation software on a personal computer. Using this simulator, the user can evaluate his control logic quickly and easily by inputting compiled object code of the control program for a real prototype vehicle into this simulator without manual modification. 9637050 Handling Analysis with Vehcle Dynamics Simulator - Part 1: Development and Application of Vehicle Dynamics Simulator