This study proposes a motion planning and control system based on collision risk potential prediction characteristics of experienced drivers. Recently, automatic braking systems have been deployed in current automotive markets. However, the existing systems cannot avoid collisions in critical scenario such as a pedestrian suddenly darting out from a poor-visibility blind corner. By optimizing the potential field function in the framework of optimal control theory, the desired yaw rate and the desired longitudinal deceleration are theoretically calculated. Finally, the validity of the proposed motion planning and control system is verified by comparing the simulation results with the actual driving data by experienced drivers.

This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

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This article presents the alternative lane keeping control strategy with direct yaw moment control (DYC) that utilizes the transverse driving torque distribution. With the sophisticated structure of today's electric vehicle, the small-size motor can be placed into each driving wheel so that the DYC input can be easily and precisely achieved by controlling the in-wheel-motors independently. The information of road position is acquired by vision system via CCD camera and on-board image processing system. As a feature of the proposed system, the lateral deviation detected by CCD camera is converted into the desired yaw rate for tracing the desired lane. Then, the yaw moment control input is theoretically determined to achieve the desired yaw rate from the viewpoint of vehicle dynamics. This article presents the theoretical analysis of lane keeping control characteristics using linear vehicle model on planar motion, and experimental study using micro-scale electric vehicle to verify the effectiveness of the proposed strategy.