北澤 章平

Autonomous vehicle technology is expected to solve several road traffic issues. Therefore, this technology is receiving increased attention, and several relevant experiments are being conducted. The focus of the study involves an autonomous vehicle algorithm that simulates an expert driver's maneuvering in detail. The study describes the development and verification of target trajectory and longitudinal control target generation. The proposed algorithm consists of a driver model that considers risk potential and a vehicle dynamics model. This algorithm is validated through simulations by using a vehicle dynamics model with multiple degrees of freedom considering mutual accordance in mixed traffic conditions. The results indicated that the risk potential driver model formulates risk feel from any traffic objects and other vehicles. Additionally, the results confirmed that a human driving maneuver can be expressed by the control target calculation algorithm.

This paper describes the development and simulation verification of a direction control algorithm for autonomous vehicles in consideration of mutual accordance in mixed traffic conditions. This algorithm includes a driver model and a vehicle dynamics model. The driver model is composed of a risk potential driver model and a second-order prediction driver model with multiple preview points. We examined the capability of the algorithm to express human operation. In a traffic condition where there are multiple obstacles, we suggested an algorithm for real-time control target generation from the surrounding environment by using the risk potential and confirmed its effectiveness by simulation and experiment.

We believe that a driver’s operation and vehicle’s motion characteristics during a lane change differ by driver. This study examined a driver's acceptance and operation in relation to a change in the vehicle’s response using a four‐wheel steering vehicle. We changed the frequency response characteristics of the yaw rate for the steering wheel operation by changing the control parameters of the four‐wheel steering system. In addition, we conducted some experiments using this experimental vehicle. The results show that the vehicle response that was acceptable to the driver was characterized, and the behavior of drivers in relation to the vehicle response was determined.

通常時と緊急時のブレーキ状態でのアクセルペダルからブレーキペダルヘ移行時のドライバーの足の動きをビデオカメラで撮影し、3次元画像解析装置（ピークモータス）を用いて分析した。また同時にドライバーの足運動の変位と速度をCCDレーザー変位計によって精確に測定した。それによりアクセルペダルから離れる直後の足の裏の瞬間速度と経過時間のデータが得られた。この結果より緊急時においてブレーキペダルを操作する前に、ブレーキ操作を補助するシステムについて、その可能性を導いた。

実車走行実験によって従来の円ハンドルとジョイスティック操作系について比較した．またドライバ操作によるジョイスティックの最適操舵角についてドライビングシミュレータを用いて調べた．結果，アクセル・ブレーキペダルとジョイスティックの連係操作の可能性および最適操舵ゲインの指標を示した．