JACIII Vol.27 No.4 pp. 609-615
doi: 10.20965/jaciii.2023.p0609

Research Paper:

Adaptive Identification Method for Vehicle Driving Model Capable of Driving with Large Acceleration Changes and Steering

Soichiro Matsumoto and Mitsuyuki Saito

Department of Systems Engineering, Graduate School of Information Sciences, Hiroshima City University
3-4-1 Ozuka-higashi, Asaminami-ku, Hiroshima, Hiroshima 731-3194, Japan

Corresponding author

December 20, 2022
March 15, 2023
July 20, 2023
autonomous driving, vehicle model, adaptive identification, modeling error, neural network

In the future, considering the expansion of the autonomous driving society, autonomous driving systems that can drive safely and quickly will be required for the purpose of saving lives and transporting goods even on rough road such as snowy, icy, and unpaved roads. In such unknown environments, technologies that combine model-based control and artificial intelligence (AI) are attracting attention for the purpose of ensuring operational stability and reliability. The second author has proposed a vehicle driving model that is robust to road geometry and ever-changing environmental disturbances. This model is based on a two-wheel model, and expresses the error in the position of the center of gravity of the vehicle by the front wheel steering angle deviation, and adaptively estimates this deviation. However, this model has large modeling errors when driving at high velocity on slippery roads. In this study, we extend this model proposed in previous study, and propose a new vehicle driving model that can handle situations such as driving with large acceleration changes and steering on bad roads such as snowy and wet roads. Then, we demonstrate the usefulness of the proposed method in a simulation using vehicle motion analysis software.

Simplified control architecture using MPC

Simplified control architecture using MPC

Cite this article as:
S. Matsumoto and M. Saito, “Adaptive Identification Method for Vehicle Driving Model Capable of Driving with Large Acceleration Changes and Steering,” J. Adv. Comput. Intell. Intell. Inform., Vol.27 No.4, pp. 609-615, 2023.
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Last updated on Sep. 29, 2023