Development of Autonomous Intelligent Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers – Autonomous Collision Avoidance System with Hazard Anticipation Driver Characteristics –

Ryosuke Matsumi; Pongsathorn Raksincharoensak; Masao Nagai

doi:10.20965/jrm.2013.p0966

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JRM Vol.25 No.6 pp. 966-972

doi: 10.20965/jrm.2013.p0966

(2013)

Paper:

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Development of Autonomous Intelligent Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers – Autonomous Collision Avoidance System with Hazard Anticipation Driver Characteristics –

Ryosuke Matsumi, Pongsathorn Raksincharoensak, and Masao Nagai

Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan

Received:

May 10, 2013

Accepted:

October 30, 2013

Published:

December 20, 2013

Keywords:

elderly driver, active safety, autonomous intelligent driving, pedestrian, potential fields

Abstract

In the aged society of Japan, accidents involving elderly drivers are increasing every year owing to their declined physical ability in terms of recognition and decision-making. An autonomous intelligent driving system is one of the promising technologies that can enhance safety and security for elderly drivers. This paper focuses on a situation in which drivers need to make a right turn at an intersection while negotiating pedestrians near a crosswalk region. An autonomous collision avoidance system associated with the electric braking torque of an electric vehicle is designed with the application of potential field theory while considering potential hazards because of occlusions at an intersection. Finally, the effectiveness of the autonomous collision avoidance systemis verified by computer simulations and driving experiments using a micro-scale electric vehicle.

Cite this article as:

R. Matsumi, P. Raksincharoensak, and M. Nagai, “Development of Autonomous Intelligent Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers – Autonomous Collision Avoidance System with Hazard Anticipation Driver Characteristics –,” J. Robot. Mechatron., Vol.25 No.6, pp. 966-972, 2013.

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References

[1] Traffic Bureau, National Police Agency, “Statistics 2007 road accidents Japan,” Int. Association of Traffic and Safety Sciences (IATSS), 2008.
[2] Y. Satomi, T. Murano, M. Aga, and T. Yonekawa, “A characteristic analysis of driving behavior to rear-end collision warning using a driving simulator,” Proc. of 18th JSME Conf. on Transportation and Logistics (TRANSLOG), pp. 283-286, 2009.
[3] P. Raksincharoensak, “Autonomous Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers,” 18th World Congress on ITS (Invited talk), Special Interest Session, No.30, Orlando, USA, 2011.
[4] P. Raksincharoensak, M. Shino, and M. Nagai, “Enhancing Active Safety of Small-Scale Electric Vehicle “NOVEL” by Utilizing In-Wheel-Motor,” Proc. of the 20th Int. Electric Vehicle Symposium and Exposition, CD-ROM (5B-Raksincharoensak), Long Beach, USA, 2003.
[5] P. Raksincharoensak, M. Shino, and M. Nagai, “Vehicle Motion Control Issues Using Micro Electric Vehicle “NOVEL”,” WEVAJournal, Vol.1, WEVA-043, 2007.
[6] P. Raksincharoensak, Y. Takimoto, and M. Nagai, “Radar-Based Vehicle Following Control Algorithm of Micro-Scale Electric Vehicle,” Proc. of APAC07 (2007-01-3590), California, USA, 2007.
[7] O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” Int. J. of Robotics Research, Vol.5, pp. 90-98, 1986.
[8] J. C. Gerdes, U. Saur, and E. J. Rossetter, “Combining Lanekeeping and Vehicle Following with Hazard Maps,” Proc. of the 2000 Int. Symposium on Advanced Vehicle Control, Michigan, USA, 2000.
[9] D. Reichardt and J. Schick, “Collision Avoidance in Dynamic Environments Applied to Autonomous Vehicle Guidance on the Motorway,” Proc. of the IEEE Intelligent Vehicles Symposium, Paris, France, 1994.
[10] T. Sattel and T. Brandt, “From robotics to automotive: lane-keeping and collision avoidance based on elastic bands,” Vehicle System Dynamics, Vol.46, No.7, pp. 597-619, 2008.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Traffic Bureau, National Police Agency, “Statistics 2007 road accidents Japan,” Int. Association of Traffic and Safety Sciences (IATSS), 2008.

[2] [2] Y. Satomi, T. Murano, M. Aga, and T. Yonekawa, “A characteristic analysis of driving behavior to rear-end collision warning using a driving simulator,” Proc. of 18th JSME Conf. on Transportation and Logistics (TRANSLOG), pp. 283-286, 2009.

[3] [3] P. Raksincharoensak, “Autonomous Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers,” 18th World Congress on ITS (Invited talk), Special Interest Session, No.30, Orlando, USA, 2011.

[4] [4] P. Raksincharoensak, M. Shino, and M. Nagai, “Enhancing Active Safety of Small-Scale Electric Vehicle “NOVEL” by Utilizing In-Wheel-Motor,” Proc. of the 20th Int. Electric Vehicle Symposium and Exposition, CD-ROM (5B-Raksincharoensak), Long Beach, USA, 2003.

[5] [5] P. Raksincharoensak, M. Shino, and M. Nagai, “Vehicle Motion Control Issues Using Micro Electric Vehicle “NOVEL”,” WEVAJournal, Vol.1, WEVA-043, 2007.

[6] [6] P. Raksincharoensak, Y. Takimoto, and M. Nagai, “Radar-Based Vehicle Following Control Algorithm of Micro-Scale Electric Vehicle,” Proc. of APAC07 (2007-01-3590), California, USA, 2007.

[7] [7] O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” Int. J. of Robotics Research, Vol.5, pp. 90-98, 1986.

[8] [8] J. C. Gerdes, U. Saur, and E. J. Rossetter, “Combining Lanekeeping and Vehicle Following with Hazard Maps,” Proc. of the 2000 Int. Symposium on Advanced Vehicle Control, Michigan, USA, 2000.

[9] [9] D. Reichardt and J. Schick, “Collision Avoidance in Dynamic Environments Applied to Autonomous Vehicle Guidance on the Motorway,” Proc. of the IEEE Intelligent Vehicles Symposium, Paris, France, 1994.

[10] [10] T. Sattel and T. Brandt, “From robotics to automotive: lane-keeping and collision avoidance based on elastic bands,” Vehicle System Dynamics, Vol.46, No.7, pp. 597-619, 2008.