見込みで行われる運転は、結果（環境位置での速度）が先に与えられて、今発揮すべき力を求める逆モデルで行われる。その力が積分時間を経て目指す位置／速度を得る。横方向の力の場合は車両運動逆モデルによりその力を発生する操舵角を得る。
JSAE２０１８春季大会学術講演会で筆者が発表したものです。
2018_SpringJSAE_Paper.pdf を開く |
Driver Model Composed of Inverse Models
Construct the drive model with a physical model that connects inverse model
of human dynamics and inverse model of vehicle dynamics in series. The
human inverse model outputs a smooth acceleration to the inverse model
of the vehicle, then which outputs the steering angle. The vehicle realize
the smooth acceleration by this steer.
Since the goodness or inferiority of the car maneuverability can be obtained
by the physical quantity, it is possible to carry out on the desk detailed
objective evaluation which could only be evaluated by feeling. Automatic operation is also possible with speed control according to the
environment.
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