Development of obstacle avoidance system using co-operative control

Yukihiro Fujiwara, Yasushi Shoda, Shuichi Adachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)


This paper proposes a new driver support system which assists driver's operation in an obstacle avoidance scene. The proposed system has actuator systems which are Electric Power Steering (EPS) and Direct Yaw-moment Control (DYC). The obstacle is detected as a differential feature value by using a micro-wave radar instead of a camera. Co-operative control is constructed to manage the actuators by frequency weighting functions. By experiments using an actual vehicle, it is shown that the proposed system has effectiveness for assistance the driver's operation for an avoidance task and for improving vehicle dynamics.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
Publication statusPublished - 2005
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Automotive control
  • Co-operative control
  • Vehicle dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering


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