Conference Presentations

摘要

This study focuses on an autonomous shuttle (level 4 driving automation) with four-wheel-drive in-wheel motors. We propose an active pitch control, called APC, by a driving/braking force distribution of the front and rear wheels to prevent passengers from falling over inside the shuttle. This study applies a half-car model that considers the driving/braking force and a passenger model using a rigid body. A passenger system's zero-moment point (ZMP) is defined as an index to evaluate the possibility of passengers falling over. The present manuscript applies a 2DOF control system that consists of an optimum regulator as a state feedback controller and a feedforward controller derived from the inverse characteristic of the closed-loop system where the feedback component is substituted into the state equation. Moreover, we designed a motor output limiter and a limiter to avoid tire force saturation. Numerical simulations were performed to verify that the proposed APC can reduce the possibility of the passenger's falling over when the shuttle accelerates/decelerates.

摘要
先行研究において，比較システムを利用する場合よりも主目的達成に必要となる労力が増加する一方で，副次目的達成を可能にして主観的益も得られるという効用がある過程が不便益システムの基礎要件であると述べた．本研究では，労力増加をユーザが認識することが不便益という語に含まれる「不便」の意味を表すとして，この不便を受け入れること以上に効用を得ることに価値を見出す場合に，ユーザが不便益システムを受容することについて考察する．

摘要
自動運転はシェアリングサービスとの相性が良いとされてきたが，新型コロナウイルス感染症の流行を経験した社会では，利用者の心理的な抵抗が増えることが予想される．また，感染症対策として，密閉・密集・密接を避けるように行動変容することが求められた結果，人の移動量は減少し，BtoCの物流は大幅に増加した．本発表では，このようなポスト感染症時代において，自動運転技術が必要かつ有効であると思われる場面について検討するだけでなく，今後どのような新しい技術が期待されるのかなどの自動運転技術の将来展望について論じる．

摘要
First, this presentation gives a short introduction about the definition of levels of driving automation, and therefore it mentions the purpose of AD. Next, It will summarize challenges in AD promotion. From the viewpoint of Human-Machine Interface, they are divided into two types; challenges in Level 3 or Lower and challenges in Level 4 or 5. Finally, I would like to talk about what kind of AD or ADAS is good.

摘要
This is a concept paper on a paradigm for how we share control when using a haptic shared control (HSC). This manuscript proposes a classification of the haptic shared control into two types; a direct haptic shared control (D-HSC) and an indirect haptic shared control (I-HSC). This study defines the conventional HSC as the D-HSC, such as a lane keeping assist system which shares one interface, a steering wheel, among a driver and a system. Moreover, it also proposes the I-HSC which equips an additional interface to prompt the driver to perform a proper driving maneuver. The haptic stimulus transmitted from the I-HSC system to the driver does not force his/her operation, just increases his/her readiness to avoid a collision. The driver can operate the interface against the suggested torque or force provided via another interface. This manuscript explains the features of the two types of HSCs by using some examples and discusses an ideal image of the driver-vehicle system to realize a better relationship.