Autonomous steering control with Adaptive mechanism by MMAC

摘要

A project to develop a platoon system, called ”Energy ITS”, has been proceeding by NEDO (New Energy and Industrial Technology Development Organization) in Japan. In a platoon, several vehicles run as one group. Smaller inter-vehicular distance saves energy consumption because of less air drag. Also traffic capacity increases. In this paper, a new steering control method which does not require the information of a road, such as the cant and the curvature, is proposed. MMAC (Multiple Model Adaptive Control) is applied to design the feedforward part of the controller by estimating the information. The effectiveness of the feedforward control part is evaluated by experiments on highway and test course.