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Experimental Verification of Model Predictive Collision-Free Assisting
Published October 12, 2011 by Society of Automotive Engineers of Japan in Japan
Recently, the realization of personalized driver-assisting control systems that can take into consideration each driver's characteristics is attracting great attention. So far, the authors have developed a driving behavior model from the viewpoint of the "Hybrid Dynamics" wherein the driver's decision making and motion control aspects are expressed simultaneously. In this paper, a model predictive driver-assisting control system is proposed in which the assisting input is computed by on-line optimization subject to the developed driver model treated as constraints. The usefulness of the proposed assisting control is demonstrated through experiments in real driving environment.