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This paper describes the method used to design the basic control algorithm of a lane-keeping support system that is intended to assist the driver's steering action. Lane-keeping control has been designed with steering torque as the control input without providing a minor loop for the steering angle. This approach was taken in order to achieve an optimum balance of lane-keeping control, ease of steering intervention by the driver and robustness. The servo control system was designed on the basis of H2 control theory. Robustness against disturbances, vehicle nonlinearity and parameter variation was confirmed by μ - analysis. The results of computer simulations and driving tests have confirmed that the control system designed with this method provides the intended performance.

An Adaptive Cruise Control system with stop-and-go capability has been developed to reduce the driver's workload in traffic jams on expressways. Based on an analysis of driving behavior characteristics in expressway traffic jams, a control system capable of modeling those characteristics accurately has been constructed to provide natural vehicle behavior in low-speed driving. The effectiveness of the system was evaluated with an experimental vehicle, and the results confirmed that it reduces the driver's workload. This paper presents an outline of the system and its effectiveness along with the experimental results.

This paper describes a lane-keeping support system that has been developed and implemented in a production model. This system uses a CCD camera unit to recognize white lane markers on the road ahead and to calculate the host vehicle's lateral displacement from the center of its lane. An electronic control unit calculates the amount of steering torque needed to keep the vehicle in the center and sends a signal to a steering actuator that steers the front wheels. The electronic control unit has been designed on the basis of analyses of vehicle behavior and drivers' steering behavior. A general outline of the system is presented along with the results of driving simulations and actual driving tests. The results of evaluations conducted on a proving ground course and with a driving simulator have confirmed that this system is effective in reducing the driver's workload.

This paper describes a headway distance control system for platoon driving on an automated highway system (AHS). The system implemented on a test vehicle is described first, followed by a description of a vehicle control method based on the use of throttle and brake actuators. This method makes it possible to obtain the target acceleration and deceleration regardless of the vehicle speed range and the rate of acceleration or deceleration. Experimental and simulation results obtained with this method are presented. A control method is then described that uses inter-vehicle communication and laser radar to maintain a constant headway between vehicles. The results of simulations and driving tests conducted with three vehicles are presented to illustrate that the use of inter-vehicle communication is highly effective in improving headway control performance.

Nissan will soon be installing a multi-link front suspension in it's new 300ZX model. This suspension allows maximum improvement in controllability and stability, due to an optimum alignment given by it's unique independent kingpin mechanism. The incorporation of attitude control also provides flat ride by greatly mitigating jacking up and nose diving motions. This paper discusses the development objectives, and experimental data obtained in tests of the new suspension installed in the new 300ZX.