Autonomous Cornering Control based on Sense of Circular Vision Model

Recently, Research and Development of technology are actively conducted in the automotive industry. When automated driving becomes widespread, it is important to have a vehicle control system that does not cause anxiety or discomfort to passengers. However, many people have concerns about comfort and safety of autonomous driving system. One factor is the difference between automated driving and human driving. In advanced driver assist system, autonomous driving controller is considered human perception based on “human” system design. However, autonomous cornering control doesn't consider human perception factors. In previous research, Kumano et al. defined the Sense of Circular Vision (SoCV) as a type of sensory information expressed by the visual stimulation of optical flow on the retina during cornering behavior. In this paper, we focus on the vehicle control based on the SoCV model. And we discuss what kind of driving characteristics according to the optical flow based visual feedback.