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Summary & Details

Integrated Longitudinal and Lateral Control Driver Model in Highway Merging Based on Dynamic Risk Potential Field

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Format: PDF

Price: Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880

Publication code: 20219077

Paper/Info type: Other International Conferences

Pages: 1-4(Total 4 p)

Date of publication: Sep 2021

Publisher: JSAE

Language: English

Detailed Information

Author(E)	1) Pongsathorn Raksincharoensak, 2) Daisuke Sato, 3) Eiji Nunobiki, 4) Shintaro Inoue
Affiliation(E)	1) Tokyo University of Agriculture and Technology, 2) Tokyo University of Agriculture and Technology, 3) Toyota Motor Corporation, 4) Toyota Motor Corporation
Abstract(E)	This research aims to construct an expert driver model for autonomous driving technology and a shared control system in steering operation. A motion planning method based on risk potential field is one of feasible methods to construct the expert driver model. The research focuses on a highway merging scenario, that requires appropriate lateral control and longitudinal control according to driving situation. The driving data with an actual expert driver was used to determine the parameters of the proposed control system. By comparing the simulation results and the driving data with an expert driver, it has been confirmed that it is possible to control the vehicle motion similar to the expert driver by the proposed system.

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