Automatic Steering Control Technique for an Unmanned Transport Truck in Off-road Environments
オフロード環境下における不明瞭な路面境界に対する自動操舵制御技術
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 20214788
- Paper/Info type
- Journal of Society of Automotive Engineers of Japan
Vol.75 No.11
- Pages
- 36-40(Total 5 p)
- Date of publication
- Nov 2021
- Publisher
- JSAE
- Language
- Japanese
Detailed Information
| Category(J) | 自動運転の新しい流れ Ⅱ Translation |
|---|---|
| Category(E) | New Trends of Automated Driving Technologies II |
| Author(J) | 1) 植月 悠記, 2) 菅原 宏, 3) 大場 優人, 4) 前田 元気, 5) 倉鋪 圭太, 6) 深尾 隆則 |
| Author(E) | 1) Yuki Uetsuki, 2) Keita Kurashiki, 3) Takanori Fukao, 4) Hiroshi Sugawara, 5) Yuto Oba, 6) Genki Maeda |
| Affiliation(J) | 1) スズキ, 2) スズキ, 3) スズキ, 4) スズキ, 5) 立命館大学, 6) 東京大学 |
| Abstract(J) | 今までに農道特有の環境で実車実験を重ね，オフロード環境下で自動運転を行うための課題を解決してきた．オフロード環境下では道路境界は不明瞭であるため，それに基づいた車両の操舵は敏感になってしまう．今回，Path Following 制御に非線形重みを導入し，車両が安全に走行できるような技術を紹介する． Translation |
| Abstract(E) | We have conducted a series of actual vehicle experiments in an environment unique to farm roads, and have solved the problem of automatic driving in off-road environments. One of the problems is that in the off-road environment, the road boundary is not smooth and automatic steering control based on the detected boundaries has problems. Now, we introduce a technique to introduce nonlinear weights to the Path Following control so that the vehicle can drive safely. In conclusion, it was confirmed by actual vehicle experiments, the proposed method worked well on agricultural roads. |
