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  • Summary & Details

Trajectory Calculation and Tracking for Autonomous Vehicle to Provide Ride Comfort


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Category(E)Hot Topics
Author(J)1) 伊庭 達哉, 2) 上野 健太郎
Author(E)1) Tatsuya Iba, 2) Kentarou Ueno
Affiliation(J)1) 日立Astemo, 2) 日立Astemo


Abstract(E)For the autonomous driving, comfort of vehicle is one of significant factor comparable to safety. In this paper, to realize ride comfort by autonomous driving, we propose the trajectory planning method which manages vehicle acceleration and jerk as small as possible by nonlinear programming, and the vehicle control method which tracks planned trajectory precisely while compensating delay of vehicle and actuators. We assess the effectiveness of proposed methods by vehicle experiment.

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