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  • Summary & Details

Trajectory Calculation and Tracking for Autonomous Vehicle to Provide Ride Comfort

快適な移動を提供する自動運転車の軌道計算とその追従

Detailed Information

Category(J)ホットトピックス

Translation

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(J)自動運転において、車両の快適性は安全性に次ぐ重要な項目のひとつである。本稿では、自動運転による車両運動を快適にするために、加速度やJerkを抑えた最適な軌道を設計する手法と、車両やアクチュエータの遅れを補償しつつ、計画した軌道へ正確に追従する車両制御を説明する。これらは、実車実験により有効性を確認する。

Translation

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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