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Summary & Details

Autonomous Driving System using Speed Profile and Risk Potential Optimization Based on Curvilinear Coordinate Overtaking Cyclist in Urban Road Scenario

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Format: PDF

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

Publication code: 20215226

Paper/Info type: Proceedings (Spring)

No.51-21

Pages: 1-8(Total 8 p)

Date of publication: May 2021

Publisher: JSAE

Language: English

Event: 2021 JSAE Annual Congress (Spring)[Online Meeting]

Detailed Information

Author(E)	1) Warit Sukittipattanakul, 2) Hideo Inoue, 3) Kenichi Uehara
Affiliation(E)	1) Kanagawa Institute of Technology, 2) Kanagawa Institute of Technology, 3) Kanagawa Institute of Technology
Abstract(E)	This research aims to design an autonomous driving system by focusing on the overtaking cyclist maneuver on urban roads. The proposed system is designed based on curvilinear coordinate that helps to simplify the controller's design. Our system composed of the decision-making stage, and the motion planning stage. Map-based sight model is used to predict the sight distance of the vehicle. The speed profile and risk potential optimization are applied to decide optimal trajectories of the vehicle in every time step. Finally, our system had been verified by simulation, confirmed that the proposed system can overtake cyclists safely in various conditions.

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