Model Predictive Vehicle Speed Control for Mainlane Vehicles Considering Merging Vehicles
合流車両に配慮した本線車両のモデル予測型車速制御
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.):¥1,100 Members (tax incl.):¥880
- Publication code
- 20225037
- Paper/Info type
- Proceedings (Spring)
No.9-22
- Pages
- 1-6(Total 6 p)
- Date of publication
- May 2022
- Publisher
- JSAE
- Language
- Japanese
- Event
- 2022 JSAE Annual Congress (Spring)
Detailed Information
Author(J) | 1) 寺野 玲央, 2) 本田 康平, 3) 奥田 裕之, 4) 鈴木 達也 |
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Author(E) | 1) Reo Terano, 2) Kohei Honda, 3) Hiroyuki Okuda, 4) Tatsuya Suzuki |
Affiliation(J) | 1) 名古屋大学, 2) 名古屋大学, 3) 名古屋大学, 4) 名古屋大学 |
Affiliation(E) | 1) Nagoya University, 2) Nagoya University, 3) Nagoya University, 4) Nagoya University |
Abstract(J) | 手動運転車が走行する状況下では,自動運転車は特別な通信を用いず他車との合意形成を行うことが望ましい.本研究では合流における被合流車両を制御対象とし,判断エントロピーと呼ばれる指標を導入することで手動運転合流車両との合意形成をスムーズに達成する速度制御手法の提案とシミュレーションによる検証を行う. Translation |
Abstract(E) | This paper presents a speed control method for the autonomous driving vehicle on the main lane to be considerate with the manual driven surrounding vehicles at the merging. In the proposed method, the quantitative measure called decision entropy is taken into account in the cost function of the model predictive control framework to make consensus with surrounding drivers quickly. This proposed method is verified by simulation in this paper. |