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Summary & Details

Motion Planning and Tracking for Overtaking Vulnerable Road Users Considering Individual Driving Style

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Format: PDF

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

Publication code: 20225208

Paper/Info type: Proceedings (Spring)

No.47-22

Pages: 1-7(Total 7 p)

Date of publication: May 2022

Publisher: JSAE

Language: English

Event: 2022 JSAE Annual Congress (Spring)

Detailed Information

Author(E)	1) Manh Dung Vu, 2) Hirofumi Aoki, 3) Dong Haitao, 4) Sueharu Nagiri, 5) Thanh Tung Nguyen, 6) Anh Son Le, 7) Tatsuya Suzuki
Affiliation(E)	1) Nagoya University, 2) Nagoya University, 3) Nagoya University, 4) Nagoya University, 5) Hanoi University of Science and Technology, 6) Phenikaa University, 7) Nagoya University
Abstract(E)	This paper presents a motion planning method for overtaking a vulnerable road user moving on the shoulder by considering individual driving style. First of all, a personalized potential map that represents driver's perception of the driving environment is formed using observed driving data. Then, the reference path is realized through the gradient descend method. Finally, the controller using model predictive control tracked the obtained path. Simulation tests are carried out, showing the effectiveness of designed algorithms. Using the personalized reference path, this method can be useful in conveying the acceptance of driver toward advanced safety systems.

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