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  • Summary & Details

Optimal Trajectory Calculation for Autonomous Vehicle Based on Nonlinear Programming and Trajectory Tracking


Detailed Information

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
Affiliation(E)1) Hitachi Astemo, 2) Hitachi Astemo
Abstract(J)自動運転による車両運動を快適にするためには、適切な軌道設計と正確な軌道追従制御が重要である。本稿では、非線形計画法を用いて、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。


Abstract(E)Optimal trajectory planning and precise trajectory tracking are important to make vehicle dynamics comfort. In this paper, 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 the method by simulation and vehicle experiment.

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