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  • Summary & Details

Trajectory Generation Using Model Predictive Control for Automated Vehicles Maximize Usage of Road Width Like A Skilled Human Driver

モデル予測制御を用いた「上手い運転」を実現する自動運転制御 Maximize Usage of Road Width Like A Skilled Human Driver

Detailed Information

Author(J)1) 入江 喜朗, 2) 赤阪 大介
Author(E)1) Yoshiaki Irie, 2) Daisuke Akasaka
Affiliation(J)1) トヨタ自動車株式会社, 2) MathWorks Japan
Affiliation(E)1) Toyota Motor Corporation, 2) MathWorks Japan
Abstract(J)(IJAE Vol.12, No.1からの転載)
ヒトの感覚に近い「うまい運転」を実現する自動運転制御を検討。その実現の為にMPCを用い具現化可能なアルゴリズムを構築すべく、操舵制御に特化したMPCによる目標走行軌跡生成の実現性、性能予測および設計手法を考察。道幅を有効活用した軌跡をオンライン生成し、自然な操舵でスムース走行を狙った。

Translation

Abstract(E)(Reprinted from IJAE Vol.12, No.1)

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