Integrated Longitudinal and Lateral Control Driver Model in Highway Merging Based on Dynamic Risk Potential Field
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- 形態
- 価格
- 一般価格(税込):¥1,100 会員価格(税込):¥880
- 文献番号
- 20219077
- 文献・情報種別
- その他の国際会議
- 掲載ページ
- 1-4(Total 4 p)
- 発行年月
- 2021年 9月
- 出版社
- (公社)自動車技術会
- 言語
- 英語
書誌事項
著者(英) | 1) Pongsathorn Raksincharoensak, 2) Daisuke Sato, 3) Eiji Nunobiki, 4) Shintaro Inoue |
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勤務先(英) | 1) Tokyo University of Agriculture and Technology, 2) Tokyo University of Agriculture and Technology, 3) Toyota Motor Corporation, 4) Toyota Motor Corporation |
抄録(英) | This research aims to construct an expert driver model for autonomous driving technology and a shared control system in steering operation. A motion planning method based on risk potential field is one of feasible methods to construct the expert driver model. The research focuses on a highway merging scenario, that requires appropriate lateral control and longitudinal control according to driving situation. The driving data with an actual expert driver was used to determine the parameters of the proposed control system. By comparing the simulation results and the driving data with an expert driver, it has been confirmed that it is possible to control the vehicle motion similar to the expert driver by the proposed system. 翻訳 |