Motion Planning and Tracking for Overtaking Vulnerable Road Users Considering Individual Driving Style
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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
- 20225208
- 文献・情報種別
- 学術講演会予稿集(春)
No.47-22
- 掲載ページ
- 1-7(Total 7 p)
- 発行年月
- 2022年 5月
- 出版社
- (公社)自動車技術会
- 言語
- 英語
- イベント
- 2022年春季大会
書誌事項
著者(英) | 1) Manh Dung Vu, 2) Hirofumi Aoki, 3) Dong Haitao, 4) Sueharu Nagiri, 5) Thanh Tung Nguyen, 6) Anh Son Le, 7) Tatsuya Suzuki |
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勤務先(英) | 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 |
抄録(英) | 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. 翻訳 |