Citation

Irie Y, Akasaka D. Int. J. Automot. Eng. 2021; 12(1): 24-31.

Copyright

(Copyright © 2021, Society of Automotive Engineering of Japan)

DOI

10.20485/jsaeijae.12.1_24

PMID

unavailable

Abstract

Recently, many companies have been working on developing technologies for automated driving. For automotive companies, one of the challenges is to realize the automated driving with safety and reliability. This paper addresses a trajectory generation method using model predictive control (MPC) for the control development of the automated driving. Using the MPC, the design method of a steering control will be proposed in order to generate trajectory and develop a practical algorithm considering a product implementation. More concretely, we propose the design method of 1) online trajectory generation to maximize use of an entire road width like a skilled driver that has a significant experience in driving and 2) smooth trajectory correction whenever the vehicle slips away from an appropriate trajectory, which are useful for actual product development.

Language: en

Keywords

automated vehicle; autonomous driving system / electronic stability control; driving model; model predictive control; path planning; vehicle dynamics; vehicle trajectory control