Citation

Watanabe S, Harada M. Trans. Soc. Automot. Eng. Jpn. 2017; 48(4): 953-958.

Copyright

(Copyright © 2017, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.48.953

PMID

unavailable

Abstract

This paper investigates a real-time optimal control for an autonomous vehicle. The clock-based real-time optimal control that generates the so-called Carathéodory-π (C-π) trajectories has found wide applications in recent years due to an increase in computational performance. In this paper, the applicability of a propagation type Carathéodory-π (PC-π) controller for the vehicle lane change maneuver is investigated by numerical simulations using the full-vehicle model.

RESULTS demonstrate that the PC-π controller has the potential for the real-time optimal control of the conventional type vehicle.

Language: ja

Keywords

control system/autonomous land system/autonomous driving system; Control system/software; Electronics and control; Full-Vehicle Simulation; Real-Time Optimal Control