Citation

Harada M, Ueyama Y. Trans. Soc. Automot. Eng. Jpn. 2019; 50(6): 1575-1580.

Copyright

(Copyright © 2019, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.50.1575

PMID

unavailable

Abstract

This paper investigates real-time optimal control for an autonomous vehicle. The clock-based real-time optimal control that generates the so-called Carathéodory-π trajectories has found wide applications in recent years due to an increase in computational performance. The applicability of a propagation type Carathéodory-π control algorithm for the vehicle in the curved road is investigated by numerical simulations using the full-vehicle model.

RESULTS demonstrate that the sequentially calculating optimal control command given by a simple dynamical model has the potential for the real-time optimal control of the conventional type vehicle.

Language: ja

Keywords

Vehicle dynamics; Autonomous driving; Motion control; Control system; Optimal Control; Real Time