@article{ref1,
title="Propagation type clock-based real-time optimal control for autonomous vehicle",
journal="Transactions of Society of Automotive Engineers of Japan",
year="2017",
author="Watanabe, Soichiro and Harada, Masanori",
volume="48",
number="4",
pages="953-958",
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. <br><br>RESULTS demonstrate that the PC-π controller has the potential for the real-time optimal control of the conventional type vehicle.<p /> <p>Language: ja</p>",
language="ja",
issn="0287-8321",
doi="10.11351/jsaeronbun.48.953",
url="http://dx.doi.org/10.11351/jsaeronbun.48.953"
}