TY  - JOUR
PY  - 2017//
TI  - Propagation type clock-based real-time optimal control for autonomous vehicle
JO  - Transactions of Society of Automotive Engineers of Japan
A1  - Watanabe, Soichiro
A1  - Harada, Masanori
SP  - 953
EP  - 958
VL  - 48
IS  - 4
N2  - 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>
LA  - ja
SN  - 0287-8321
UR  - http://dx.doi.org/10.11351/jsaeronbun.48.953
ID  - ref1
ER  -