Realization of Simultaneous Decision Making, Path Planning and Motion Control for Lane-changing Based on Nonlinear Model Predictive Control

In autonomous driving, there is a relationship between path planning and motion control. The former should be based on the feasibility of vehicle motion, and the latter requires real-time calculation including path planning. Therefore, simultaneous optimization of path planning and control, called SPPMC (Simultaneous Path Planning and Motion Control), is important. In driving in the real traffic environment, decision making has also strong interaction with planning and control. In their research, the authors realized and simulated Decison making and SPPMC for lane-change with speed / steering angle control by nonlinear MPC (Model Predictive Control).

• Record URL:
  https://doi.org/10.11351/jsaeronbun.52.100
• Record URL:
  https://www.jstage.jst.go.jp/article/jsaeronbun/52/1/52_20214038/_pdf
• 
• Record URL:
  https://scholar.google.com/scholar_lookup?title=Realization%20of%20Simultaneous%20Decision%20Making%2C%20Path%20Planning%20and%20Motion%20Control%20for%20Lane-changing%20Based%20on%20Nonlinear%20Model%20Predictive%20Control&author=K.%20Honda&author=H.%20Okuda&author=T.%20Suzuki&publication_year=2021
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
• Authors:
  • Honda, Kohei
  • Okuda, Hiroyuki
  • Suzuki, Tatsuya
• Publication Date: 2021-1

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 100-105
• Serial:
  • Transactions of Society of Automotive Engineers of Japan
  • Volume: 52
  • Issue Number: 1
  • Publisher: Society of Automotive Engineers of Japan
  • ISSN: 0287-8321
  • EISSN: 1883-0811
  • Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems; Autonomous vehicles; Decision making; Lane changing; Nonlinear systems; Optimization; Real time control; Trajectory control
• Identifier Terms: Model Predictive Control
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01761787
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Dec 31 2020 1:34PM