Calculation Algorithm of Steering Control Target for Autonomous Heavy Vehicle under Mixed Traffic

In this study, an algorithm is developed for the real-time trajectory generation of a control target to realize an autonomous steering control system for the platooning system of a heavy truck. The proposed algorithm comprises a driver model, which considers the risk potential, and a vehicle dynamics model. This algorithm was validated through simulations using a vehicle dynamics model with multiple degrees of freedom. In addition, the feasibility of real-time processing for the control target was determined through a field test in which the proposed algorithm was loaded in the control hardware of an experimental vehicle.

  • Availability:
  • Supplemental Notes:
    • Abstract used with permission of ITS Japan. Paper No. 3109.
  • Corporate Authors:

    ITS Japan

    Tokyo,   Japan 
  • Authors:
    • Kaneko, Tetsuya
    • Kuriyagawa, Yukiyo
    • Kageyama, Ichiro
  • Conference:
  • Publication Date: 2013


  • English

Media Info

  • Media Type: Digital/other
  • Features: Figures; Photos; References; Tables;
  • Pagination: 10p
  • Monograph Title: 20th ITS World Congress, Tokyo 2013. Proceedings

Subject/Index Terms

Filing Info

  • Accession Number: 01536464
  • Record Type: Publication
  • ISBN: 9784990493981
  • Files: TRIS
  • Created Date: Aug 28 2014 3:31PM