Development of Velocity Control Method for Automated Driving in City Area

市街地での自動運転に向けた速度制御手法の開発

This paper proposes a velocity control method in order to achieve automated driving in city area. Firstly, this paper introduces “safe velocity,” the upper limit of velocity for ensuring collision avoidance toward pedestrians’ any direction changes. Next, a direction prediction model is constructed to obtain the future positions of pedestrians in accordance with other obstacles. Thirdly, a velocity control method based on the prediction is proposed. This method adopts Final-State Control algorithm to minimize square sum of jerk (differential of acceleration) for improvement of comfortableness. Simulations and driving tests are conducted to confirm the effectiveness of the proposed method.

• Record URL:
  https://doi.org/10.11351/jsaeronbun.47.955
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
• Authors:
  • Maeda, Kenta
  • Kojima, Takao
  • Yokoyama, Atsushi
• Publication Date: 2016

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; Photos; References;
• Pagination: pp 955-960
• Serial:
  • Transactions of Society of Automotive Engineers of Japan
  • Volume: 47
  • Issue Number: 4
  • 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: Automated vehicle control; Cities; Crash avoidance systems; Highway safety; Intelligent vehicles; Urban areas; Velocity
• Subject Areas: Highways; Pedestrians and Bicyclists; Safety and Human Factors;

Filing Info

• Accession Number: 01661660
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Feb 28 2018 5:03PM