Automotive longitudinal speed pattern generation with acceleration constraints aiming at mild merging using model predictive control method

Wenjing Cao, Masakazu Mukai, Taketoshi Kawabe, Hikaru Nishira, Noriaki Fujiki

研究成果: 著書/レポートタイプへの貢献会議での発言

5 引用 (Scopus)

抄録

To ensure safety and simplicity in merging path generation for a realistic reliable and mild merging, this paper proposes a merging path generation method. In the proposed method, the merging problem is considered in two-dimensional space and formulated into a one-dimensional space optimization problem by relating the longitudinal motion of the merging vehicle to the lateral motion of it. In this way the optimization problem would be much simpler and therefore the computational time could be shorter than formulating it into a two-dimensional problem. Moreover, the parameters are chosen appropriately so that the variation of the acceleration of the main lane vehicle is less severe than that of the merging vehicle, which is consistent with the practice. To realize mild merging, the merging path is optimized while the accelerations of the relevant vehicles are optimized through the model predictive control (MPC) method. With the proposed method, the merging vehicle can merge smoothly and realistically in cooperative with the main lane vehicle. The effectiveness of this method is verified by a computer simulation of the motions of one merging vehicle and one main lane vehicle. The initial conditions of the merging are set realistically according to the data drawn from actual merging scenes. The results proved that, with the proposed method the merging vehicle can merge mildly in cooperation with the main lane vehicle.

元の言語英語
ホスト出版物のタイトル2013 9th Asian Control Conference, ASCC 2013
DOI
出版物ステータス出版済み - 2013
イベント2013 9th Asian Control Conference, ASCC 2013 - Istanbul, トルコ
継続期間: 6 23 20136 26 2013

その他

その他2013 9th Asian Control Conference, ASCC 2013
トルコ
Istanbul
期間6/23/136/26/13

Fingerprint

Model predictive control
Merging

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

これを引用

Automotive longitudinal speed pattern generation with acceleration constraints aiming at mild merging using model predictive control method. / Cao, Wenjing; Mukai, Masakazu; Kawabe, Taketoshi; Nishira, Hikaru; Fujiki, Noriaki.

2013 9th Asian Control Conference, ASCC 2013. 2013. 6606039.

研究成果: 著書/レポートタイプへの貢献会議での発言

Cao, W, Mukai, M, Kawabe, T, Nishira, H & Fujiki, N 2013, Automotive longitudinal speed pattern generation with acceleration constraints aiming at mild merging using model predictive control method. : 2013 9th Asian Control Conference, ASCC 2013., 6606039, 2013 9th Asian Control Conference, ASCC 2013, Istanbul, トルコ, 6/23/13. https://doi.org/10.1109/ASCC.2013.6606039
Cao, Wenjing ; Mukai, Masakazu ; Kawabe, Taketoshi ; Nishira, Hikaru ; Fujiki, Noriaki. / Automotive longitudinal speed pattern generation with acceleration constraints aiming at mild merging using model predictive control method. 2013 9th Asian Control Conference, ASCC 2013. 2013.
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