システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
論文
速度関数の最適化による車両の経路追従制御
宮崎 剛司北原 晃輔岡島 寛松永 信智
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ジャーナル オープンアクセス

2018 年 31 巻 7 号 p. 274-280

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In recent years autonomous control of automobiles has been focused on. Path-following control is an important technologies of autonomous control of automobiles. In path-following control, it is necessary to calculate an appropriate steering input and velocity input according to the shape of the target path. In previous research, the steering control and velocity control method have been achieved by formulating and solving the optimization problem using variation principle. Since the problem solvable by the two-point boundary value problem is limited, the format of the evaluation function is limited and it is difficult to explicitly consider constraints in some cases. In addition, the real-time performance of the optimization calculation is also a problem considering the implementation in the real plant. In this paper, we propose a method for accurate follow-up to the target path and appropriate velocity control according to the shape of the target path in real time by designing the velocity function as a function of the target path information and state of the plant.

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© 2018 一般社団法人 システム制御情報学会
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