Abstract
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.
