Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
There are many path planning methods using geometric curves as a reference path. It is important to construct smooth reference path because the efficiency and ride comfort of the vehicle depend on the smoothness of the reference path. Moreover, in the case where the vehicle speed is changed, we should consider the fact that the faster the vehicle speed is, the more effort is required to follow the reference path. Hence we use the kinematic model of vehicle to construct the path for considering speed change of vehicle. We propose the method to generate the optimal path minimizing the square sum of the vehicle lateral acceleration. The optimal paths can be easily obtained because the optimal control problem is reduced by the change of the independent variable and normalization. Additionally, the optimal paths can be summarized in some figures or so called field of extremals.
