Citation

Takiyama T, Fujita J. Trans. Soc. Automot. Eng. Jpn. 2020; 51(6): 1012-1018.

Copyright

(Copyright © 2020, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.51.1012

PMID

unavailable

Abstract

An available path planning is required for a vehicle turning control to pass through any target point. It is well known that a vehicle driving trajectory is well coincided with a clothoid curve when the steering wheel was turned with constant speed. However, a real-time planning without trial and error of a clothoid curve that pass through the target point has not been much reported. This paper investigated a real-time path planning using the characteristics of both a clothoid curve and turning trajectory. The experimental results showed that the vehicle well passed through any target point.

Language: ja

Keywords

Autonomous driving; Electronics and control; Control system; Clothoid curve; Nonlinear control; Path planning