Citation

Kaneko T, Kuriyagawa Y, Momiyama F, Kageyama I. Trans. Soc. Automot. Eng. Jpn. 2011; 42(6): 1303-1308.

Copyright

(Copyright © 2011, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.42.1303

PMID

unavailable

Abstract

This paper describes the development of an algorithm for the real-time trajectory generation of a control target for an autonomous steering control system in the platooning system of a heavy truck. This algorithm is composed by the driver model, in which the risk potential is considered, as well as the vehicle dynamics model. The proposed algorithm was validated by a simulation that used the vehicle dynamics model with multiple degrees of freedom. In addition, the feasibility of the real-time processing for the control target was determined by a field test that loaded the algorithm on to the control hardware of the experimental vehicle.

Language: ja

Keywords

electronics and control; driver model; autonomous driving system; model; platooning; risk potential