@article{ref1,
title="Development of velocity control method for automated driving in city area",
journal="Transactions of Society of Automotive Engineers of Japan",
year="2016",
author="Maeda, Kenta and Kojima, Takao and Yokoyama, Atsushi",
volume="47",
number="4",
pages="955-960",
abstract="This paper proposes a velocity control method in order to achieve automated driving in city area. Firstly, this paper introduces &quot;safe velocity,&quot; 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.<p /><p>Language: ja</p>",
language="ja",
issn="0287-8321",
doi="10.11351/jsaeronbun.47.955",
url="http://dx.doi.org/10.11351/jsaeronbun.47.955"
}