TY  - JOUR
PY  - 2017//
TI  - Autonomous driving control in mixed traffic scene by using nonlinear model predictive control and graph theory
JO  - Transactions of Society of Automotive Engineers of Japan
A1  - Sumioka, Tadashi
A1  - Nishimiya, Kenji
A1  - Akuta, Yoshimitsu
SP  - 1353
EP  - 1358
VL  - 48
IS  - 6
N2  - In this paper, an autonomous lane change method using nonlinear model predictive control and graph theory is proposed. By using graph theory, a safe driving path considering traffic conditions of other vehicles is calculated. By using that path, a trajectory and velocity considering comfort are calculated using nonlinear model predictive control. Simulation results show that behaviors to overtake other vehicles traveling ahead and to give way to other vehicles traveling behind are obtained. Moreover, simulation result indicates that the proposed method can be calculated about ten times faster than the conventional method using dynamic programming.<p />  <p>Language: ja</p>
LA  - ja
SN  - 0287-8321
UR  - http://dx.doi.org/10.11351/jsaeronbun.48.1353
ID  - ref1
ER  -