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Construction of recognition, decision and motion models and application for personalized automated driving

Research Project

Project/Area Number 16K21090
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Dynamics/Control
Intelligent mechanics/Mechanical systems
Research InstitutionNagoya University

Principal Investigator

Okuda Hiroyuki  名古屋大学, 工学研究科, 助教 (90456690)

Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2018: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2017: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Keywords人間機械協調 / 制御工学 / システム同定 / 運転行動 / ハイブリッド動的システム / 運転行動モデル / 行動解析 / ハイブリッドシステム / 運転行動解析 / 判断モデル / 意図推定 / ロジスティック回帰 / 行動モデル / 人間工学 / 行動支援 / 知能機械
Outline of Final Research Achievements

In order to realize the human friendly automated driving and driving assistance, the fundamental system modeling techniques for the construction of the driving behavior model database were studied.
(1) The experimental vehicle was setup to observe the driving behavior in city downtown area. (2) To collect the various driving behavior model in different driving scene with various drivers, (A) the system identification technique for the hybrid dynamical system with time variant parameters based on the particle filters under the Bayes estimation, and (B) the systematic extraction method of the explanatory variables of the hybrid dynamical system, were proposed. In addition, the considerate design method of the driver assistance system for the other cars by automatic adjustment of the driving speed in lane merging on a highway lamp is proposed and tested to verify the validity of the driving behavior model aided control system design.

Academic Significance and Societal Importance of the Research Achievements

自動運転や運転支援を、信頼できるものとし、多くの人に受け入れられるためには、人間の運転行動の特性をよく知り、人の判断や操作の特性からかけ離れたものとしないことが重要であり、そのためには人の多様性、運転状況の多様性を反映した運転行動のデータベースが必要となる。しかしながら、車両の位置や他車との距離などの単純なデータのみを積み重ねても、人が何を見て、判断し、どのように操作しているかを知ることは難しい。本研究ではこれらの運転データから人の行動モデルとしてのデータベースへと変換する技術を通して、人の行動の多様性を知り、車両制御へと反映するための一つの方向性を提案した。

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Research-status Report
  • 2016 Research-status Report
  • Research Products

    (18 results)

All 2019 2018 2017 2016

All Journal Article (4 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 3 results) Presentation (13 results) (of which Int'l Joint Research: 10 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Design of Automated Merging Control by Considering Acceptability of Drivers on Main Lane2018

    • Author(s)
      原田 晃汰、奥田 裕之、鈴木 達也、西郷 慎太朗、井上 聡
    • Journal Title

      Transactions of Society of Automotive Engineers of Japan

      Volume: 49 Issue: 5 Pages: 1011-1017

    • DOI

      10.11351/jsaeronbun.49.1011

    • NAID

      130007486013

    • ISSN
      0287-8321, 1883-0811
    • Related Report
      2018 Annual Research Report
  • [Journal Article] 運転教習員型運転支援の提案とその評価2017

    • Author(s)
      山口 拓真, 奥田 裕之, 鈴木 達也, 早川 聡一郎, 池浦 良淳, 武藤 健二, 伊藤 隆文
    • Journal Title

      自動車技術会論文集

      Volume: 48 Pages: 717-724

    • NAID

      130006734310

    • Related Report
      2017 Research-status Report
    • Peer Reviewed
  • [Journal Article] Identification of Time-Varying Parameters of Hybrid Dynamical System Models and Its Application to Driving Behavior2017

    • Author(s)
      Thomas WILHELEM, Hiroyuki OKUDA, Tatsuya SUZUKI
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E100-A Pages: 2095-2105

    • NAID

      130006109877

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] 運転個性を反映したモデル予測型自動運転システム : 評価関数推定手法の提案2016

    • Author(s)
      古賀 あやめ,奥田 裕之,田崎 勇一,鈴木 達也,原口 健太郎,康 子博
    • Journal Title

      自動車技術会論文集

      Volume: 47-6 Pages: 1431-1437

    • NAID

      130006321757

    • Related Report
      2016 Research-status Report
    • Peer Reviewed
  • [Presentation] Acceleration of Sampling Based Predictive Control Algorithm Using GPU for Autonomous Driving2019

    • Author(s)
      Arun Muraleedharan, Hiroyuki Okuda, Tatsuya Suzuki
    • Organizer
      GPU Technology conference 2019
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Improvement of Control Performance of Sampling Based Model Predictive Control Using GPU2019

    • Author(s)
      Arun Muraleedharan, Hiroyuki Okuda, Tatsuya Suzuki
    • Organizer
      2019 IEEE Intelligent Vehicles Symposium (IV)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A model predictive control-based lane merging strategy for autonomous vehicles2019

    • Author(s)
      Anh Tuan Tran, Masato Kawaguchi, Hiroyuki Okuda, Tatsuya Suzuki
    • Organizer
      2019 IEEE Intelligent Vehicles Symposium (IV)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Simultaneous Realization of Planning and Control for Lane-change Behavior Using Nonlinear Model Predictive Control2018

    • Author(s)
      Nobuto Sugie, Hiroyuki Okuda, Tatsuya Suzuki, Kentaro Haraguchi, Zibo Kang
    • Organizer
      2018 IEEE 21th International Conference on Intelligent Transportation Systems (ITSC)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Sampling Based Predictive Control with Frequency Domain Input Sampling for Smooth Collision Avoidance2018

    • Author(s)
      Hiroyuki Okuda, Yingqi Liang, Tatsuya Suzuki
    • Organizer
      2018 IEEE 21th International Conference on Intelligent Transportation Systems (ITSC)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane2017

    • Author(s)
      Hiroyuki Okuda, Kota Harada, Tatsuya Suzuki, Shintaro Saigo, Satoshi Inoue
    • Organizer
      2017 IEEE Intelligent Vehicles Symposium (IV)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Real-Time Collision Avoidance Control Based on Continuation Method for Nonlinear Model Predictive Control with Safety Constraint2017

    • Author(s)
      Hiroyuki Okuda,Nobuto Sugie, Tatsuya Suzuki
    • Organizer
      2017 Asian Control Conference (ASCC)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] 本線走行車の合流受容性を考慮したモデル予測型合流車速制御手法の提案2017

    • Author(s)
      原田 晃汰, 奥田 裕之, 鈴木 達也, 西郷 慎太朗, 井上 聡
    • Organizer
      自動車技術会学術講演会2017年秋季大会
    • Related Report
      2017 Research-status Report
  • [Presentation] PWARXモデルによるインタラクションを含む対向車とのすれ違い行動のモデル化2017

    • Author(s)
      澤田圭佑,神谷貴文,山口拓真,奥田裕之,鈴木達也
    • Organizer
      自動車技術会学術講演会2017年秋季大会
    • Related Report
      2017 Research-status Report
  • [Presentation] Modeling and analysis of acceptability for merging vehicle at highway junction2016

    • Author(s)
      Hiroyuki Okuda, Kota Harada, Tatsuya Suzuki, Shintaro Saigo, Satoshi Inoue, Modeling and analysis of acceptability for merging vehicle at highway junction
    • Organizer
      2016 IEEE 19th International Conference on Intelligent Transportation Systems
    • Place of Presentation
      Rio de Janeiro, Brazil
    • Year and Date
      2016-11-01
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 合流車両に対する本線車両の合流受容性のモデル化と解析2016

    • Author(s)
      原田 晃汰,奥田 裕之,鈴木 達也,西郷 慎太郎,井上 聡
    • Organizer
      自動車技術会2016年秋季大会 学術講演会
    • Place of Presentation
      札幌, 北海道
    • Year and Date
      2016-10-19
    • Related Report
      2016 Research-status Report
  • [Presentation] Identification of time-varying parameters in Gipps model for driving behavior analysis,2016

    • Author(s)
      Thomas Wilhelem, Hiroyuki Okuda, Akihiko Kawashima, Tatsuya Suzuki
    • Organizer
      2016 IEEE International Conference on Systems, Man, and Cybernetics
    • Place of Presentation
      Budapest, Hungary
    • Year and Date
      2016-10-09
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Realization of Different Driving Characteristics for Autonomous Drive by Using Model Predictive Control2016

    • Author(s)
      Ayame Koga, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Kentaro Haraguchi, Zibo Kang
    • Organizer
      2016 IEEE Intelligent Vehicles Symposium
    • Place of Presentation
      Gothenburg, Sweden
    • Year and Date
      2016-06-19
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Patent(Industrial Property Rights)] オフロードビークル用オフロード走行状態情報出力装置2018

    • Inventor(s)
      山口拓真, 鈴木達也, 奥田裕之, 伊藤凌典, 他3名
    • Industrial Property Rights Holder
      山口拓真, 鈴木達也, 奥田裕之, 伊藤凌典, 他3名
    • Industrial Property Rights Type
      特許
    • Filing Date
      2018
    • Related Report
      2017 Research-status Report

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Published: 2016-04-21   Modified: 2020-03-30  

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