2023 Fiscal Year Final Research Report
Prediction method using optimization with barrier functions for autonomous driving
| Project/Area Number |
21K04128
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Kogakuin University |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 自動車制御 / 制御工学 |
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| Outline of Final Research Achievements |
The objective of this task is to construct a method for predicting the behavior of other vehicles suitable for automated driving systems, and to identify functions that characterize the driving behavior of the drivers of other vehicles. In other words, we believe that if the evaluation function and constraint conditions that constitute the optimization problem can be made closer to the conditions implicitly possessed by the driver, the driving behavior obtained as a result of optimization will be closer. The following three major issues were addressed and results were obtained. 1) Design of evaluation functions and barrier functions that characterize driving behavior, 2) Development of a method to predict driving behavior based on road traffic information, 3) Verification using a traffic flow simulator
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| Free Research Field |
制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
申請課題に取り組むことで，他車両の運転挙動の予測結果を自動運転システムに利用できスムーズな自動運転が実現できる．そのため，交通システムの安全性と効率を向上させることが可能になり，社会的に意義の高い研究である．さらに，本申請課題の成果は，他の交通参加者である歩行者，自転車などの安全を評価する際にも利用可能と考えられるため，他の研究への波及効果が期待できる．また，交通流のシミュレーションを進めることで，大規模な社会システムの一部である交通システムのシミュレーションの知見ノウハウを得ることが可能である．
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