| Budget Amount *help |
¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2012: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Outline of Final Research Achievements |
This paper proposes a motion planning and a braking/steering control for autonomous vehicles based on the combination of the optimal control theory and the potential field. This paper focuses on a parked car overtaking scenario as one of typical scenarios which the concept of risk potential can be applied. In the lateral motion control, the performance index in terms of the artificial risk potentials of road boundaries and an obstacle is optimized with respect to a number of candidate lateral accelerations. The artificial potential field is defined based on experienced driver characteristics analysis. In the longitudinal motion control, the performance index in terms of the artificial risk potential of the occluded pedestrian is optimized with respect to a number of candidate decelerations. The desired vehicle motion is calculated by optimizing the defined performance index and the results fit well with the data of the experienced drivers who drive defensively in urban roadway.
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