Target trajectory generation using clothoid curve and vehicle control for obstacle avoidance of automated driving

Author:

TAKIYAMA Takeshi1,FUJITA Junichi2

Affiliation:

1. Osaka City University

2. Graduate School of Mechanical Engineering, Osaka City University

Publisher

Japan Society of Mechanical Engineers

Reference10 articles.

1. Kanai, K., Ochi, Y., Fujishiro, T., Ito, K. and Kawabe, T., Design of adaptive-type yaw rate, lateral acceleration and D*-controllers for 4-wheel steering car, Transactions of the Society of Instrument and Control Engineers, Vol.24, No.4(1988), pp.426–428(in Japanese).

2. Kaneko, T., Sugiyama, S., Kuriyagawa, Y., Momiyama, F. and Kageyama, I., Real-time generation of control target in risk feeling potential corresponding to change of vehicle situation and vehicle dynamics, Transactions of the Society of Automotive Engineers of Japan, Vol.44, No.2(2013). pp.759–764 (in Japanese).

3. Kawachi, Y. and Yamada, M., A method of avoiding arbitrarily shaped obstacle for car-like robot, The 53rd Japan Joint Automatic Conference (2010), pp.732–737(in Japanese).

4. Makino, H., Clothoidal interpolation of freely given point series using target method, Journal of Japan Society for Precision Engineering, Vol.60, No.1(1994), pp.80–85 (in Japanese).

5. Oku, Y. and Takiyama, T., Experimental investigation about avoidance area management for obstacle avoidance of autonomous vehicle using model predictive control, 2016 JSAE Congress(Autumn) Proceedings, 20166211 (2016), pp.1106–1111 (in Japanese).

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