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- アルン ムラリーダラン
- 名古屋大学大学院工学研究科
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- 奥田 裕之
- 名古屋大学大学院工学研究科
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- 鈴木 達也
- 名古屋大学大学院工学研究科
書誌事項
- タイトル別名
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- Pedestrian-aware Model Predictive Controller for Design of Considerate Autonomous Driving
説明
<p>Driving in roads shared with pedestrians remains to be a challenging research problem in suburban/urban autonomous driving scenario. Interacting with pedestrians and making considerate decisions require high level decision making which is close to that of humans. This paper attempts to propose a multi-mode pedestrian model and a model predictive control (MPC) framework that uses the pedestrian model to predict the interactive behavior of the pedestrian. A probability weighted ARX (PrARX) model is used as the pedestrian model. This model can represent both decision making and motion of the pedestrian considering the interaction with ego car. The allowed risk levels of the controller is tunable to create a more personal driving behavior. The decision entropy of the pedestrian is also included as a cost factor in the MPC. This makes the pedestrian's decision making process easier and leads to realization of considerate driving. The validation of proposed model is performed based on the vehicle-crowd interaction (VCI) - CITR dataset and the performance of the controller is demonstrated in simulations using MATLAB.</p>
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 59 (11), 472-483, 2023
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390579686912159488
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- ISSN
- 18838189
- 04534654
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
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- 抄録ライセンスフラグ
- 使用不可