Evaluation of impact by control switching according to driving environment

In autonomous driving, safety and computational complexity are the most important topic in system design. However, computational complexity and safety guarantee are a trade-off relationship in vehicle control. Human drivers, on the other hand, change their driving methods according to driving condit...

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Bibliographic Details
Published in2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE) pp. 521 - 526
Main Authors Oi, Yusuke, Yamaguchi, Takuma, Okuda, Hiroyuki, Suzuki, Tatsuya
Format Conference Proceeding
LanguageEnglish
Published The Society of Instrument and Control Engineers - SICE 06.09.2022
Subjects
Autonomous driving
Autonomous vehicles
Computational complexity
Control systems
Instruments
Model predictive control(MPC)
Safety
Switch between control methods
Switches
Vehicle control
Vehicle dynamics
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Summary:In autonomous driving, safety and computational complexity are the most important topic in system design. However, computational complexity and safety guarantee are a trade-off relationship in vehicle control. Human drivers, on the other hand, change their driving methods according to driving conditions. In order to incorporate this idea, this paper formulates control methods that can be applied to various environments. Simulations were conducted to evaluate the performance of each method. As a result, the computation time could be reduced without compromising safety by combining control methods.
DOI:10.23919/SICE56594.2022.9905761