Construction of Control Algorithm for an Autonomous Vehicle
Hyung-Eun Im, Ichiro Kageyama and Yoshiyuki Nozaki
Dept. of Mechanical Engineering, College of Industry, Nihon University, 1-2-1 Izumi-cho, Narashino-shi, Chiba 275-8575, Japan
Received:December 28, 2000Accepted:May 21, 2001Published:August 20, 2001
Keywords:autonomous vehicle, control algorithm, risk potential field, risk level, risk elements
In this study, a control algorithm of an autonomous vehicle is proposed on the basis of risk level to simulate control motion of a real driver. The normal traffic situation can be expressed by risk level. The risk level is affected by several risk elements: roadside edges, curves, the other vehicles, obstacles, and so on. Each risk element is represented by an exponential function. The risk elements make risk potential field on the road. It is assumed that the desirable course to follow is determined as the point of minimum risk potential in the cross section of the road. Tree prediction models are examined to predict the future position of vehicle. The change of preview time is considered on the curved road. A lateral and longitudinal control algorithm with the prediction model proposed in this study shows similar control motion to that of a real driver.
Cite this article as:H. Im, I. Kageyama, and Y. Nozaki, “Construction of Control Algorithm for an Autonomous Vehicle,” J. Robot. Mechatron., Vol.13 No.4, pp. 387-394, 2001.Data files:
Copyright© 2001 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.