An optimal path generator using a receding horizon control scheme for intelligent automobiles
An optimal path generator using a receding horizon control scheme for intelligent automobiles
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DOI：
10.1109/cca.2004.1387604
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发表时间：
2004-09
期刊：
影响因子：
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通讯作者：
T. Kawabe;H. Nishira;T. Ohtsuka
中科院分区：
文献类型：
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作者：
T. Kawabe;H. Nishira;T. Ohtsuka
期望通过各种传感和通信装置将越来越多的信息带入汽车。为了使这些信息对有效的驾驶辅助有用，必须将其适当地转换为直观可理解的符号，因为人类的识别能力是有限的。基于滚动时域控制框架，开发了一种实时算法，用于根据周围信息计算期望的纵向和横向机动（驾驶员跟踪的最佳路径）。仿真结果表明，该算法产生合理的机动。
It is expected that more and more information are brought into automobiles through various sensing and communication devices. To make such information useful for effective driving assistance, it must be appropriately transformed into intuitively understandable symbols, because human recognition ability is limited. A real-time algorithm for calculating the desirable longitudinal and lateral maneuvers (optimal path for a driver to track) from surrounding information is developed based on a receding horizon control framework. Simulation results show that the proposed algorithm generates reasonable maneuvers.