Vehicle motion planning for ride comfort using subjective vertical conflict model

Q3 Engineering

IFAC-PapersOnLine Pub Date : 2024-01-01 DOI:10.1016/j.ifacol.2024.09.060

Takumi Todaka , Kaito Sato , Kenji Sawada , Katsuhiko Sando

引用次数: 0

Abstract

As the next step regarding vehicle motion planning techniques for self-driving vehicles, controlling the optimal behavior of the passenger is attracting attention. This paper discusses a nonlinear model predictive control (NMPC) method for vehicle motion planning that controls passenger behaviors. In this paper, a nonlinear passenger model is incorporated into NMPC for vehicle motion planning to suppress the motion causing discomfort to the passenger. In addition, ride comfort is evaluated based on the passenger's motion perception characteristics obtained from the subjective vertical conflict model.

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利用主观垂直冲突模型进行车辆运动规划，提高乘坐舒适性

作为自动驾驶汽车运动规划技术的下一步，控制乘客的最佳行为正引起人们的关注。本文讨论了一种用于车辆运动规划、控制乘客行为的非线性模型预测控制（NMPC）方法。本文将非线性乘客模型纳入用于车辆运动规划的 NMPC，以抑制引起乘客不适的运动。此外，根据主观垂直冲突模型获得的乘客运动感知特征来评估乘坐舒适度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IFAC-PapersOnLine Engineering-Control and Systems Engineering

CiteScore

1.70

自引率

0.00%

发文量

1122

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