Updated on 2024/03/24

写真a

 
OKUDA Hiroyuki
 
Organization
Graduate School of Engineering Mechanical Systems Engineering 2 Associate professor
Graduate School
Graduate School of Engineering
Undergraduate School
School of Engineering Mechanical and Aerospace Engineering
Title
Associate professor
Profile
- Human behavior modeling based on Hybrid dynamical system
- Autonmous control of mobility system using model predictive control
External link

Degree 1

  1. Ph.D (Engineering) ( 2010.3   Nagoya University ) 

Research Interests 10

  1. Human behavior model

  2. Model predictive control

  3. Human-machine cooperative system

  4. Hybrid dynamical system

  5. Driving assistance system

  6. System identification

  7. Driver assistance

  8. Automated driving

  9. System identification

  10. Autonomous driving

Research Areas 4

  1. Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

  2. Informatics / Robotics and intelligent system

  3. Informatics / Mechanics and mechatronics

  4. Informatics / Intelligent robotics

Current Research Project and SDGs 2

  1. Advanced model predictive control for sequential / parallel task execution

  2. Mobility space design for the autonomous mobile robot

Research History 7

  1. Nagoya University   School of Engineering Mechanical and Aerospace Engineering   Associate professor

    2023.6

      More details

    Country:Japan

  2. Nagoya University   Graduate School of Engineering   Associate professor

    2023.6

      More details

    Country:Japan

  3. Nagoya University   Graduate School of Engineering Mechanical Systems Engineering 2   Associate professor

    2021.4

  4. University of California, Berkeley   Department of Mechanical Engineering   Visiting Scholar

    2018.4 - 2018.9

      More details

  5. Nagoya University   Assistant Professor

    2016.7 - 2021.3

      More details

    Country:Japan

  6. Nagoya University   Green Mobility Collaborative Research Center   Designated assistant professor

    2012.4 - 2016.6

      More details

    Country:Japan

  7. Nagoya University   Researcher

    2010.4 - 2012.3

      More details

    Country:Japan

▼display all

Education 3

  1. Nagoya University   Graduate School, Division of Engineering

    2007.4 - 2010.3

      More details

    Country: Japan

  2. Toyota Technological Institute   Graduate School, Division of Engineering

    2004.4 - 2007.3

      More details

    Country: Japan

  3. Toyota Technological Institute   Faculty of Engineering   Department of Advanced Science and Technology

    2001.4 - 2005.3

      More details

    Country: Japan

Professional Memberships 5

  1. IEEE   Member

    2017.5

  2. The Society of Instrument and Control Engineers   Member

  3. Society of Automotive Engineers of Japan   Member

  4. The Institute of Electrical Engineers of Japan   Member

  5. The Japan Society of Mechanical Engineers   Member

Committee Memberships 5

  1. 科学技術交流財団 自律移動知能実装研究会   座長  

    2022.4 - 2024.3   

      More details

    Committee type:Other

  2. 計測自動制御学会中部支部   会計幹事  

    2020.4 - 2022.3   

      More details

    Committee type:Academic society

  3. 自動車技術会   中部支部幹事  

    2014.4 - 2017.3   

  4. 計測自動制御学会 スマートモビリティ調査研究委員会   幹事  

    2013.4 - 2015.3   

  5. 計測自動制御学会 離散事象研究会   運営委員  

    2012.4 - 2016.3   

      More details

    Committee type:Academic society

Awards 8

  1. マルチシンポジウム賞(基礎分野)

    2024.3   計測自動制御学会制御部門   モデル予測制御器のオンライン自動生成による多様な運転タスクの実現

    本田康平,奥田裕之,伊藤章,鈴木達也

     More details

    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  2. 2023 IEEE/SICE International Symposium on System Integration, Best Paper Award Finalists

    2023.1   IEEE/SICE   Analysis and Modeling of Traffic Participants Considering Interactions at Intersections without Traffic Signals

    Toru Watanabe, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki, Ryo Wakisaka, Kazunori Ban

     More details

    Award type:Award from international society, conference, symposium, etc.  Country:United States

  3. 計測自動制御学会中部支部第43期奨励賞

    2012.1   計測自動制御学会中部支部  

    奥田裕之

     More details

    Award type:Honored in official journal of a scientific society, scientific journal  Country:Japan

  4. 計測自動制御学会システム・情報部門学術講演会2010優秀論文賞

    2010   計測自動制御学会システム・情報部門  

    奥田裕之,鈴木達也

     More details

    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  5. 第23回計測自動制御学会システムインテグレーション部門講演会 優秀講演賞

    2022.12   計測自動制御学会   相互影響のある歩行者間の行動観測と行動予測モデルの構築

    児玉直紀,黒田和秀,奥田裕之,山口拓真,鈴木達也

     More details

    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  6. SI2021 優秀講演賞

    2021.12   計測自動制御学会   柔軟なタスク実行を実現するモデル予測制御の切り替え手法

    奥田裕之, 本田康平, 鈴木達也

     More details

    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  7. SI2021 優秀講演賞

    2021.12   計測自動制御学会   行動誘導を実現する人と機械のインタラクション予測制御

    奥田裕之, 鈴木達也

     More details

    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

  8. 大学院研究奨励賞

    2010.3   自動車技術会  

     More details

    Award type:Honored in official journal of a scientific society, scientific journal  Country:Japan

▼display all

 

Papers 112

  1. An occlusion- and interaction-aware safe control strategy for autonomous vehicles Reviewed International coauthorship

    Siddharth Gangadhar, Zhuoyuan Wang, Kofi Poku, Yorie Nakahira, Naoya Yamada, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

    22nd IFAC World Congress 2023(IFAC WC2023)     page: 8577 - 8584   2023.7

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  2. MPC Builder for Autonomous Drive: Automatic Generation of MPCs for Motion Planning and Control Reviewed

    2023 IEEE INTELLIGENT VEHICLES SYMPOSIUM, IV     2023.6

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/IV55152.2023.10186711

    Web of Science

  3. Pedestrian-aware Model Predictive Controller for Design of Considerate Autonomous Driving Reviewed

    MURALEEDHARAN Arun, OKUDA Hiroyuki, SUZUKI Tatsuya

    Transactions of the Society of Instrument and Control Engineers   Vol. 59 ( 11 ) page: 472 - 483   2023

     More details

    Authorship:Corresponding author   Language:Japanese   Publisher:The Society of Instrument and Control Engineers  

    <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>

    DOI: 10.9746/sicetr.59.472

    CiNii Research

  4. Configuration-aware model predictive motion planning for Tractor-Trailer Mobile Robot Reviewed

    Ito Nobuaki, Okuda Hiroyuki, Suzuki Tatsuya

    ADVANCED ROBOTICS     2022.9

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1080/01691864.2022.2126733

    Web of Science

  5. 行動の予測と誘導に基づく他交通参加者への配慮の実現 Reviewed

    奥田 裕之

    交通科学   Vol. 52 ( 1 ) page: 18 - 23   2021.12

     More details

    Authorship:Lead author, Corresponding author   Language:Japanese   Publishing type:Part of collection (book)  

    DOI: 10.34398/kokaken.52.1_18

    DOI: 10.34398/kokaken.52.1_18

  6. Development and evaluation of driving speed controller for lane merging considering surrounding driver’s intention toward stress-free driving Reviewed

      Vol. 14 ( 1 ) page: 128 - 139   2021.6

     More details

    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: https://doi.org/10.1080/18824889.2021.1939627

    DOI: https://doi.org/10.1080/18824889.2021.1939627

  7. Quantitative Driver Acceptance Modeling for Merging Car at Highway Junction and its Application to the design of Merging Behavior Control Reviewed

    Kota Harada, Hiroyuki Okuda, Tatsuya Suzuki, Shintaro Saigo, Satoshi Inoue

    IEEE Transactions on Intelligent Transportation Systems   Vol. 22 ( 1 ) page: 329 - 340   2021.1

     More details

    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TITS.2019.2957391

    Web of Science

  8. Modeling and Analysis of Driving Behavior based on Probability Weighted ARX Model Reviewed

    Hiroyuki Okuda, Norimitsu Ikami, Tatsuya Suzuki, Yuichi Tazaki, Kazuya Takeda

    IEEE Transactions on Intelligent Transportation Systems   Vol. 14 ( 1 ) page: 98-112   2012.8

     More details

    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TITS.2012.2207893

  9. Evaluation of Controllability of Interaction Between Pedestrian and Autonomous Mobile Robot in Shared Mobility Space Reviewed

    Kentaro Sugiura, Mizuho Aoki, Kazuhide Kuroda, Hiroyuki Okuda, Tatsuya Suzuki

    Proceedings of the International Conference on Informatics in Control, Automation and Robotics     page: 249 - 257   2023.11

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.5220/0012177500003543

    Scopus

  10. Bayesian Network Model of Decision-Making for Pedestrians' Crossing Behavior Considering Gaze Information at Unsignalized Intersection. Reviewed

    Takashi Nishimoto, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki 0001, Ryo Wakisaka, Kazunori Ban

    25th IEEE International Conference on Intelligent Transportation Systems(ITSC)     page: 4408 - 4415   2023.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ITSC57777.2023.10421888

    Scopus

    researchmap

    Other Link: https://dblp.uni-trier.de/db/conf/itsc/itsc2023.html#NishimotoYO0WB23

  11. Bayesian Network-Based Probabilistic Constraints for Safe Autonomous Driving in Occlusion Environments Reviewed International coauthorship

    Naoya Yamada, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, Yorie Nakahira

    IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC     page: 3770 - 3777   2023.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/ITSC57777.2023.10422408

    Scopus

  12. Analysis of Smartphone Walking Behavior of Pedestrians at Unsignalized Intersection Based on Decisions and Motion Reviewed

    Yuki Ban, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki, Chieko Nishizawa, Kazunori Ban

    2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023     page: 1184 - 1189   2023.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.23919/SICE59929.2023.10354222

    Scopus

  13. Actual-Vehicle Verification of Automatic Parking in Narrow Spaces Considering Precise Collision Avoidance Constraints for Rectangular Objects Reviewed

    Koki Hoshino , Kohei Honda , Mizuho Aoki , Hiroyuki Okuda, and Tatsuya Suzuki

    2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023     page: 646 - 651   2023.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  14. Observation and Modeling of Decision-Making of Pedestrian with Interactions at X-Crossing Reviewed

    Kazuma Uchida, Naoki Kodama, Hiroyuki Okuda, Kazuhide Kuroda, Tatsuya Suzuki

    2023 62nd Annual Conference of the Society of Instrument and Control Engineers, SICE 2023     page: 1184 - 1189   2023.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  15. Combination of Reinforcement Learning Models Towards Considerate Motion Planning for Multiple Pedestrians Reviewed

    Neel Mishra, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki

    22nd IFAC World Congress 2023(IFAC WC2023)     page: 3992 - 3997   2023.7

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  16. Longitudinal and Turning Manual Operation Control for a Force Sensorless Power-Assisted Transport Cart Reviewed

    Ryuki Sato, Ryuga NIshida, Susumu Hara, Hiroyuki Okuda, Mitsuru Nagatsuka, Masahiko Tsuji, Tatsuya Suzuki,

    22nd IFAC World Congress 2023(IFAC WC2023)     page: 1189 - 1194   2023.7

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  17. Multi-Horizon and Multi-Rate Model Predictive Control for Integrated Longitudinal and Lateral Vehicle Control Reviewed

    2023 IEEE INTELLIGENT VEHICLES SYMPOSIUM, IV     2023.6

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/IV55152.2023.10186692

    Web of Science

  18. Connection of nonlinear model predictive controllers for smooth task switching in autonomous driving Reviewed

    Honda Kohei, Okuda Hiroyuki, Suzuki Tatsuya, Ito Akira

    ASIAN JOURNAL OF CONTROL   Vol. 25 ( 3 ) page: 1805 - 1822   2023.5

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1002/asjc.2892

    Web of Science

  19. Adaptive Mode-switching From Autonomous Driving Mode to Manual Operation Mode of Mobile Robot Based on Body Sway Reviewed

    Ryuki Sato, Shoya Hirokawa, Susumu Hara, Ryuga Nishida, Hiroyuki Okuda,Mitsuru Nagatsuka, Tatsuya Suzuki

      Vol. 36 ( 3 ) page: 55 - 63   2023.3

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

  20. 航空機生産現場における荷物搬送AMRの人間中心設計 Reviewed

    奥田裕之,鈴木達也

    システム/制御/情報   Vol. 67 ( 2 )   2023.2

     More details

    Authorship:Lead author, Corresponding author   Language:Japanese   Publishing type:Research paper (scientific journal)  

  21. Analysis and Modeling of Traffic Participants Considering Interactions at Intersections Without Traffic Signals Reviewed

    Toru Watanabe, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki, Ryo Wakisaka, Kazunori Ban

    Proceedings of IEEE/SICE International Symposium on System Integrations (SII)     2023.1

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII55687.2023.10039251

    DOI: 10.1109/SII55687.2023.10039251

    Web of Science

    Other Link: https://ieeexplore.ieee.org/document/10039251

  22. Obstacle Avoidance Control Based on Nonlinear MPC for All Wheel Driven In-Wheel EV in Steering Failure Reviewed

    Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, Akira Ito, Daisuke Nagasaka

    2022 IEEE 25th International Conference on Intelligent Transportation Systems     2022.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  23. Indication of interaction plans based on model predictive interaction control: Cooperation between AMRs and pedestrians using eHMI Reviewed

    Kosuke Suzuki, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki

    SICE Annual Conference 2022     page: 1232 - 1237   2022.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  24. Evaluation of Impact by Control Switching According to Driving Environment Reviewed

    Yusuke Oi, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki

    SICE Annual Conference 2022     page: 521 - 526   2022.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  25. Design of an Autonomous driving system based on pedestrian emotions using Human-in-the-Loop Reinforcement Learning

    Neel Mishra, Hiroyuki Okuda, Tatsuya Suzuki

    SICE Annual Conference 2022     page: 761 - 765   2022.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  26. How impressions of other drivers affect one’s behavior when merging lanes

    Asaya Shimojo, Yuki Ninomiya, Kazuhisa Miwa, Hitoshi Terai, Shota Matsubayashi, Hiroyuki Okuda, Tatsuya Suzuki

    Transportation Research Part F: Traffic Psychology and Behaviour   Vol. 89   page: 236 - 248   2022.8

     More details

    Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.trf.2022.06.007

    Scopus

    researchmap

  27. モデル予測型経路追従制御における車両運動予測モデルの比較検証 Reviewed

    青木 瑞穂, 本田康平, 奥田裕之, 鈴木達也

    自動車技術会論文集   Vol. 53 ( 3 ) page: 687 - 692   2022.5

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.11351/jsaeronbun.53.687

    DOI: 10.11351/jsaeronbun.53.687

  28. Real-time Implementation of Randomized Model Predictive Control for Autonomous Driving Reviewed

    Arun Muraleedharan, Hiroyuki Okuda and Tatsuya Suzuki

    IEEE Transactions on Intelligent Vehicles   Vol. 7 ( 1 ) page: 11 - 20   2022.3

     More details

  29. Manual Control Mode for Autonomous Mobile Robots Using Velocity-Based Impedance Control

    Thao Nguyen Gia Minh, Hara Susumu, Hirokawa Shoya, Okuda Hiroyuki, Nagatsuka Mitsuru, Ogawa Naoki, Suzuki Tatsuya

    IEEJ JOURNAL OF INDUSTRY APPLICATIONS   Vol. 11 ( 5 ) page: 650 - 663   2022

     More details

    Language:Japanese  

    DOI: 10.1541/ieejjia.21011083

    Web of Science

  30. Model Predictive Collision Avoidance for Non-Convex Environment Using Projected C-Space Reviewed

    Tatsuya Ishiguro, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki,

    2022 IEEE/SICE International Symposium on System Integration (SII)     page: 525 - 530   2022

     More details

    Language:Japanese   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII52469.2022.9708875

    DOI: 10.1109/SII52469.2022.9708875

    Web of Science

  31. Modelling and Analysis for Interactive Crossing Decision of Pedestrian at Non-signalized Intersection Reviewed

    2022 IEEE/SICE International Symposium on System Integration (SII)     page: 900 - 907   2022

     More details

    Language:Japanese   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII52469.2022.9708841

    DOI: 10.1109/SII52469.2022.9708841

    Web of Science

  32. 確率的な時変パラメータを持つ制御器モデルによる車線維持行動のモデル化 Reviewed

    辻悠介,菅本周作,奥田裕之,山口拓真,鈴木達也

    計測自動制御学会論文誌   Vol. 58 ( 12 )   2022

     More details

    Authorship:Corresponding author   Language:Japanese   Publishing type:Research paper (scientific journal)  

  33. Indication of interaction plans based on model predictive interaction control: Cooperation between AMRs and pedestrians using eHMI

    Suzuki Kosuke, Yamaguchi Takuma, Okuda Hiroyuki, Suzuki Tatsuya

    2022 61ST ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS (SICE)     page: 1232 - 1237   2022

     More details

  34. Evaluation of impact by control switching according to driving environment

    Oi Yusuke, Yamaguchi Takuma, Okuda Hiroyuki, Suzuki Tatsuya

    2022 61ST ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS (SICE)     page: 521 - 526   2022

     More details

  35. Modeling Lane Keeping Behavior by Controller Model with Stochastic Parameters

    TSUJI Yusuke, SUGAMOTO Shusaku, OKUDA Hiroyuki, YAMAGUCHI Takuma, SUZUKI Tatsuya

    Transactions of the Society of Instrument and Control Engineers   Vol. 58 ( 12 ) page: 581 - 590   2022

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Society of Instrument and Control Engineers  

    <p>Recently, advanced driver assistance systems (ADAS), such as adaptive cruise control, lane keeping assistance and so on are widely spreading and these systems are improving comfortability and decreasing the number of accidents. The systems should be designed considering not only the usability but the acceptability from the driver because some drivers would switch it off if the system is not acceptable from the driver. Since the drivers' behavior is not simple but often varied even in a normal safety driving, there should be a kind of 'distribution' of the allowable driving behavior. This paper tries to construct the driver model which can simulate the variation in driving behavior in order to define distribution of the allowable driving behavior. Stochastic parameters and dead zones were used in the model structure taking into account the human nature. A method for evaluating the distribution of acceptable driving behavior is proposed, and parameter study is done based on the method.</p>

    DOI: 10.9746/sicetr.58.581

    CiNii Research

    researchmap

  36. Configuration-aware Model Predictive Motion Planning in Narrow Environment for Autonomous Tractor-trailer Vehicle Reviewed

    Nobuaki Ito, Hiroyuki Okuda, Shinkichi Inagaki, Tatsuya Suzuki

    Proceedings of 47th Annual Conference of the IEEE Industrial Electronics Society     page: 1 - 6   2021.10

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  37. Driving Intelligence Considering Social Acceptance

    Okuda Hiroyuki, Yamaguchi Takuma

    SYSTEMS, CONTROL AND INFORMATION   Vol. 65 ( 9 ) page: 370 - 376   2021.9

     More details

    Language:Japanese   Publisher:THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS  

    DOI: 10.11509/isciesci.65.9_370

    CiNii Research

  38. Variable Selection and Modeling of Drivers' Decision in Overtaking Behavior Based on Logistic Regression Model With Gazing Information Reviewed

    Nwadiuto Jude C., Yoshino Soichi, Okuda Hiroyuki, Suzuki Tatsuya

    IEEE ACCESS   Vol. 9   page: 127672 - 127684   2021.9

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/ACCESS.2021.3111753

    Web of Science

  39. 受け入れられる運転知能を目指して―人の行動予測を用いた低ストレスな協調制御 Reviewed

    奥田 裕之・山口 拓真

    システム/制御/情報   Vol. 65 ( 9 ) page: 370 - 376   2021.9

     More details

    Authorship:Lead author, Corresponding author   Language:Japanese   Publishing type:Part of collection (book)  

  40. Introduction of a Manual Control Mode for Autonomous Mobile Robots to Transportation of Equipment in Manufacturing Sites of Aircraft Industry

    Gia Minh Thao Nguyen, Shoya Hirokawa, Susumu Hara, Hiroyuki Okuda, Mitsuru Nagatsuka, Naoki Ogawa, Tatsuya Suzuki

    2021 IEEE International Conference on Advanced Robotics and its Social Impacts     page: 127 - 130   2021.7

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  41. Driving Behavior Modeling Based on Consistent Variable Selection in a PWARX Model Reviewed

    Nwadiuto Jude Chibuike, Okuda Hiroyuki, Suzuki Tatsuya

    APPLIED SCIENCES-BASEL   Vol. 11 ( 11 )   2021.6

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.3390/app11114938

    DOI: 10.3390/app11114938

    Web of Science

  42. Realization and evaluation of an instructor-like assistance system for collision avoidance Reviewed

    Keji Chen, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki, Xuexun Guo

    IEEE Transactions on Intelligent Transportation Systems   Vol. 22 ( 5 ) page: 2751 - 2760   2021.5

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TITS.2020.2974495

    Web of Science

  43. Model Predictive Path Planning for Autonomous Parking Based on Projected C-Space Reviewed

    Takuma Yamaguchi, Tatsuya Ishiguro, Hiroyuki Okuda, Tatsuya Suzuki

    The IEEE Intelligent Transportation Systems Society Conference     page: 929 - 935   2021

     More details

    Language:Japanese   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/ITSC48978.2021.9564599

    DOI: 10.1109/ITSC48978.2021.9564599

    Web of Science

  44. Design of Fail-safe Model Predictive Controller for Sudden Changes in Driving Scenes Reviewed

    Bui Tu Ha, Arun Muraleedharan, Srishti Sinha, Hiroyuki Okuda, Tatsuya Suzuki

    The IEEE Intelligent Transportation Systems Society Conference     page: 790 - 797   2021

     More details

    Language:Japanese   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/ITSC48978.2021.9564565

    Web of Science

  45. Comparative Study of Prediction Models for Model Predictive Path-Tracking Control in Wide Driving Speed Range Reviewed

    Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

    The IEEE Intelligent Vehicles Symposium     page: 1261 - 1267   2021

     More details

    Language:Japanese   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/IV48863.2021.9575868

    Web of Science

  46. Configuration-aware Model Predictive Motion Planning in Narrow Environment for Autonomous Tractor-trailer Mobile Robot

    Ito Nobuaki, Okuda Hiroyuki, Inagaki Shinkichi, Suzuki Tatsuya

    IECON 2021 - 47TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY     2021

     More details

  47. 「 ヒト ト ツナガル セイギョ システム ノ ミライ オ ノゾク 」 トクシュウゴウ

    奥田 裕之, 山口 拓真

    システム・制御・情報 = Systems, control and information : システム制御情報学会誌   Vol. 65 ( 9 ) page: 370 - 376   2021

     More details

    Language:Japanese  

    CiNii Books

    researchmap

  48. 非線形モデル予測制御を用いたレーンチェンジにおける行動決定・経路計画・制御の同時実行 Reviewed

    本田 康平, 奥田 裕之, 鈴木 達也

    自動車技術会論文集   Vol. 52 ( 1 ) page: 100 - 105   2020.12

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.11351/jsaeronbun.52.100

    DOI: 10.11351/jsaeronbun.52.100

  49. Simultaneous Realization of Decision, Planning and Control for Lane-Changing Behavior Using Nonlinear Model Predictive Control

    Okuda Hiroyuki, Sugie Nobuto, Suzuki Tatsuya, Haraguchi Kentaro, Kang Zibo

    IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS   Vol. E103D ( 12 ) page: 2632 - 2642   2020.12

     More details

  50. A hierarchical hybrid system of integrated longitudinal and lateral control for intelligent vehicles Reviewed

    Chen, KJ; Pei, XF; Okuda, H; Zhu, ML; Guo, XX; Guo, KH; Suzuki, T

    ISA TRANSACTIONS   Vol. 106   page: 200 - 212   2020.11

     More details

    Language:Japanese   Publisher:ISA Transactions  

    A hierarchical hybrid control system is proposed to cope with highly automated driving in highway environments with multiple lanes and surrounding vehicles. In the high-level layer, the discrete driving decisions are coordinated by the finite-state machine (FSM) based on the relative position identification and predictive longitudinal distance of the surrounding vehicles. The low-level layer is responsible for the vehicle motion control, where the model predictive control (MPC) approach is utilized to integrate the longitudinal and lateral control mainly including car-following control and lane changing control. The proposed control system focuses on two issues regarding safe driving on highways. On one hand, the subject vehicle must always keep a safe distance with its leading vehicle to avoid the rear-end collision. On the other hand, the subject vehicle should also overtake the preceding vehicle by safe lane changes if the desired speed is not achieved. The effectiveness of the hybrid control is tested in the simulation, whose results verify that the driving decisions are made reasonably and the vehicle motion control obeys stability and comfort requirements. Moreover, it is also indicated by the simulations in random scenarios that the control strategy is able to deal with most of ordinary situations on highways although some emergency situations or critical driving maneuvers of other vehicles are not considered.

    DOI: 10.1016/j.isatra.2020.07.009

    Web of Science

    Scopus

    PubMed

  51. Modeling Car-Following Behavior in Downtown Area based on Unsupervised Clustering and Variable Selection Method Reviewed

    Duc-An Nguyen, Jude Nwadiuto, Hiroyuki Okuda, Tatsuya Suzuki

    IEEE International Conference on Systems, Man, and Cybernetics 2020 (SMC2020)     page: 1 - 6   2020.10

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SMC42975.2020.9282910

    DOI: 10.1109/SMC42975.2020.9282910

  52. Drivers' driving style and their take-over-control judgment

    Matsumuro Miki, Miwa Kazuhisa, Okuda Hiroyuki, Suzuki Tatsuya, Makiguchi Minoru

    TRANSPORTATION RESEARCH PART F-TRAFFIC PSYCHOLOGY AND BEHAVIOUR   Vol. 74   page: 237 - 247   2020.10

     More details

    Language:Japanese  

    DOI: 10.1016/j.trf.2020.08.009

    Web of Science

  53. Model predictive driving for tractor-trailer mobile robot with an omni-directional tractor Reviewed

    Nobuaki Ito, Hiroyuki Okuda, Tatsuya Suzuki,

    2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)     page: 1530 - 1533   2020.9

     More details

    Language:English   Publishing type:Research paper (conference, symposium, etc.)  

    DOI: 10.23919/SICE48898.2020.9240351

    DOI: 10.23919/SICE48898.2020.9240351

  54. Scenario-Based Model Predictive Speed Controller Considering Probabilistic Constraint for Driving Scene with Pedestrian Reviewed

    Arun Muraleedharan, Anh Tuan Tran, Hiroyuki Okuda, Tatsuya Suzuki

    IEEE Intelligent Transportation Systems Society Conference(ITSC 2020)     page: 1350 - 1356   2020.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/ITSC45102.2020.9294176

    DOI: 10.1109/ITSC45102.2020.9294176

  55. Multi-Task Model Predictive Control Based on Continuation with Intermediate Mode Reviewed

    Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

    IEEE Intelligent Transportation Systems Society Conference(ITSC 2020)     page: 713 - 719   2020.9

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/ITSC45102.2020.9294663

    DOI: 10.1109/ITSC45102.2020.9294663

  56. Model Structure Identification of Hybrid Dynamical Systems based on Unsupervised Clustering and Variable Selection Reviewed

    Duc An Nguyen, Jude Nwadiuto, Hiroyuki Okuda, Tatsuya Suzuki

    21st IFAC World Congress     page: 1 - 6   2020.7

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  57. Scenario-based stochastic MPC for vehicle speed control considering the interaction with pedestrians Reviewed

    Anh Tuan Tran, Arun Muraleedharan, Hiroyuki Okuda, Tatsuya Suzuki

    21st IFAC World Congress     page: 1 - 7   2020.7

     More details

    Language:English   Publishing type:Research paper (international conference proceedings)  

  58. Decision-Making in Interactions Between Two Vehicles at a Highway Junction Reviewed

    Asaya Shimojo, Yuki Ninomiya, Shota Matsubayashi, Kazuhisa Miwa, Hitoshi Terai, Hiroyuki Okuda, Tatsuya Suzuki

    HCI in Mobility, Transport, and Automotive Systems. Driving Behavior, Urban and Smart Mobility   Vol. 12213   page: 104 - 113   2020.7

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1007/978-3-030-50537-0_9

    DOI: 10.1007/978-3-030-50537-0_9

  59. Piecewise ARXモデルに基づくインタラクティブな運転行動のモデリングと解析 Reviewed

    山口 拓真, 奥田 裕之, 鈴木達也

    知能と情報(日本知能情報ファジィ学会誌)   Vol. 32 ( 3 ) page: 713 - 721   2020.6

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.3156/jsoft.32.3_713

    DOI: 10.3156/jsoft.32.3_713

  60. Model Structure Identification of Hybrid Dynamical Systems based on Unsupervised Clustering and Variable Selection

    Duc-An Nguyen, Nwadiuto Jude, Okuda Hiroyuki, Suzuki Tatsuya

    IFAC PAPERSONLINE   Vol. 53 ( 2 ) page: 1090 - 1095   2020

     More details

  61. Scenario-based stochastic MPC for vehicle speed control considering the interaction with pedestrians

    Anh-Tuan Tran, Muraleedharan Arun, Okuda Hiroyuki, Suzuki Tatsuya

    IFAC PAPERSONLINE   Vol. 53 ( 2 ) page: 15325 - 15331   2020

     More details

  62. Scenario-based model predictive speed controller considering probabilistic constraint for driving scene with pedestrian

    Muraleedharan Arun, Anh-Tuan Tran, Okuda Hiroyuki, Suzuki Tatsuya

    2020 IEEE 23RD INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)     2020

     More details

    Language:Japanese  

    Web of Science

  63. Multi-task Model Predictive Control based on Continuation with Intermediate Mode

    Honda Kohei, Okuda Hiroyuki, Suzuki Tatsuya

    2020 IEEE 23RD INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)     2020

     More details

    Language:Japanese  

    Web of Science

  64. Modeling Car-Following Behavior in Downtown Area based on Unsupervised Clustering and Variable Selection Method

    Duc-An Nguyen, Nwadiuto Jude, Okuda Hiroyuki, Suzuki Tatsuya

    2020 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     page: 3714 - 3720   2020

     More details

    Language:Japanese  

    Web of Science

  65. Model predictive driving for tractor-trailer mobile robot with an omni-directional tractor

    Ito Nobuaki, Okuda Hiroyuki, Suzuki Tatsuya

    2020 59TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)     page: 1530 - 1533   2020

     More details

    Language:Japanese  

    Web of Science

  66. Model predictive driving for tractor-trailer system with omni-directional tractor

    ITO Nobuaki, OKUDA Hiroyuki, SUZUKI Tatsuya

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2020 ( 0 ) page: 1A1-G06   2020

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Many researchers studied path planning and trajectory tracking of the tractor-trailer system. Most studies used a differential drive vehicle for a tractor. However, differential drive vehicles are stuck in some cases due to restrictions on their travel directions. In this paper, we solved that problem with the use of an omni-directional tractor, a kind of mobile robot being able to move every direction. As a trailer, a differential drive vehicle is used, which has no actuator. We control the tractor-trailer system by model predictive control based on its kinematic model and consider both path following and obstacle avoidance. Simulation results show its performance of the proposed tractor-trailer system.</p>

    DOI: 10.1299/jsmermd.2020.1a1-g06

    CiNii Research

    researchmap

  67. Application of autonomous driving technologies for saving labor in production

    Okuda Hiroyuki, Suzuki Tatsuya

    The Proceedings of Conference of Tokai Branch   Vol. 2020.69 ( 0 ) page: 420   2020

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    DOI: 10.1299/jsmetokai.2020.69.420

    CiNii Research

    researchmap

  68. Analysis and Modeling of Real World Car-Following Driving in Downtown Area Based on Variable Structured Piecewise Linear Model Reviewed

    Jude C. Nwadiuto, Hyuntai Chin, Hiroyuki Okuda, Tatsuya Suzuki

    Proc. of 2019 IEEE Intelligent Transportation Systems Conference(ITSC)     page: 1211-1216   2019.10

     More details

    Language:English  

  69. Improvement of Control Performance of Sampling Based Model Predictive Control using GPU

    Muraleedharan Arun, Okuda Hiroyuki, Suzuki Tatsuya

    2019 30TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV19)     page: 1999-2004   2019

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    Web of Science

  70. A model predictive control-based lane merging strategy for autonomous vehicles Reviewed

    Anh-Tuan Tran, Kawaguchi Masato, Okuda Hiroyuki, Suzuki Tatsuya

    2019 30TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV19)     page: 594-599   2019

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    Web of Science

  71. Analysis and Modeling of Real World Car-Following Driving in Downtown Area Based on Variable Structured Piecewise Linear Model Reviewed

    Nwadiuto Jude, Chin Hyuntai, Okuda Hiroyuki, Suzuki Tatsuya

    2019 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC)     page: 1211 - 1216   2019

     More details

  72. A model predictive control-based lane merging strategy for autonomous vehicles

    Anh-Tuan Tran, Kawaguchi Masato, Okuda Hiroyuki, Suzuki Tatsuya

    2019 30TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV19)     page: 594-599   2019

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    researchmap

  73. Simultaneous Realization of Planning and Control for Lane-change Behavior Using Nonlinear Model Predictive Control Reviewed

    Nobuto Sugie, Hiroyuki Okuda, Tatsuya Suzuki, Kentaro Haraguchi, Zibo Kang

    2018 IEEE 21th International Conference on Intelligent Transportation Systems (ITSC)     page: 2406-2411   2018.11

     More details

    Language:English  

  74. Sampling Based Predictive Control with Frequency Domain Input Sampling for Smooth Collision Avoidance Reviewed

    Hiroyuki Okuda, Yingqi Liang, Tatsuya Suzuki

    2018 IEEE 21th International Conference on Intelligent Transportation Systems (ITSC)     page: 2426-2431   2018.11

     More details

    Authorship:Lead author   Language:English  

  75. Design of Automated Merging Control by Considering Acceptability of Drivers on Main Lane Reviewed

    Kota Harada, Hiroyuki Okuda, Tatsuya Suzuki, Shintaro Saigo, Satoshi Inoue

    Transactions of Society of Automotive Engineers of Japan   Vol. 49 ( 5 ) page: 1011-1017   2018.9

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.11351/jsaeronbun.49.1011

  76. High-Accurate Localization INS and Using Multilayer LiDAR for Autonomous Cars Reviewed

    Naoki Akai, Eijiro Takeuchi, Takuma Yamaguchi, Luis Yoichi Morales, Yuki Yoshihara, Hiroyuki Okuda, Tatsuya Suzuki, Yoshiki Ninomiya

    Transactions of Society of Automotive Engineers of Japan   Vol. 49 ( 3 ) page: 675-681   2018.5

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.11351/jsaeronbun.49.675

  77. Sampling Based Predictive Control with Frequency Domain Input Sampling for Smooth Collision Avoidance

    Okuda Hiroyuki, Liang Yingqi, Suzuki Tatsuya

    2018 21ST INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)     page: 2426-2431   2018

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    Web of Science

  78. Simultaneous Realization of Planning and Control for Lane-change Behavior Using Nonlinear Model Predictive Control

    Sugie Nobuto, Okuda Hiroyuki, Suzuki Tatsuya, Haraguchi Kentaro, Kang Zibo

    2018 21ST INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)     page: 2406-2411   2018

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    Web of Science

  79. Human-Machine Cooperation of Electric Wheelchair Considering Road Condition in Outdoor

    SUGIYAMA Shunichiro, OKUDA Hiroyuki, INAGAKI Shinkichi, SUZUKI Tatsuya

    The Proceedings of Conference of Tokai Branch   Vol. 2018.67 ( 0 ) page: 404   2018

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    DOI: 10.1299/jsmetokai.2018.67.404

    CiNii Research

    researchmap

  80. Parking Trajectory Planning Using Multiresolution State Roadmaps Reviewed

    Yuichi Tazaki, Hiroyuki Okuda, Tatsuya Suzuki

    IEEE Transactions on Intelligent Vehicles   Vol. 2 ( 4 ) page: 298-307   2017.12

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

  81. Real-Time Collision Avoidance Control Based on Continuation Method for Nonlinear Model Predictive Control with Safety Constraint Reviewed

    Hiroyuki Okuda,Nobuto Sugie, Tatsuya Suzuki

    Proceedings of The 2017 Asian Control Conference     page: 1086-1091   2017.12

     More details

    Authorship:Lead author   Language:English  

    DOI: 978-1-5090-1572-6/17/$31.00

  82. Parking Trajectory Planning Using Multiresolution State Roadmaps

    Tazaki Yuichi, Okuda Hiroyuki, Suzuki Tatsuya

    IEEE TRANSACTIONS ON INTELLIGENT VEHICLES   Vol. 2 ( 4 ) page: 298 - 307   2017.12

     More details

    Language:Japanese  

    DOI: 10.1109/TIV.2017.2769882

    Web of Science

  83. Autonomous Driving Based on Accurate Localization Using Multilayer LiDAR and Dead Reckoning Reviewed

    Naoki Akai, Luis Yoichi Morales, Takuma Yamaguchi, Eijiro Takeuchi, Yuki Yoshihara, Hiroyuki Okuda, Tatsuya Suzuki, and Yoshiki Ninomiya

    Proceedings of 2017 IEEE 20th International Conference on Intelligent Transportation Systems     page: 1147-1152   2017.10

     More details

    Language:English  

  84. Identification of Time-Varying Parameters of Hybrid Dynamical System Models and Its Application to Driving Behavior Reviewed

    Thomas WILHELEM, Hiroyuki OKUDA, Tatsuya SUZUKI

    IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences     page: 2095-2105   2017.10

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

  85. Identification of Time-Varying Parameters of Hybrid Dynamical System Models and Its Application to Driving Behavior

    Wilhelem Thomas, Okuda Hiroyuki, Suzuki Tatsuya

    IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES   Vol. E100A ( 10 ) page: 2095-2105   2017.10

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1587/transfun.E100.A.2095

    Web of Science

  86. Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane Reviewed

    Hiroyuki Okuda, Kota Harada, Tatsuya Suzuki, Shintaro Saigo, Satoshi Inoue

    Proceedings of 2017 IEEE Intelligent Vehicles Symposium     page: 640 -646   2017.7

     More details

    Authorship:Lead author   Language:English  

    DOI: 978-1-5090-4803-8/17/$31.00

  87. Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane Reviewed

    Hiroyuki Okuda, Kota Harada, Tatsuya Suzuki, Shintaro Saigo, Satoshi Inoue

    Proceedings of 2017 IEEE Intelligent Vehicles Symposium (IV)     2017.6

     More details

    Authorship:Lead author   Language:English  

    DOI: 978-1-5090-4803-8/17/$31.00

  88. Energy Consumption Evaluation Based on a Personalized Driver-Vehicle Model Reviewed

    Thomas Wilhelem, Hiroyuki Okuda, Blaine Levedahl, Tatsuya Suzuki

    IEEE Transactions on Intelligent Transportation Systems   Vol. 18 ( 6 ) page: 1468 - 1477   2017.6

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TITS.2016.2608381

    Web of Science

  89. Supervisory Interventional Driving Assistance Control and Its Verification Reviewed

    Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki, Soichiro Hayakawa, Ryojun Ikeura, Kenji Muto, Takafumi Ito

    Transactions of Society of Automotive Engineers of. Japan   Vol. 48 ( 3 ) page: 717-724   2017.5

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

  90. 円滑な交通を実現する車両間調和のための制御技術 Invited Reviewed

    奥田 裕之, 田崎 勇一, 鈴木 達也

    計測と制御   Vol. 57 ( 3 )   2017.3

     More details

    Authorship:Lead author   Language:Japanese  

    DOI: 10.11499/sicejl.57.185

  91. Autonomous Driving Based on Accurate Localization Using Multilayer LiDAR and Dead Reckoning

    Akai Naoki, Morales Luis Yoichi, Yamaguchi Takuma, Takeuchi Eijiro, Yoshihara Yuki, Okuda Hiroyuki, Suzuki Tatsuya, Ninomiya Yoshiki

    2017 IEEE 20TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)     page: .   2017

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    Web of Science

  92. Realtime collision avoidance control based on continuation method for nonlinear model predictive control with safety constraint

    Okuda Hiroyuki, Sugie Nobuto, Suzuki Tatsuya

    2017 11TH ASIAN CONTROL CONFERENCE (ASCC)     page: 1086 - 1091   2017

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    Web of Science

  93. Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane

    Okuda Hiroyuki, Harada Kota, Suzuki Tatsuya, Saigo Shintaro, Inoue Satoshi

    2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017)     page: 640-646   2017

     More details

    Language:English   Publishing type:Research paper (scientific journal)  

    Web of Science

  94. SLAM Using ROS and Operational Assist for Electric Wheelchairs

    SUGIYAMA Shunichiro, OKUDA Hiroyuki, INAGAKI Shinkichi, SUZUKI Tatsuya

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2017 ( 0 ) page: 2P2-D05 - D05   2017

     More details

    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>With advance of aging society, the number of users of electric wheelchairs is increasing. However, operating an electric wheelchair in confined spaces requires skill because risk of collisions is high. Then opportunity of going out is lost for unskilled users. This paper presents an obstacle avoiding support system for electric wheelchairs in unknown environment where severe control is required such as a narrow way and an elevator. User’s inputs are adjusted depending on the relative position of the robot and obstacles which is estimated by SLAM (Simultaneous Localization and Mapping) using LRF (Laser Range Finder) and rotary encoders. The availability is verified in some experiments.</p>

    DOI: 10.1299/jsmermd.2017.2p2-d05

    CiNii Research

    researchmap

  95. Implementation and verification of supervisory cooperative control by model predictive method Reviewed

    Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki, Soichiro Hayakawa, Ryojun Ikeura, Kenji Muto, Takafumi Ito

    Proceedings of 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)     page: 1180-1185   2016.11

     More details

    Language:English  

    DOI: 10.1109/ITSC.2016.7795706

  96. Modeling and analysis of acceptability for merging vehicle at highway junction Reviewed

    Hiroyuki Okuda, Kota Harada, Tatsuya Suzuki, Shintaro Saigo, Satoshi Inoue

    Proceedings of 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)     page: 1004-1009   2016.11

     More details

    Authorship:Lead author   Language:English  

    DOI: 10.1109/ITSC.2016.7795678

  97. Identification of time-varying parameters in Gipps model for driving behavior analysis Reviewed

    Thomas Wilhelem, Hiroyuki Okuda, Akihiko Kawashima, Tatsuya Suzuki

    Proceedings of 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016)     page: 2984-2989   2016.10

     More details

    Language:English  

  98. Realization of Different Driving Characteristics for Autonomous Drive by Using Model Predictive Control Reviewed

    Ayame Koga, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Kentaro Haraguchi, Zibo Kang

    Proceedings of 2016 IEEE Intelligent Vehicles Symposium (IV)     page: 800-806   2016.6

     More details

    Language:English  

  99. 運転個性を反映したモデル予測型自動運転システム : 評価関数推定手法の提案 Reviewed

    古賀 あやめ, 奥田 裕之, 田崎 勇一, 鈴木 達也, 原口 健太郎, 康 子博

    自動車技術会論文集   Vol. 47 ( 6 ) page: 1431-1437   2016.6

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

  100. Computation of Energy-Optimal Velocity Profile for Electric Vehicle Considering Slope of Route Reviewed

    Zhi Liang Tan, Thomas Wilhelem, Hiroyuki Okuda, Blaine Levedahl, Tatsuya Suzuki

    Proceedings of 2015 IEEE/SICE International Symposium on System Integration (SII)     page: .472-478   2015.12

     More details

    Language:English  

  101. Autonomous Lane Tracking Reflecting Skilled / Un-Skilled Driving Characteristics Reviewed

    Ayame Koga, Hiroyuki Okuda, Yuichi Tazaki, Tatsuya Suzuki, Blaine Levedahl, Kentaro Haraguchi and Zibo Kang

    Proceedings of 41st Annual Conf. of the IEEE Industrial Electronics Society     page: 3175-3180   2015.11

     More details

    Language:English  

  102. Behavior personalized Adaptive Cruise Control using Probability-Weighted ARX model Reviewed

    Thomas WILHELEM, Hiroyuki OKUDA, Blaine LEVEDAHL Tatsuya SUZUKI, Tetsunori HARAGUCHI

    Proceedings of 22th ITS World Congress 2015     page: 1-12   2015.10

     More details

    Language:English  

  103. Driver Assistance Control based on Model Predictive Computation of Constraint Satisfaction Reviewed

    Takuma Yamaguchi, Jumpei Tatebe, Hiroyuki Okuda, Yuichi Tazaki, Tatusya Suzuki, Takafumi Iro and Kenji Muto

    Proceedings of 2015 IEEE International Conference on Intelligent Transportation Systems     page: 1304-1310   2015.9

     More details

    Language:English  

  104. Identification of Mode Switching Condition in Overtaking Behavior using Variable-free Logistic Regression Mode Reviewed

    Soichi Yoshino, Hiroyuki Okuda, Tatusya Suzuki and Toshitake Kawai

    Proceedings of 2015 IEEE International Conference on Intelligent Transportation Systems     page: 1539-1544   2015.9

     More details

    Language:English  

  105. Analyzing Driver Gaze Behavior and Consistency of Decision Making During Automated Driving Reviewed

    Chiyomi Miyajima, Suguru Yamazaki, Takashi Bando, Kentaro Hitomi, Hitoshi Terai, Hiroyuki Okuda, Takatsugu Hirayama, Masumi Egawa, Tatsuya Suzuki, Kazuya Takeda

    IEEE Intelligent Vehicles Symposium (IV 2015)     page: 1293-1298   2015.6

     More details

    Language:English  

  106. 速道路における追越し行動におけるプリミティブタスクの切り換え条件推定 Reviewed

    奥田裕之,鐙陽介,田崎勇一,鈴木達也

    自動車技術会論文集   Vol. 46 ( 2 ) page: 527-531   2015.2

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

  107. 追従タスクにおける判断の曖昧さ指標を用いた二重副次課題法に基づく車内機器の操作性評価手法 Reviewed

    奥田裕之,近藤悠太,田崎勇一,鈴木達也,牟田浩之,大和田冨治

    自動車技術会論文集   Vol. 46 ( 1 ) page: 153-160   2015.1

     More details

    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)  

  108. Model Predictive Driver Assistance Control for Cooperative Cruise Based on Hybrid System Driver Model Reviewed

    Hiroyuki Okuda, Xiaolin GUO, Yuichi Tazaki, Tatsuya Suzuki, Blaine Levedahl

    Proceedings of 2014 American Control Conference     page: 4630-4636   2015

     More details

    Language:English  

  109. An experimental study on the difference in drivers' decision-making behavior during manual and supported driving Reviewed

    Hitoshi Terai, Hiroyuki Okuda, Kentarou Hitomi, Takashi Bando, Chiyomi Miyajima, Takatsugu Hirayama, Yuki Shinohara, Masumi Egawa, Kazuya Takeda

    6th International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the Affiliated Conferences     page: 3136–3141   2015

     More details

    Language:English  

  110. Effect of Automatic Lane Changing on Driver's Behaviour Decision Process Reviewed

    Kentarou Hitomi, Hitoshi Terai, Hiroyuki Okuda, Takashi Bando, Chiyomi Miyajima, Takatsugu Hirayama, Yuki Shinohara, Masumi Egawa, Kazuya Takeda

    The 3rd International Symposium on Future Active Safety Technology toward Zero Traffic Accidents (FAST-zero'15)     page: 551-557   2015

     More details

    Language:English  

  111. Cooperative Automatic Parking System Based on Consensus Control with Mutual Exclusion Mechanism Reviewed

    N. Noto, H. Okuda, Y. Tazaki, T. Suzuki, S. Hayakawa, S. Mita, M. Katayama, G. Obinata

    Transactions of the Society of Instrument and Control Engineers   Vol. 49 ( 11 ) page: 986-993   2013.11

     More details

    Language:Japanese   Publishing type:Research paper (scientific journal)  

  112. 個人適合型ポテンシャル法に基づく障害物回避アシスト制御 Reviewed

    奥田裕之, 能登紀泰, 田崎勇一,鈴木達也

    自動車技術会論文集   Vol. 44 ( 3 ) page: 895-901   2013.3

     More details

    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)  

▼display all

Books 1

  1. モビリティイノベーションシリーズ 5 自動運転

    二宮 芳樹, 武田 一哉, 目黒 淳一, 竹内 栄二朗, 村瀬 洋, 出口 大輔, 新村 文郷, 平山 高嗣, 川西 康友, 久徳 遙矢, 赤木 康宏, 奥田 裕之, 萩原 亨, 安積 卓也, 加藤 真平, 清水 綾子, 中川 由賀, 石黒 祥生, 野辺 継男( Role: Joint author ,  6章)

    コロナ社  2021.1  ( ISBN:978-4-339-02775-4

     More details

    Total pages:288   Responsible for pages:133-155   Language:Japanese Book type:Scholarly book

MISC 1

  1. Editorial Essay

    OKUDA Hiroyuki

    Journal of The Society of Instrument and Control Engineers   Vol. 57 ( 3 ) page: 198 - 198   2018

     More details

    Language:Japanese   Publisher:The Society of Instrument and Control Engineers  

    DOI: 10.11499/sicejl.57.198

    researchmap

Presentations 61

  1. マルチホライズン・マルチレートのモデル予測を用いた縦横統合車両制御の性能検証

    Kuan Ching Lin, 本田康平, 奥田裕之, 鈴木達也

    計測自動制御学会 第11回 制御部門マルチシンポジウム(MSCS2024)  2024.3.19 

     More details

    Event date: 2024.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東広島市   Country:Japan  

  2. オープンスペースにおける歩行者間のすれ違い挙動の観測とモデル化

    内田和磨, 奥田裕之, 鈴木達也

    計測自動制御学会 第11回 制御部門マルチシンポジウム(MSCS2024)  2024.3.18 

     More details

    Event date: 2024.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東広島市   Country:Japan  

  3. Stein変分勾配降下法を用いた 多峰性行動分布に対するモデル予測経路積分制御

    本田康平, 赤井直樹, 鈴木康介, 青木瑞穂, 細萱広高, 奥田裕之, 鈴木達也

    第29回ロボティクスシンポジア  2024.3.5  日本ロボット学会

     More details

    Event date: 2024.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:沖縄市   Country:Japan  

  4. 歩行者/PM(パーソナルモビリティ)間におけるPMの「思いやり」行動の評価

    岡泰彦, 山口拓真, 奥田裕之, 鈴木達也

    第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)  2023.12.16  計測自動制御学会

     More details

    Event date: 2023.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:新潟市   Country:Japan  

  5. 無信号交差点における歩行者,ドライバの行動モデル構築と危険行動の再現

    渡邉融,山口拓真,奥田裕之,鈴木達也,脇坂龍,伴和徳

    第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)  2023.12.16  計測自動制御学会

     More details

    Event date: 2023.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:新潟市   Country:Japan  

  6. 自転車シミュレータにおけるモデルパラメータ検証と運動性能評価

    小出 拓矢, 山口 拓真, 奥田 裕之. 鈴木 達也, 脇坂 龍, 伴 和徳

    自動車技術会学術講演会2023秋季大会  2023.10.12  自動車技術会

     More details

    Event date: 2023.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋国際会議場   Country:Japan  

  7. 無信号交差点での左折巻き込みシーンにおけるサイクリストの判断モデル構築

    脇坂 龍, 伴 和徳, 山口 拓真, 奥田 裕之. 鈴木 達也

    自動車技術会学術講演会2023秋季大会  2023.10.12  自動車技術会

     More details

    Event date: 2023.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋国際会議場   Country:Japan  

  8. Real car validation of model predictive automated parking considering shape-aware collision avoidance constraint

    Koki Hoshino, Kohei Honda, Mizuho Aoki, Hiroyuki Okuda, Tatsuya Suzuki

    2023.10.7  SICE

     More details

    Event date: 2023.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  9. Evaluation of Controllability of Pedestrian’s Behavior in Shared Space

    Kentaro Sugiura, Mizuho Aoki, Hiroyuki Okuda, Tatsuya Suzuki

    2023.10.8  SICE

     More details

    Event date: 2023.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  10. Generating Diverse Driving Behaviors with Model Predictive Control International conference

    Kohei Honda, Hiroyuki Okuda, Akira Ito, Tatsuya Suzuki

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2024.10.3  IEEE/RSJ International Conference on Intelligent Robots and Systems

     More details

    Event date: 2023.10

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Detroit, MI, USA   Country:United States  

  11. F1TENTH : 自動運転ミニカーレース国際大会への参加・入賞報告

    青木 瑞穂, 本田康平, 細萱広高, 鈴木康介, 赤井直紀, 奥田裕之, 鈴木達也

    2023年度電子情報通信学会 ソサイエティ大会  2023.9.12  電子情報通信学会

     More details

    Event date: 2023.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋   Country:Japan  

  12. Observation and Modeling of decision-making of Pedestrian with Interactions at X-Crossing

    Kazuma Uchida, Naoki Kodama, Hiroyuki Okuda, Kazuhide Kuroda, Tatsuya Suzuki

    The Robotics and Mechatronics Conference 2023  2023.6.29 

     More details

    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  13. Modeling Human Intention for Autonomous Mobile Robots Passing Through Human Traffic in Narrow Passage

    Kentaro SUGIURA, Mizuho AOKI, Kazuhide KURODA, Hiroyuki OKUDA, Tatsuya SUZUKI

    The Robotics and Mechatronics Conference 2023  2023.6.29 

     More details

    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  14. Construction and Robustness Verification of Driver Model considering Variation of Driving Behavior

    Hyukjae KWON, Takuma YAMAGUCHI, Hiroyuki OKUDA, Tatsuya SUZUKI

    The Robotics and Mechatronics Conference 2023  2023.6.29 

     More details

    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  15. Actual Vehicle Verification of Automatic Parking in Narrow Spaces Considering Precise Collision Avoidance Constraints for Rectangular Objects

    Koki Hoshino, Kohei Honda, Mizuho Aoki, Hiroyuki Okuda, Tatsuya Suzuki

    The Robotics and Mechatronics Conference 2023  2023.6.30 

     More details

    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  16. モデル予測制御器のオンライン自動生成による多様な運転タスクの実現

    本田 康平,奥田 裕之,鈴木 達也,伊藤 章

    計測自動制御学会第10回制御部門マルチシンポジウム(MSCS2023)  2023.3.11  日本機械学会

     More details

    Event date: 2023.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:草津市   Country:Japan  

  17. 架台揺動に基づく操作力オブザーバを用いたパワーアシスト台車の複数参加者による操作性評価実験

    西田 龍我, 佐藤 隆紀, 原 進, 奥田 裕之, 永塚 満, 辻 昌彦, 鈴木 達也

    日本機械学会東海支部第72 期総会・講演会  2023.3  日本機械学会

     More details

    Event date: 2023.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  18. インタラクション予測にもとづく周辺歩行者への配慮を実現する移動ロボットの行動計画

    奥田 裕之, 黒田 和秀, 鈴木 達也

    計測自動制御学会第10回制御部門マルチシンポジウム(MSCS2023)  2023.3.11  日本機械学会

     More details

    Event date: 2023.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:草津市   Country:Japan  

  19. A robust path tracking approach considering non-Gaussian probability distribution of the pose of mobile robot

    Li Hanjie, Muraleedharan Arun, Hiroyuki Okuda, Tatsuya Suzuki

    SICE SI2022  2022.12.14  SICE

     More details

    Event date: 2022.12

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  20. 相互影響のある歩行者間の行動観測と行動予測モデルの構築

    児玉直紀, 黒田和秀, 奥田裕之, 山口拓真, 鈴木達也

    第23回システムインテグレーション部門講演会(SI2022)  2022.12.14  計測自動制御学会

     More details

    Event date: 2022.12

    Language:Japanese   Presentation type:Poster presentation  

    Venue:千葉市   Country:Japan  

  21. 低摩擦路面におけるドリフト走行を考慮したモデル予測型コーナリング制御

    Wen Han, 奥田裕之, 山口拓真, 鈴木達也

    第23回システムインテグレーション部門講演会(SI2022)  2022.12.14  計測自動制御学会

     More details

    Event date: 2022.12

    Language:Japanese   Presentation type:Poster presentation  

    Venue:千葉市   Country:Japan  

  22. 無信号交差点における歩行者,ドライバの判断モデルと運動モデル

    渡邊 融,山口 拓真,奥田 裕之,鈴木 達也,脇坂龍,伴和徳

    第65回自動制御連合講演会  2022.11.12  日本機械学会

     More details

    Event date: 2022.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:宇都宮市   Country:Japan  

  23. Development of a Predictive Display System Considering Communication Delay in Remote Control of Automobiles

    Ryo Takuma, Hiroyuki Okuda, Tatsuya Suzuki,

    2022.6.2 

     More details

    Event date: 2022.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  24. Analyze decision models and interactions among a pedestrian and drivers at an unsignalized intersection

    Tohru Watanabe, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki,

    2022.5.27 

     More details

    Event date: 2022.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  25. Model Predictive Vehicle Speed Control for Mainlane Vehicles Considering Merging Vechiles

    Reo Terano, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki,

    2022.5.25 

     More details

    Event date: 2022.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  26. 行動誘導を実現する人と機械のインタラクション予測制御

    奥田 裕之、鈴木 達也

    第22回計測自動制御学会 システムインテグレーション部門講演会  2021.12.17  計測自動制御学会

     More details

    Event date: 2021.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  27. 柔軟なタスク実行を実現するモデル予測制御の切り替え手法

    奥田 裕之、本田 康平、鈴木 達也

    第22回計測自動制御学会 システムインテグレーション部門講演会  2021.12.17  計測自動制御学会

     More details

    Event date: 2021.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  28. モデル予測型経路追従制御における車両運動予測モデルの比較検証

    青木 瑞穂, 本田 康平, 奥田 裕之, 鈴木 達也

    自動車技術会学術講演会2021年秋季大会  2021.10.14  自動車技術会

     More details

    Event date: 2021.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  29. インタラクティブな横断タスクにおける視線切り替えに基づく歩行者の横断判断のモデル化と解析

    西本 宇志,黒田 颯人,山口 拓真,奥田 裕之,鈴木 達也,脇坂 龍,伴 和徳

    自動車技術会学術講演会2021年秋季大会  2021.10.15  自動車技術会

     More details

    Event date: 2021.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  30. Proposal of Model Predictive Trajectory Planning Method for Autonomous Parking Considering Obstacle Avoidance Constraint with Coordinate Transformation

    Tatsuya Ishiguro, Hiroyuki OKuda, Tatsuya Suzuki

    2021.7.7 

     More details

    Event date: 2021.7

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  31. Model predictive collision avoidance for towing robot considering geometric shape

    Nobuaki Ito, Hiroyuki Okuda, Shinkichi Inagaki, Tatsuya Suzuki

    2021.7.7 

     More details

    Event date: 2021.7

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  32. 道路横断時における歩行者行動のモデル化に関する検討

    脇坂 龍, 伴 和徳, 奥田 裕之, 山口 拓真, 鈴木 達也

    ITS Japan 第18回ITSシンポジウム2020  2020.12.11  ITS Japan

     More details

    Event date: 2020.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:松山市   Country:Japan  

  33. 交通参加者モデルと自動運転機能とのインタラクションの検証

    原口 健太郎, 脇坂 龍, 畔柳 史, 伴 和徳, 奥田 裕之, 鈴木 達也

    自動車技術会2020年秋季大会  2020.9.22  自動車技術会

     More details

    Event date: 2020.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  34. 全方位移動ロボットによるモデル予測型自動牽引

    伊藤暢章,奥田裕之,鈴木達也

    ロボティクス・メカトロニクス講演会  2020.5.27  日本機械学会

     More details

    Event date: 2020.5

    Language:Japanese   Presentation type:Poster presentation  

    Venue:金沢   Country:Japan  

  35. 歩行者の顔向き情報を活用した電動車椅子の自動運転制御

    黒瀬悦志,奥田裕之,鈴木達也

    ロボティクス・メカトロニクス講演会  2020.5.27  日本機械学会

     More details

    Event date: 2020.5

    Language:Japanese   Presentation type:Poster presentation  

    Venue:金沢   Country:Japan  

  36. 滑らかなタスク切り替えのためのモデル予測制御(MPC)の切り替え手法の提案

    本田康平,奥田裕之,鈴木達也

    ロボティクス・メカトロニクス講演会  2020.5.27  日本機械学会

     More details

    Event date: 2020.5 - 2019.5

    Language:Japanese   Presentation type:Poster presentation  

    Venue:金沢   Country:Japan  

  37. 非線形モデル予測制御を用いたレーンチェンジにおける行動決定・経路計画・制御の同時実行

    本田康平,奥田裕之,鈴木達也

    自動車技術会2020春季大会  2020.5.20  自動車技術会

     More details

    Event date: 2020.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:横浜   Country:Japan  

  38. 不感帯を考慮したドライバの操舵行動モデルの構築

    丸山稜太,菅本周作,山口拓真,奥田裕之,鈴木達也,西郷慎太郎,井上聡,遠藤照昌

    計測自動制御学会第7回制御部門マルチシンポジウム 

     More details

    Event date: 2020.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  39. インタラクションを含む交通参加車両モデルの開発

    原口健太郎, 伴和徳, 奥田裕之, 鈴木達也

    計測自動制御学会第7回制御部門マルチシンポジウム 

     More details

    Event date: 2020.3

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  40. 短距離センサを用いた荷物運搬アルゴリズムの検証

    後藤直生, 清水遼, 奥田裕之

    計測自動制御学会第7回制御部門マルチシンポジウム 

     More details

    Event date: 2020.3

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  41. 計画と制御に関する基礎と最近の動向 Invited

    奥田裕之

    基礎科目に立脚し最新の工学技術を学ぶ講習会『自動運転の最前線~基礎から実例まで~』 

     More details

    Event date: 2019.12

    Language:Japanese   Presentation type:Oral presentation (invited, special)  

    Country:Japan  

  42. 周辺歩行者とのインタラクションを考慮した電動車椅子のモデル予測的速度制御手法の提案

    坂川広大, 奥田裕之, 稲垣伸吉, 鈴木達也

    日本機械学会 第28回交通・物流部門大会(TRANSLOG2019) 

     More details

    Event date: 2019.11

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  43. 判断の曖昧さを考慮したMPCに基づく合意形成とACCを用い た合流制御の提案

    川口 眞人,Tuan Anh Tran,奥田 裕之,鈴木 達也

    自動車技術会学術講演会2019年春季大会 

     More details

    Event date: 2019.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  44. 指導員型運転支援の反復利用による運転行動特性変化の検証

    158. 山口 拓真, 金田 直輝, 松林 翔太, 奥田 裕之, 鈴木 達也, 三輪 和久

    自動車技術会学術講演会2019年春季大会 

     More details

    Event date: 2019.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  45. Acceleration of Sampling Based Predictive Control Algorithm for Smooth Collision Avoidance using GPU

    Arun Muraleedharan, Hiroyuki Okuda, Tatsuya Suzuki

     More details

    Event date: 2019.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  46. A Variable Structured Piecewise Linear Model Approach to Analyzing and Modeling Real World Car-Following Driving in Downtown Area -Real World Downtown Area Driving Data Analysis, Modeling and Validation-

    Jude Chibuike Nwadiuto, Hyuntai Chin, Hiroyuki Okuda, Tatsuya Suzuki

     More details

    Event date: 2019.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  47. モード分割に基づく人間の行動のモデル化・解析とその応用 Invited

    奥田裕之

    日本機械学会関西支部 第19回秋季技術交流フォーラム「次世代を切り拓く若手研究者の講演フォーラム」 

     More details

    Event date: 2018.10

    Language:Japanese   Presentation type:Oral presentation (invited, special)  

    Country:Japan  

  48. Driving Behavior Analysis of Elderly Driver with Instructor at Merger in Urban Area

    Shunya Okuda;Takuma Yamaguchi;Yuki Yoshihara;Hirofumi Aoki;Misako Yamagishi;Yoshiki Ninomiya;Eijiro Takeuchi;Hiroyuki Okuda;Tatsuya Suzuki

     More details

    Event date: 2018.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  49. Behavior Analysis of Off-Road Driving Depending on Driving Road Features

    Ryosuke Ito, Hiroyuki Okuda, Tatsuya Suzuki, Takuma Yamaguchi, Naoki Namba, Yu Kinoshita, Yuji Hiramatsu

     More details

    Event date: 2018.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  50. Verification of Supervisory Assistance Control Based on Collision Probability Computation

    Takuma Yamaguchi,Takafumi Kamiya,Hiroyuki Okuda,Tatsuya Suzuki

     More details

    Event date: 2018.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  51. PWARXモデルによるインタラクションを含む対向車とのすれ違い行動のモデル化

    澤田圭佑,神谷貴文,山口拓真,奥田裕之,鈴木達也

    自動車技術会学術講演会2017年秋季大会 

     More details

    Event date: 2017.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  52. 本線走行車の合流受容性を考慮したモデル予測型合流車速制御手法の提案

    原田 晃汰, 奥田 裕之, 鈴木 達也, 西郷 慎太朗, 井上 聡

    自動車技術会学術講演会2017年秋季大会 

     More details

    Event date: 2017.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  53. 車の駐車と移動の予測手法の提案

    清水修,鈴木達也,稲垣伸吉,伊藤みのり,川島明彦,山口拓真,奥田裕之

    自動車技術会学術講演会2017年秋季大会 

     More details

    Event date: 2017.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  54. モデル予測制御を用いた自動走行の実験的検証 -連続変形法を用いた非線形MPCにおける制御性能評価-

    杉江 信人, 古賀 あやめ, 奥田 裕之, 鈴木 達也, 舩越 勲, 原口 健太郎

    自動車技術会学術講演会2017年秋季大会 

     More details

    Event date: 2017.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  55. ランダマイズドモデル予測制御を用いた障害物回避を含む経路追従走行制御の有効性の検証

    梁 英キ, 奥田 裕之, 鈴木 達也

    自動車技術会学術講演会2017年秋季大会 

     More details

    Event date: 2017.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  56. PWARXモデルを用いた対向車すれ違い行動のモデル化と車両間インタラクションの検討

    澤田圭佑,神谷貴文,山口拓真,奥田裕之,鈴木達也

    第62回離散事象システム研究会 

     More details

    Event date: 2017.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  57. 合流における本線走行車の合流受容性の予測モデルの構築と 合流車速制御への応用

    原田晃汰,奥田裕之,鈴木達也

    第62回離散事象システム研究会 

     More details

    Event date: 2017.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  58. Autonomous Driving in Public Road Based on Accurate Localization using INS and Multilayer LIDAR

    Naoki Akai, Eijiro Takeuchi, Takuma Yamaguchi, Luis Yoichi Morales, Yuki Yoshihara, Hiroyuki Okuda, Tatsuya Suzuki, Yoshiki Ninomiya

    2017 JSAE Annual Congress (Spring) 

     More details

    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  59. Application to Environment Including Multiple Risks by Supervisory Assistance Control International conference

    Takafumi Kamiya, Takuma Yamaguchi, Hiroyuki Okuda, Tatsuya Suzuki

    2017 JSAE Annual Congress (Spring) 

     More details

    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  60. Verification of Improvement of Driving Behavior by Supervisory Control Assistance System

    Takuma Yamaguchi, Takafumi Kamiya, Syota Matsubayashi, Hiroyuki Okuda, Tatsuya Suzuki, Kazuhisa Miwa

    2017 JSAE Annual Congress (Spring) 

     More details

    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  61. Realization of Power Assist Control of a Motion System by Using a Vibration System as Operator Intention Input Device

    Shoya HIROKAWA, Susumu HARA, Ryuga NISHIDA, Hiroyuki OKUDA, Naoki AKAI, Mitsuru NAGATSUKA, Tatsuya SUZUKI

    2021.12 

     More details

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

▼display all

Works 2

  1. ゆっくり自動運転に向けた自動運転実証プラットフォームの構築

    2016.8
    -
    2019.3

  2. ゆっくり自動運転に向けた自動運転実証プラットフォームの構築

    2016.8
    -
    2019.3

     More details

Research Project for Joint Research, Competitive Funding, etc. 1

  1. 自転車に配慮する自動運転車設計のためのサイクリストモデル構築

    Grant number:2023M-406  2023.4 - 2025.3

    公益財団法人JKA  機械振興補助事業(研究補助)  研究助成

      More details

    Authorship:Principal investigator  Grant type:Competitive

KAKENHI (Grants-in-Aid for Scientific Research) 6

  1. Design of Mobility Intelligence for Small Mobility in Shared Space

    Grant number:22H00211  2022.4 - 2025.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (A)

      More details

    Authorship:Coinvestigator(s)  Grant type:Competitive

    Grant amount:\1000000 ( Direct Cost: \1000000 )

  2. Realization and validation of task switched model predictive control

    Grant number:20K04533  2020.4 - 2023.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

      More details

    Authorship:Principal investigator 

    Grant amount:\4290000 ( Direct Cost: \3300000 、 Indirect Cost:\990000 )

  3. Development of Model Predictive Interactive Intelligence and Its Application to Autonomous Drive

    Grant number:19H00763  2019.4 - 2022.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (A)

    Suzuki Tatsuya

      More details

    Authorship:Coinvestigator(s) 

    In this project, a model predictive intelligence was developed, which exploits the model of others, behavior prediction based on others' model and real-time optimization. The proposed control architecture was implemented on a small personal mobility. The others' model embedded in the proposed architecture played an important role to realize an interactive intelligence between the vehicle and others. In this project, a model of decision making was particularly focused on and a new cost function of decision entropy of others has been defined. Since the decision entropy is a measure of the uncertainty of the decision of others, a natural human-like interaction between vehicle and others has been achieved by minimizing the decision entropy of others. The usefulness of the proposed architecture has been demonstrated by implementing on a real personal mobility which has interaction with pedestrians.

  4. Optimal Placement of Photovoltaic Carports Based on Vehicle Operation Scheduling for EV Sharing

    Grant number:17K17807  2017.4 - 2019.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)  Grant-in-Aid for Young Scientists (B)

    Kawashima Akihiko, SUZUKI Tatsuya, INAGAKI Shinkichi, OKUDA Hiroyuki, YAMAGUCHI Takuma, SHIMIZU Osamu

      More details

    This study has constructed the optimal placement method of the Photovoltaic (PV) carports adapted for the service area. The method is constructed through expanding the previous formulation of the optimization problem for the electric vehicle (EV) operation schedule in one-way EV sharing service and estimating the movement demand for users in service area based on real data.
    Specifically, (1) principal investigator collected and cleansed the data of movement demand and constructed a generating model virtually for use of the service. (2) The Optimal placement problem is formulated and verified the effectiveness in an experimental condition. Also, the computational cost has been reduced in the optimization time for the conventional method.

    researchmap

  5. Construction of recognition, decision and motion models and application for personalized automated driving

    Grant number:16K21090  2016.4 - 2019.3

    JSPS  Grant-in-Aid for Scientific Research 

    Okuda Hiroyuki

      More details

    Authorship:Principal investigator 

    Grant amount:\4160000 ( Direct Cost: \3200000 、 Indirect Cost:\960000 )

    In order to realize the human friendly automated driving and driving assistance, the fundamental system modeling techniques for the construction of the driving behavior model database were studied.
    (1) The experimental vehicle was setup to observe the driving behavior in city downtown area. (2) To collect the various driving behavior model in different driving scene with various drivers, (A) the system identification technique for the hybrid dynamical system with time variant parameters based on the particle filters under the Bayes estimation, and (B) the systematic extraction method of the explanatory variables of the hybrid dynamical system, were proposed. In addition, the considerate design method of the driver assistance system for the other cars by automatic adjustment of the driving speed in lane merging on a highway lamp is proposed and tested to verify the validity of the driving behavior model aided control system design.

  6. Multi layered behavior modeling based on hierarchical mode segmentation

    Grant number:23760389  2011.4 - 2014.3

    Grant-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists(B)

    Hiroyuki Okuda

      More details

    Authorship:Principal investigator 

▼display all

Industrial property rights 4

  1. 運転支援装置

    山口 拓真,奥田 裕之,鈴木 達也,田﨑 勇一

     More details

    Applicant:国立大学法人名古屋大学

    Application no:2015-65761  Date applied:2015.3

    Announcement no:2016-186683  Date announced:2016.10

    Country of applicant:Domestic  

  2. 過信判定装置、過依存抑止装置

    板東誉司,人見健太郎,江川万寿三,武田一哉,奥田裕之,寺井仁,平山高嗣,山本千代美

     More details

    Applicant:株式会社デンソー,国立大学法人名古屋大学

    Application no:2016-66279  Date applied:2014.9

    Announcement no:2016-066279  Date announced:2016.4

    Country of applicant:Domestic  

  3. 状況適合型運転支援装置

    鈴木達也,田崎勇一,奥田裕之,三上晃司,津留直彦,伊佐治和美

     More details

    Application no:2010-170899  Date applied:2010.7

    Announcement no:2012-030659  Date announced:2012.2

    Country of applicant:Domestic  

  4. 作業モード切替点設定方法とその装置及び作業補助装置

    土田 縫夫,早川 聡一郎,奥田 裕之,鈴木 達也

     More details

    Applicant:トヨタ自動車株式会社,学校法人トヨタ学園,国立大学法人名古屋大学

    Application no:2005-240273  Date applied:2005.8

    Announcement no:2007-054899  Date announced:2007.3

    Country of applicant:Domestic  

 

Teaching Experience (On-campus) 19

  1. 機械知能情報特論

    2022

  2. 電気回路工学および演習

    2020

     詳細を見る

    アナログ受動素子を中心とした電気回路の基礎を学ぶ.
    (演習部分の45分のみ担当)

  3. 機械・航空工学科実験第2(オペアンプ)

    2020

     詳細を見る

    オペアンプの操作,回路構成を通じて電気回路で学習した内容を確認する.

  4. 電気回路工学演習

    2020

     詳細を見る

    アナログ受動素子を中心とした電気回路の基礎を学ぶ.
    (演習部分の45分のみ担当,旧カリキュラム相当)

  5. 機械・航空工学科実験第2(オペアンプ)

    2019

     詳細を見る

    オペアンプの操作,回路構成を通じて電気回路で学習した内容を確認する.

  6. 電気回路工学演習

    2019

     詳細を見る

    アナログ受動素子を中心とした電気回路の基礎を学ぶ.
    (演習部分の45分のみ担当,旧カリキュラム相当)

  7. 電気回路工学および演習

    2019

     詳細を見る

    アナログ受動素子を中心とした電気回路の基礎を学ぶ.
    (演習部分の45分のみ担当)

  8. 機械・航空工学科実験第2(FB制御・移動ロボ)

    2019

     詳細を見る

    移動ロボットのプログラミングを経て組み込み,システムインテグレーションを学ぶ

  9. 電気回路工学演習

    2018

     詳細を見る

    アナログ受動素子を中心とした電気回路の基礎を学ぶ.
    (演習部分の45分のみ担当,旧カリキュラム相当)

  10. 電気回路工学および演習

    2018

     詳細を見る

    アナログ受動素子を中心とした電気回路の基礎を学ぶ.
    (演習部分の45分のみ担当)

  11. 機械・航空工学科実験第2

    2018

     詳細を見る

    移動ロボットのプログラミングを経て組み込み,システムインテグレーションを学ぶ

  12. G30自動車工学実験

    2018

     詳細を見る

    実践を通して倒立振子を制御する理論と課程を学ぶ.
    (学生実験の1テーマのみ担当)

  13. 学生実験第1

    2017

     詳細を見る

    オペアンプによる反転増幅器の作成を通して,
    オペアンプの周辺回路とその使用方法を学ぶとともに,
    計測器の使い方等をマスターする.

  14. G30自動車工学実験

    2017

     詳細を見る

    実践を通して倒立振子を制御する理論と課程を学ぶ.

  15. 機械・航空工学科実験第2

    2017

     詳細を見る

    移動ロボットのプログラミングを経て組み込み,システムインテグレーションを学ぶ

  16. 電気回路工学演習

    2017

  17. 電気回路工学演習

    2016

  18. G30自動車工学実験

    2016

     詳細を見る

    機械切削による切削の理論を学び,切削条件と切削片の変化を知る.

  19. 機械・航空工学科実験第2

    2016

     詳細を見る

    移動ロボットのプログラミングを経て組み込み,システムインテグレーションを学ぶ

▼display all

Teaching Experience (Off-campus) 10

  1. 情報工学実験I

    2016.4 - 2017.3 Meijo University)

  2. 情報工学実験I

    2015.4 - 2016.3 Meijo University)

  3. 学生実験第1

    Nagoya University)

     More details

  4. G30自動車工学実験

    Nagoya University)

     More details

  5. 情報工学実験I

    Meijo University)

     More details

  6. 電気回路工学演習

    Nagoya University)

     More details

  7. 電気回路工学および演習

    Nagoya University)

     More details

  8. 機械・航空工学科実験第2(オペアンプ)

    Nagoya University)

     More details

  9. 機械・航空工学科実験第2(FB制御・移動ロボ)

    Nagoya University)

     More details

  10. 機械・航空工学科実験第2

    Nagoya University)

     More details

▼display all

 

Social Contribution 1

  1. Weekend workshop

    Role(s):Lecturer

    Toyota Commemorative Museum of Industry and Technology  2013 - 2015

     More details

    Audience: Schoolchildren

    Type:Seminar, workshop

Academic Activities 2

  1. SICE Annual Conference 2023, Program co-chair International contribution

    Role(s):Planning, management, etc.

    2023.9

     More details

    Type:Academic society, research group, etc. 

  2. SICE Annual Conference 2013, Local arrangement co-chair International contribution

    Role(s):Planning, management, etc.

    2013.9

     More details

    Type:Academic society, research group, etc.