研究者詳細 - 奥田　裕之

論文 - 奥田　裕之

分割表示 123 件中 41 - 60 件目／全件表示 >>

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) 頁： 1232 - 1237 2022年

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) 頁： 521 - 526 2022年

確率的な時変パラメータをもつ制御器モデルによる車線維持行動のモデル化

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集 58 巻 ( 12 ) 頁： 581 - 590 2022年

Configuration-aware Model Predictive Motion Planning in Narrow Environment for Autonomous Tractor-trailer Vehicle 査読有り

Nobuaki Ito, Hiroyuki Okuda, Shinkichi Inagaki, Tatsuya Suzuki

Proceedings of 47th Annual Conference of the IEEE Industrial Electronics Society 頁： 1 - 6 2021年10月

Variable Selection and Modeling of Drivers' Decision in Overtaking Behavior Based on Logistic Regression Model With Gazing Information 査読有り

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

IEEE ACCESS 9 巻頁： 127672 - 127684 2021年9月

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査読有り

奥田裕之・山口拓真

システム／制御／情報 65 巻 ( 9 ) 頁： 370 - 376 2021年9月

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 頁： 127 - 130 2021年7月

Driving Behavior Modeling Based on Consistent Variable Selection in a PWARX Model 査読有り

Nwadiuto Jude Chibuike, Okuda Hiroyuki, Suzuki Tatsuya

APPLIED SCIENCES-BASEL 11 巻 ( 11 ) 2021年6月

Realization and Evaluation of an Instructor-Like Assistance System for Collision Avoidance 査読有り

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

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 22 巻 ( 5 ) 頁： 2751 - 2760 2021年5月

Model Predictive Path Planning for Autonomous Parking Based on Projected C-Space 査読有り

Yamaguchi Takuma, Ishiguro Tatsuya, Okuda Hiroyuki, Suzuki Tatsuya

2021 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC) 頁： 929 - 935 2021年

Design of Fail-safe Model Predictive Controller for Sudden Changes in Driving Scenes 査読有り

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

2021 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC) 頁： 790 - 797 2021年

Comparative Study of Prediction Models for Model Predictive Path-Tracking Control in Wide Driving Speed Range 査読有り

Aoki Mizuho, Honda Kohei, Okuda Hiroyuki, Suzuki Tatsuya

2021 32ND IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) 頁： 1261 - 1267 2021年

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年

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—「人と繋がる制御システムの未来をのぞく」特集号

65 巻 ( 9 ) 頁： 370 - 376 2021年

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・制御の同時実行査読有り

本田康平, 奥田裕之, 鈴木達也

自動車技術会論文集 52 巻 ( 1 ) 頁： 100 - 105 2020年12月

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 E103D 巻 ( 12 ) 頁： 2632 - 2642 2020年12月

A hierarchical hybrid system of integrated longitudinal and lateral control for intelligent vehicles 査読有り

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

ISA TRANSACTIONS 106 巻頁： 200 - 212 2020年11月

記述言語：日本語出版者・発行元：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

Modeling Car-Following Behavior in Downtown Area based on Unsupervised Clustering and Variable Selection Method 査読有り

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

IEEE International Conference on Systems, Man, and Cybernetics 2020 (SMC2020) 頁： 1 - 6 2020年10月

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 74 巻頁： 237 - 247 2020年10月

Model predictive driving for tractor-trailer mobile robot with an omni-directional tractor 査読有り

Nobuaki Ito, Hiroyuki Okuda, Tatsuya Suzuki,

2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) 頁： 1530 - 1533 2020年9月

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