Faculty Profiles - OKUDA Hiroyuki

Papers - OKUDA Hiroyuki

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Improvement of Control Performance of Sampling Based Model Predictive Control using GPU Reviewed International journal

Muraleedharan Arun, Okuda Hiroyuki, Suzuki Tatsuya

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

Path tracking control using model predictive control with on GPU implementation for autonomous driving Reviewed International journal

MURALEEDHARAN Arun, OKUDA Hiroyuki, SUZUKI Tatsuya

Journal of Arid Land Studies Vol. 28 ( S ) page： 163 - 167 2018.12

Language：English Publishing type：Research paper (scientific journal) Publisher：The Japanese Association for Arid Land Studies

<p>Autonomous driving is one of the technologies that will become the next milestone in mobility advancement. Before reaching public roads, autonomous driving is expected in areas where driving is considered to be hard and unsafe, like arid and desert terrains. We are trying to achieve fully automated driverless vehicle in transportation sector. Demand of high performance computation using limited space and minimum energy is a pressing need for the mass application of autonomous driving systems. This paper presents a control system for autonomous driving based on model predictive control (MPC) in which a graphics processing unit (GPU) was used to enhance the computation speed for a better real-time performance. The motion controls for the lateral direction is formulated as a model predictive control problem. The lateral MPC was partly executed using GPU for speed enhancement. The implemented MPC package and its adaptation to GPU will make autonomous driving feasible on relatively smaller and cheaper on-board computers, it will also be beneficial to the developers and researchers in various fields other than control engineering field.</p>

DOI： 10.14976/jals.28.s_163

CiNii Research

Energy evaluation of CACC and ACC system in auto mixed platoon Reviewed International journal

SINHA Srishti, CHIN Hyuntai, OKUDA Hiroyuki, SUZUKI Tatsuya

Journal of Arid Land Studies Vol. 28 ( S ) page： 159 - 162 2018.12

Language：English Publishing type：Research paper (scientific journal) Publisher：The Japanese Association for Arid Land Studies

<p>In the last decade, severity of climatic condition in arid and desert areas, has increased phenomenally. Disaster control mechanism in arid and desert area needs to be supplemented by fleet of driverless vehicles, which could be remotely controlled. It would be prudent not to create permanent infrastructure for disaster control services in order to reduce cost component and quick services. This paper presents simulator result for the Cooperative Adaptive Cruise Control (CACC) system based on a Model Predictive Control. CACC is one of promising technologies to achieve the group-level safety and energy aware control in driverless vehicle platoon. The system allows information exchange through Vehicle to Vehicle (V2V) or Individual to Vehicle (I2V) communication. Since the proposed method enables the application of CACC to mixed vehicle fleet consists of manual-driven vehicles and driver-less vehicles. This technology also realizes driver-less accompany vehicle to improve vehicle level redundancy in severe driving environment. Proposed system is implemented and its performance is tested in a simulator experiment.</p>

DOI： 10.14976/jals.28.s_159

CiNii Research

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane Reviewed International journal

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

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

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

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

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Papers - OKUDA Hiroyuki