研究者詳細 - 奥田　裕之

論文 - 奥田　裕之

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Improvement of Control Performance of Sampling Based Model Predictive Control using GPU 査読有り国際誌

Muraleedharan Arun, Okuda Hiroyuki, Suzuki Tatsuya

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

Path tracking control using model predictive control with on GPU implementation for autonomous driving 査読有り国際誌

MURALEEDHARAN Arun, OKUDA Hiroyuki, SUZUKI Tatsuya

Journal of Arid Land Studies 28 巻 ( S ) 頁： 163 - 167 2018年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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 査読有り国際誌

SINHA Srishti, CHIN Hyuntai, OKUDA Hiroyuki, SUZUKI Tatsuya

Journal of Arid Land Studies 28 巻 ( S ) 頁： 159 - 162 2018年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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 査読有り

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

2018 IEEE 21th International Conference on Intelligent Transportation Systems (ITSC) 頁： 2406-2411 2018年11月

Sampling Based Predictive Control with Frequency Domain Input Sampling for Smooth Collision Avoidance 査読有り

Hiroyuki Okuda, Yingqi Liang, Tatsuya Suzuki

2018 IEEE 21th International Conference on Intelligent Transportation Systems (ITSC) 頁： 2426-2431 2018年11月

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査読有り

原田晃汰, 奥田裕之, 鈴木達也, 西郷慎太朗, 井上聡

自動車技術会論文集 49 巻 ( 5 ) 頁： 1011-1017 2018年9月

INSとマルチレイヤーLiDARを用いた自動運転車両のための高精度自己位置推定査読有り

赤井直紀, 竹内栄二朗, 山口拓真, ルイス洋一モラレス, 吉原佑器, 奥田裕之, 鈴木達也, 二宮芳樹

自動車技術会論文集 49 巻 ( 3 ) 頁： 675-681 2018年5月

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) 頁： 2406-2411 2018年

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) 頁： 2426-2431 2018年

屋外の路面状況を考慮した電動車いすの人間機械協調制御

杉山俊一郎, 奥田裕之, 稲垣伸吉, 鈴木達也

東海支部総会講演会講演論文集 2018.67 巻 ( 0 ) 頁： 404 2018年

Parking Trajectory Planning Using Multiresolution State Roadmaps 査読有り

Yuichi Tazaki, Hiroyuki Okuda, Tatsuya Suzuki

IEEE Transactions on Intelligent Vehicles 2 巻 ( 4 ) 頁： 298-307 2017年12月

Real-Time Collision Avoidance Control Based on Continuation Method for Nonlinear Model Predictive Control with Safety Constraint 査読有り

Hiroyuki Okuda,Nobuto Sugie, Tatsuya Suzuki

Proceedings of The 2017 Asian Control Conference 頁： 1086-1091 2017年12月

Parking Trajectory Planning Using Multiresolution State Roadmaps

Tazaki Yuichi, Okuda Hiroyuki, Suzuki Tatsuya

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2 巻 ( 4 ) 頁： 298 - 307 2017年12月

Autonomous Driving Based on Accurate Localization Using Multilayer LiDAR and Dead Reckoning 査読有り

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 頁： 1147-1152 2017年10月

Identification of Time-Varying Parameters of Hybrid Dynamical System Models and Its Application to Driving Behavior 査読有り

Thomas WILHELEM, Hiroyuki OKUDA, Tatsuya SUZUKI

IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences 頁： 2095-2105 2017年10月

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 E100A 巻 ( 10 ) 頁： 2095-2105 2017年10月

Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane 査読有り

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

Proceedings of 2017 IEEE Intelligent Vehicles Symposium 頁： 640 -646 2017年7月

Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane 査読有り国際誌

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

Proceedings of 2017 IEEE Intelligent Vehicles Symposium 頁： 640 -646 2017年7月

Design of Automated Merging Control by Minimizing Decision Entropy of Drivers on Main Lane 査読有り

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

Proceedings of 2017 IEEE Intelligent Vehicles Symposium (IV) 2017年6月

Energy Consumption Evaluation Based on a Personalized Driver-Vehicle Model 査読有り

Wilhelem Thomas, Okuda Hiroyuki, Levedahl Blaine, Suzuki Tatsuya

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 18 巻 ( 6 ) 頁： 1468 - 1477 2017年6月

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