Faculty Profiles - OKUDA Hiroyuki

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

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

Ito Nobuaki, Okuda Hiroyuki, Suzuki Tatsuya

ADVANCED ROBOTICS 2022.9

Vol. 14 ( 1 ) page： 128 - 139 2021.6

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

Parking Trajectory Planning Using Multiresolution State Roadmaps Reviewed International journal

Yuichi Tazaki, Hiroyuki Okuda, Tatsuya Suzuki

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

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

Analysis, Modeling, and Control of Merging Behavior at Low Speeds Reviewed International journal

Tatsuya Ishiguro, Hiroyuki Okuda, Kenta Tominaga, Tatsuya Suzuki

2025 IEEE/SICE International Symposium on System Integration, SII 2025 page： 782 - 788 2025.1

Language：English Publishing type：Research paper (international conference proceedings) Publisher：2025 IEEE/SICE International Symposium on System Integration, SII 2025

In a merging environment where automatic and manual operations are mixed, it is important for both parties to communicate with each other. While much research has been conducted at high speeds, such as on expressways, little progress has been made at low speeds, such as on ordinary roads. In this presentation, we will experimentally observe the driving characteristics of drivers in right-angle merging at low speeds, and construct a right-angle merging model that takes negotiation into account.

DOI： 10.1109/SII59315.2025.10871073

Modeling of Cyclists' Decision for Left-Turn Vehicle at Unsignalized Intersection using Logistic Regression Model and Gaussian Mixuter Model Reviewed International journal

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

2025 IEEE/SICE International Symposium on System Integration, SII 2025 page： 789 - 796 2025.1

Inducibility Analysis of Pedestrian's Interactive Behavior Reviewed International journal

Kentaro Sugiura, Hiroyuki Okuda, Mizuho Aoki, Kazuma Uchida, Tatsuya Suzuki

2025 IEEE/SICE International Symposium on System Integration, SII 2025 page： 1 - 7 2025.1

Language：English Publishing type：Research paper (international conference proceedings) Publisher：2025 IEEE/SICE International Symposium on System Integration, SII 2025

As the application fields of Autonomous Mobile Robots (AMRs) expand, stress-free interaction with people around them becomes more important. AMRs are highly required to interact with pedestrians like human-human interaction. This paper proposes a new measure, 'Inducibility,' expressing how AMR's behavior can induce (control) the other pedestrian's behavior. In particular, this paper discusses two kinds of inducibility measures: one is based on the sensitivity of decision-making, and the other one is based on the controllability gramian for the state space model of the interactive behavior. Finally, the validity of these two measures is evaluated based on data on interaction behaviors, and typical applications of these measures are discussed.

DOI： 10.1109/SII59315.2025.10870962

Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation Reviewed

Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2024), 2024.10

Comparative Study of Distributed Computation for Cooperative Adaptive Cruise Control using Model Prediction Reviewed

Hiroyuki Okuda, Toshiaki Hori, Hyuntai Chin, Tatsuya Suzuki

27th IEEE International Conference on Intelligent Transportation Systems (ITSC2024) 2024.9

Hierarchical Model of Pedestrians' Crossing Decision-making at Unsignalized Intersection Reviewed

NISHIMOTO Takashi, YAMAGUCHI Takuma, OKUDA Hiroyuki, SUZUKI Tatsuya, WAKISAKA Ryo, BAN Kazunori

Transactions of the Society of Instrument and Control Engineers Vol. 60 ( 9 ) page： 509 - 521 2024.9

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

It is important to understand and predict the behavior of pedestrians, who are vulnerable road users, for the safe implementation of autonomous driving including on ordinary roads. Pedestrians make decisions and move considering other traffic participants, and decision-making models have been proposed to understand pedestrians' behavior. However, as the traffic situations become more complex, such as the number of vehicles, the models become more complicated and the scale of the models become larger, which makes modeling more difficult. To solve the problem, this paper models the crossing decisions of pedestrians using small-scale models by dividing the crossing decisions into decisions for each traffic participant. In the proposed model, crossing decisions of pedestrians are expressed by a Bayesian network, and the divided decisions for each traffic participant are modeled by logistic regression. Data of pedestrians' behavior were obtained using interactive multiplayer simulators, and then the proposed model was trained and validated. The accuracy of the proposed model was as good as that of the conventional model, which indicates the effectiveness of the proposed model. The proposed model succeeded in expressing crossing decisions of pedestrians in complex situations from small-scale models. Therefore, the flexibility of the model is increased in response to changes in the number of vehicles.

DOI： 10.9746/sicetr.60.509

Operability evaluation of manual operation control for force-sensorless power-assist transport cart Reviewed International journal

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

Mechatronics Vol. 100 2024.6

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

In large-scale factories and warehouses, power-assisted carts are effective in transporting cargo to reduce the burden on workers. Herein, we developed a force-sensorless power-assisted cart system that can detect the operating force applied by the operator without using a force sensor and control the power-assisted drive. In this system, the operator directly grasps and operates the body of the cart, and the applied force is estimated from the cart body sway caused by the operation. The transport cart is controlled based on the estimated hand force. In such closed-loop systems formed by humans and machines, mechanical interactions affect the operability of the equipment. In this study, we experimentally verified the power-assisted manual operability of the proposed force-sensorless power-assisted transport cart. We examined the accuracy of the path tracking in manual operation experiments with 20 subjects and analyzed the results of the subjective evaluation. Based on the experimental results, the influence of the control parameters on operability was considered, and design guidelines were presented.

DOI： 10.1016/j.mechatronics.2024.103189

Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles Reviewed International journal

Kohei Honda, Naoki Akai, Kosuke Suzuki, Mizuho Aoki, Hirotaka Hosogaya, Hiroyuki Okuda, Tatsuya Suzuki

2024 IEEE International Conference on Robotics and Automation (ICRA) Vol. 29 page： 7020 - 7026 2024.5

Analysis and Modeling of Cyclists' Decision for Left-Turn Vehicle at Unsignalized Intersection Open Access

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

Transactions of Society of Automotive Engineers of Japan Vol. 55 ( 5 ) page： 991 - 998 2024.5

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Society of Automotive Engineers of Japan

In this paper, the cyclists' decision making behavior is measured and analyzed. The cyclists' decision state are considered to be expressed by operations of pedal and brake. In order to discriminate the pedaling state, a special force sensor was attached on the pedal of the cycling simulator. Then, the cyclists' decision making model was constructed by logistic regression model using the data measured by the cycling simulator. Finally, the accuracy of the model was analyzed and verified. It was found that the proposed model is useful for virtual simulation and/or design of autonomous vehicle, which need interactive behavior model of cyclists.

DOI： 10.11351/jsaeronbun.55.991

Open Access

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

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

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

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

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

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

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

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

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

2023 IEEE INTELLIGENT VEHICLES SYMPOSIUM, IV 2023.6

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

DOI： 10.9746/sicetr.58.581

「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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

PubMed

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

ITO Nobuaki, OKUDA Hiroyuki, SUZUKI Tatsuya

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

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

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.

DOI： 10.1299/jsmermd.2020.1a1-g06

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

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

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

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

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

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

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

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

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

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

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.

DOI： 10.14976/jals.28.s_163

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

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.

DOI： 10.14976/jals.28.s_159

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

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

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

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

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

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

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

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

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

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.

DOI： 10.1299/jsmermd.2017.2p2-d05