Robust real-time optimal autonomous highway driving control system: Development and implementation
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Seung-Hi | - |
dc.contributor.author | Son, Youngseop | - |
dc.contributor.author | Chung, Chung Choo | - |
dc.date.accessioned | 2022-07-07T13:32:17Z | - |
dc.date.available | 2022-07-07T13:32:17Z | - |
dc.date.created | 2021-05-11 | - |
dc.date.issued | 2014-08 | - |
dc.identifier.issn | 1474-6670 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/144579 | - |
dc.description.abstract | This paper develops a systems approach for robust real-time optimal autonomous driving control system development. An autonomous vehicle control system framework is proposed to dissect an automotive system into some sub-systems in which physical systems and control softwares are communicating. To attain robustness, a robust on-road vehicle localization scheme is proposed applying multi sensor-data fusion with the results of multirate decentralized state estimation and the clothoidal road model constraint. Control block and control block topology are proposed to utilize block-wise perception of environment and vehicle localization and to produce a trajectory command via a virtual lane curve for longitudinal/lateral vehicle control. To attain real-time control optimality, we apply the multilevel approximate predictive control developed by the authors. Performance of the proposed autonomous driving control system is demonstrated through some track test results. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IFAC Secretariat | - |
dc.title | Robust real-time optimal autonomous highway driving control system: Development and implementation | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Chung Choo | - |
dc.identifier.doi | 10.3182/20140824-6-za-1003.01391 | - |
dc.identifier.scopusid | 2-s2.0-84929833347 | - |
dc.identifier.bibliographicCitation | IFAC Proceedings Volumes (IFAC-PapersOnline), v.19, pp.10706 - 10712 | - |
dc.relation.isPartOf | IFAC Proceedings Volumes (IFAC-PapersOnline) | - |
dc.citation.title | IFAC Proceedings Volumes (IFAC-PapersOnline) | - |
dc.citation.volume | 19 | - |
dc.citation.startPage | 10706 | - |
dc.citation.endPage | 10712 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Automation | - |
dc.subject.keywordPlus | Control system synthesis | - |
dc.subject.keywordPlus | Real time control | - |
dc.subject.keywordPlus | Sensor data fusion | - |
dc.subject.keywordPlus | Vehicles | - |
dc.subject.keywordPlus | Approximate predictive controls | - |
dc.subject.keywordPlus | Automotive Systems | - |
dc.subject.keywordPlus | Autonomous driving | - |
dc.subject.keywordPlus | Autonomous vehicle control | - |
dc.subject.keywordPlus | Decentralized state estimation | - |
dc.subject.keywordPlus | Multisensor data fusion | - |
dc.subject.keywordPlus | System development | - |
dc.subject.keywordPlus | Vehicle localization | - |
dc.subject.keywordPlus | State estimation | - |
dc.identifier.url | https://www.sciencedirect.com/science/article/pii/S147466701643315X?via%3Dihub | - |
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