적응형 순항제어 상황에서의 위험도 기반 차선 변경 최적제어 알고리즘에 대한 연구open accessStudy on TTC-based optimal lane change algorithm in adaptive cruise control
- Other Titles
- Study on TTC-based optimal lane change algorithm in adaptive cruise control
- Authors
- 나원빈; 김진욱; 이형철
- Issue Date
- Aug-2019
- Publisher
- Korean Society of Automotive Engineers
- Keywords
- Adaptive cruise control; Advanced driver assistance system; Autonomous vehicle; Lane change control; Lane keeping assistance; Optimal control; Time-to-collision; Vehicle dynamics
- Citation
- Transactions of the Korean Society of Automotive Engineers, v.27, no.8, pp.627 - 636
- Indexed
- SCOPUS
KCI
- Journal Title
- Transactions of the Korean Society of Automotive Engineers
- Volume
- 27
- Number
- 8
- Start Page
- 627
- End Page
- 636
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/147316
- DOI
- 10.7467/KSAE.2019.27.8.627
- ISSN
- 1225-6382
- Abstract
- The advanced driver assistance system for autonomous vehicles is being researched and developed for driving stability and driver convenience. Autonomous driving systems, such as adaptive cruise control(ACC), lane keeping assistance(LKA), and lane change system(LCS), have been developed, and they are being applied to many vehicles. The most important goal of these advanced control systems is to improve safety. In this paper, we propose an optimal lane change controller while considering the crash risk by using the information of the preceding vehicle and the side lane vehicle for a safe lane change. The optimal controller for the lane change is designed by using the vehicle state space model. Furthermore, the time-to-collision(TTC), which is a risk index, is applied to the optimal controller. We compared the simulation result of the TTC-based optimal controller with that of the optimal controller by using a constant weighting factor. The optimal controller was developed in Matlab/Simulink, and the vehicle dynamics simulator, CarSim, was used for controller verification and comparison of results.
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