Vehicle Path Prediction Using Yaw Acceleration for Adaptive Cruise Control
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Wonhee | - |
dc.contributor.author | Kang, Chang Mook | - |
dc.contributor.author | Son, Young Seop | - |
dc.contributor.author | Lee, Seung-Hi | - |
dc.contributor.author | Chung, Chung Choo | - |
dc.date.accessioned | 2022-07-10T20:58:22Z | - |
dc.date.available | 2022-07-10T20:58:22Z | - |
dc.date.created | 2021-05-12 | - |
dc.date.issued | 2018-12 | - |
dc.identifier.issn | 1524-9050 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/148848 | - |
dc.description.abstract | In this paper, we propose a vehicle path prediction employing yaw acceleration for adaptive cruise control (ACC). First, a path prediction method employing yaw acceleration is proposed to improve the path prediction performance of ego vehicles. In the proposed method, the vehicle path is predicted by using a clothoidal cubic polynomial curve model, and for this purpose, the curvature rate, yaw rate, and longitudinal velocity are required. The curvature rate can be mathematically obtained by differentiating the yaw rate without a camera sensor. To obtain the yaw acceleration from the noisy measured yaw rate, we derive the state-space model from the steer wheel angle for the yaw rate. Then, the KF is designed by using the state-space model to estimate the yaw acceleration. Second, a multirate longitudinal control method is proposed to improve the longitudinal control performance. The multirate KF employs the constant acceleration model in order to estimate the relative distance and velocity of the target vehicle at a faster sampling rate. Then, the desired acceleration is achieved to maintain a safe headway distance or velocity by means of the longitudinal controller. Consequently, the whole ACC system operates with a faster sampling rate so that multirate control scheme reduces ripples in both the relative longitudinal distance and the desired acceleration. The performance of the proposed method was evaluated via simulations and experiments. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Vehicle Path Prediction Using Yaw Acceleration for Adaptive Cruise Control | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Chung Choo | - |
dc.identifier.doi | 10.1109/TITS.2018.2789482 | - |
dc.identifier.scopusid | 2-s2.0-85041538640 | - |
dc.identifier.wosid | 000452128400006 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, v.19, no.12, pp.3818 - 3829 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | - |
dc.citation.title | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | - |
dc.citation.volume | 19 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 3818 | - |
dc.citation.endPage | 3829 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Transportation | - |
dc.relation.journalWebOfScienceCategory | Engineering, Civil | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Transportation Science & Technology | - |
dc.subject.keywordPlus | LATERAL CONTROL | - |
dc.subject.keywordPlus | ASSISTANCE | - |
dc.subject.keywordPlus | SYSTEM | - |
dc.subject.keywordAuthor | Longitudinal control | - |
dc.subject.keywordAuthor | adaptive cruise control | - |
dc.subject.keywordAuthor | automated vehicle control | - |
dc.subject.keywordAuthor | vehicle driving path prediction | - |
dc.subject.keywordAuthor | multirate Kalman filter | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/8286959 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.