자율주행 시스템 검증 시나리오를 위한 Reference Governor 기반의 차량 추종 모델 개발open accessDevelopment of a Car-Following Model Based on Reference Governor for Autonomous Driving System Verification Scenario
- Other Titles
- Development of a Car-Following Model Based on Reference Governor for Autonomous Driving System Verification Scenario
- Authors
- 문일경; 조건희; 이형철
- Issue Date
- Feb-2023
- Publisher
- 한국자동차공학회
- Keywords
- 자율주행 시스템; 적응형 순항 제어; 차량 추종 모델; 기준 입력 조정기; 모델예측제어; 강건 최대 불변 집합; Autonomous driving system; Adaptive cruise control; Car-following model; Reference governor; Model predictive control; Robust maximal invariant set
- Citation
- 한국자동차공학회 논문집, v.31, no.2, pp.107 - 115
- Indexed
- SCOPUS
KCI
- Journal Title
- 한국자동차공학회 논문집
- Volume
- 31
- Number
- 2
- Start Page
- 107
- End Page
- 115
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/191641
- DOI
- 10.7467/KSAE.2023.31.2.107
- ISSN
- 1225-6382
- Abstract
- This paper represents a reference governor-based, car-following model for an autonomous driving system verification scenario. A reference governor(RG) is an add-on control scheme that enforces state and control constraints on stabilized systems by modifying the reference whenever the constraints are violated. Unlike existing controllers that do not handle states and input constraints, the proposed method handles constraints by using a maximal invariant that is set to consider actuator limits, ride quality, and vehicle safety with low computational effort. The proposed method was validated with simulation under various driving scenarios, such as acceleration, deceleration, and driving cycles. The RG-based, car-following model showed efficient computational performance while satisfying the defined constraints, and was able to simulate actual traffic flow.
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