버스의 특성을 고려한 경로 계획 및 횡방향 제어 시스템 개발

Abstract

Recent requirements for safety and convenience have resulted in the application of many ADAS technologies, including Adaptive Cruise Control (ACC), Lane Keeping System (LKS), etc. These technologies are expanding beyond passenger cars to commercial cars. Commercial vehicles have different behavior characteristics from passenger cars due to their long overall width, overall length and overhang (distance between axle and edge of the car). These factors should be considered in the self-driving technology of large buses. In this paper, a method proposed to plan safe trajectory considering the characteristics of the bus and a lateral control system following the planned trajectory. The lane information and the safe distance from the surrounding vehicle or obstacle are set as constraints considering both the front and rear overhang of the bus. The optimal trajectory is planned by considering the safety and the constraints. Based on the behavior model of the bus, the controller is designed to meet the constraints and follow the planned trajectory. The proposed trajectory planning and lateral control algorithm is verified by simulation using commercial software, TruckMaker and MATLAB/Simulink.