전방 충돌방지 보조시스템을 위한 조향/제동 최적제어 연구

Abstract

ADAS (Advanced Driver Assistance System) have been researched to improve driver’s safety and to assist driver. Among many ADAS, systems related to driver safety such as collision avoidance are becoming more and more important. In this paper, collision avoidance system is proposed using steering and braking at the same time. The system can control longitudinal&lateral force of the vehicle at once. Furthermore, it can improve vehicle lateral stability by allocating brake forces independently on the left and right. For the proposed system, firstly, a vehicle state model is created that integrates the longitudinal and lateral direction. Based on the constructed model, the optimal steering and braking values will be determined through nonlinear model predictive controller for collision avoidance. The system algorithm is verified by simulation using commercial software, MATLAB/Simulink and Carsim.