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모델예측제어를 이용한 자동 긴급 조향 개입판단 및 회피제어Decision Making and Autonomous Emergency Steering Control for Collision Avoidance based on Model Predictive Control
- Other Titles
- Decision Making and Autonomous Emergency Steering Control for Collision Avoidance based on Model Predictive Control
- Issue Date
- Nov-2016
- Publisher
- 한국자동차공학회
- Keywords
- Active Safety(능동안전); Collision Avoidance(충돌회피); Model Predictive Control(모델예측제어); Emergency Steering(긴급조향); Decision Making(의사결정); Autonomous Emergency Steering(자동긴급조향)
- Citation
- 2016년 한국자동차공학회 추계학술대회 및 전시회, pp.214 - 216
- Indexed
- OTHER
- Journal Title
- 2016년 한국자동차공학회 추계학술대회 및 전시회
- Start Page
- 214
- End Page
- 216
- ISSN
- 2713-7171
- Abstract
- This paper presents decision making and autonomous emergency steering(AES) control for collision avoidance based on model predictive control(MPC). In this algorithm, the predictive model of the vehicle is described by 2-DOF Bicycle Model. Evasive maneuver and steering input optimization are formulated as a quadratic programming problem with inequality constraints about road boundaries and an object vehicle. To evaluate the risk of collision, the predicted maximum lateral acceleration on the optimized path was chosen. The proposed AES algorithm will activate emergency steering control for collision avoidance when the maximum lateral acceleration exceeds a threshold value.
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Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
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