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주변 차량과 도로 모델을 고려한 모델 예측 방식의 횡 방향 제어A Model Predictive Approach for Vehicle Lateral Control Considering Surrounding Vehicle and Lane Model
- Other Titles
- A Model Predictive Approach for Vehicle Lateral Control Considering Surrounding Vehicle and Lane Model
- Issue Date
- Nov-2016
- Publisher
- 한국자동차공학회
- Keywords
- Model Predictive Control(모델 예측 제어); Potential Field(퍼텐셜 필드); Lane Change(차선 변경); Collision Avoidance(충돌 회피); Autonomous Vehicle(자율주행차량)
- Citation
- 2016년 한국자동차공학회 추계학술대회 및 전시회, pp 208 - 210
- Pages
- 3
- Indexed
- OTHER
- Journal Title
- 2016년 한국자동차공학회 추계학술대회 및 전시회
- Start Page
- 208
- End Page
- 210
- ISSN
- 2713-7171
- Abstract
- This paper proposes potential field based lateral planning and control method using model predictive approach for autonomous driving. The potential field is constructed as a superposition of disparate functions of surrounding vehicles, road boundaries and lanes. Vehicle states related to comfort and safety are formulated with model predictive approach and a cost function is designed. Then based on the potential field model, the potential risk using predicted states is added to the cost function above. With the combined cost function and roughly discretized input set, the suboptimal solution which has the smallest value of the cost function for path planning and control is solved. The proposed algorithm is developed with MATLAB/Simulink and its performance is evaluated using the commercial software CarSim.
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Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
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