운전자 이질감 최소화를 위한 편제동이 고려된 차량 충돌 회피 시스템

Abstract

Recently, to prevent or reduce the damage of vehicle accident, the importance of active or passive safety systems of the vehicle is highlighted and related studies are being accelerated. A type of ADAS (Advanced Driver Assistance System), AEBS (Autonomous Emergency Braking System) is developed for vehicle collision avoidance or mitigation and many vehicles developed recently are equipped with this system. However, by characteristic of longitudinal collision avoidance system, the longer braking distance is needed when the vehicle runs at high speed and this limitation can derive severe accidents. To solve this limitation, researches of lateral collision avoidance system are studied. The aim of this paper is to develop lateral collision avoidance system minimizing unintended steering. In order to consider avoiding collision and minimizing unintended steering, MPC (Model Predictive Control) is proposed for controller. To improve control performance of MPC, disturbance observer that minimizes model error is also designed, and estimated disturbance applies to MPC. The performance of the proposed algorithm has been evaluated by commercial program: Carsim and Simulink/Matlab.