| 제목 |
가중치를 적용한 Variable Look Ahead Distance 모델 개발 및 성능비교 |
| 분야 |
기타 |
| 언어 |
Korean |
| 저자 |
박경욱(오토노머스에이투지, 경일대학교), 박종휘(경일대학교), 허명선(오토노머스에이투지), 한지형(오토노머스에이투지), 유병용(경일대학교) |
| Key Words |
LAD(Look ahead distance, 전방주시거리), Curvature(곡률), Weight(가중치), Variable LAD(가변하는 전방주시거리), Static LAD(고정된 전방주시거리), Lateral vehicle(자차와의 횡방향오차), Lateral error(전방주시거리와의 횡방향오차) |
| 초록 |
In most cases, drivers operate the steering and speed control based on curvature, lane, or relative vehicle information. Self-driving cars normally use error distance and error angle to lateral control in order to follow the reference path, and the error parameters are calculated based on the look ahead distance(LAD). For an efficient lateral control, the LAD must vary according to the road and the driving environment. In this paper, a LAD model was proposed by using lateral error, road curvature, and vehicle speed. In order to check the performance of the proposed model, we compared our own with the static and conventional LAD model. Computer simulations and experiments were performed in order to verify the advantages of the proposed LAD model. |
| 원문(PDF) |
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