| 제목 |
충돌회피 조향시스템의 한계성능 분석 및 회피 조향제어기 설계 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
김동균(부산대학교), 김승기(부산대학교), 이상호(현대자동차), 안창선(부산대학교) |
| Key Words |
Collision avoidance(충돌 회피), Evasive steering(회피 조향), Maximum performance(한계 성능), Driver model(운전자 모델), MacAdam model(맥아담 모델), Steering control(조향 제어) |
| 초록 |
This paper presents performance analysis and controller design of evasive steering system. The main objective of the evasive steering system is to perform a rapid and safe evasive maneuver. The evasive steering system’s performance is limited, however, because rapid and safe evasion have a trade-off relationship. In this study, performance indices were proposed for analyzing such trade-off and limitations, and the performances of several vehicles with different powertrain structures were analyzed using such performance indices. The results clearly showed a performance trade-off between rapidness and stability. Furthermore, controllers for the evasive steering system were designed, and the controllers were compared based on the proposed performance indices. This paper presents the performance analysis results of the aforementioned vehicles, the developed controller design of the evasive steering system, and the results of the comparison of the designed controllers using the proposed performance indices. |
| 원문(PDF) |
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