| 제목 |
자동 주차 시스템의 경로 생성 및 추종 알고리즘 개발 |
| 분야 |
전기ㆍ전자ㆍ통신 |
| 언어 |
Korean |
| 저자 |
신희석(국민대학교), 김명준(국민대학교), 김정하(국민대학교) |
| Key Words |
Auto valet parking system(자동 주차 시스템), Autonomous vehicle(자율주행자동차), Path planning(경로계획), Path tracking(경로추종), Path generation(경로생성), Vehicle control(차량 제어) |
| 초록 |
This paper proposes a method for creating a path for parking autonomous vehicles, regardless of the distance and the position of the parking space, by using a vehicle with sensor performance superior to the existing ultrasonic and camera-based sensors. Although conventional methods have a limited parking detection area, the proposed method has a greater free parking detection area. In addition, a new tracking algorithm was employed in order to follow the generated path. Meanwhile, a new algorithm was developed for the longitudinal controller to perform perfect parking in order to eliminate the ‘path following error’caused by the difference between the steering speed and the vehicle speed. The path planning and path tracking method for the Auto Valet Parking System was then experimentally demonstrated. |
| 원문(PDF) |
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