| 제목 |
주변차량의 안전을 고려한 자동 차선변경 알고리즘 개발 |
| 분야 |
전기ㆍ전자ㆍ통신 |
| 언어 |
Korean |
| 저자 |
오태영(국민대학교), 손원일(국민대학교), 안태원(국민대학교), 이용기(국민대학교), 박기홍(국민대학교) |
| Key Words |
Automated lane change(자동 차선변경), Lane change(차선변경), Autonomous vehicle(자율주행자동차), Inter-vehicle distance control(차간 거리 제어), ACC(적응형 순항제어) |
| 초록 |
In this paper, an automated lane change algorithm was developed in accordance with the recent government safety standards for level 3 autonomous vehicles. To this end, driving situations during automated lane change were divided into three control modes, and different control strategies were adopted for each mode. A novel lane change criterion was proposed that considers the safety of surrounding vehicles. When this criterion forbids immediate lane change, a location to initiate safe lane change was computed by solving a constrained optimization problem. For longitudinal control, an LQR-based optimal controller was designed with different state variables for each control mode. For lateral control, a control system consisting of path generation and path tracking was designed. The proposed algorithm was verified on four scenarios involving dangerous lane changing conditions. The results showed that the proposed algorithm could safely perform lane change without threatening the safety of surrounding vehicles. The algorithm could also provide comfort by performing lane change with small velocity changes. |
| 원문(PDF) |
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