| 제목 |
제어 입력 기반 예측된 종방향 속도를 이용하는 자율주행 자동차의
차선 변경을 위한 모델 예측 조향 제어 알고리즘 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
오광석(한경대학교), 오세찬(한경대학교) |
| Key Words |
Model predictive control(모델 예측 제어), Lane change(차선 변경), Predicted longitudinal velocity(예측된종방향 속도), Multiple constraints(다중 제약 조건), Steering control(조향 제어) |
| 초록 |
Steering control when changing lanes involving autonomous vehicles is the most important task of autonomous driving for driving strategy and safety. This paper presents a model predictive steering control algorithm for changing lanes among autonomous vehicles by using a control input that is based on predicted velocity. Two model predictive control algorithms have been designed for longitudinal and lateral autonomous driving with physical constraints. The model predictive longitudinal controller computes optimal longitudinal accelerations that use relative information between subject and preceding vehicles. Based on the optimal accelerations from the longitudinal controller, longitudinal velocities have been predicted, and the predicted velocities have been used to compute the optimal steering angle for changing lanes through a model predictive controller. The proposed model predictive control algorithms for lane change behavior have been constructed in a Matlab/Simulink environment. A performance evaluation has been conducted by using a commercial software(CarMaker) to ensure reasonable evaluation under variable lane change conditions of the subject vehicle. |
| 원문(PDF) |
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