| 제목 |
전자식 조향 시스템의 병렬연결 상호 다중 모델을 이용한 고장진단 알고리즘 |
| 분야 |
전기ㆍ전자ㆍ통신 |
| 언어 |
Korean |
| 저자 |
정철민(인천대학교), 박채훈(인천대학교), 강창묵(인천대학교) |
| Key Words |
Autonomous vehicle(자율주행 자동차), Electric power steering system(전자식 조향 시스템), Fault diagnosis algorithm(고장진단 알고리즘), Kalman filter(칼만 필터), Interacting multiple model(상호 다중 모델), Parallel connected interacting multiple model(병렬연결 상호 다중 모델) |
| 초록 |
Autonomous vehicles are controlled through the advanced driver assistance system(ADAS) based on state-of-the-art sensors and improved control theories. For stable lateral control, the control of the electric power steering(EPS) system is important, and in autonomous driving, steering wheel angle can be controlled in order to maintain lane or change lane. In addition, many control methods have been proposed based on the importance of EPS systems. However, there should be a fail-safe function in order to estimate the changes in the system characteristics because a sudden system fault or exposure to large disturbances can reduce the stability of control. In this paper, the interacting multiple model(IMM) filter is applied as a fault diagnosis algorithm to increase the reliability of the control. IMM filter can provide low-delay fault control by correcting the likelihood of multiple models and judging the current system’s failure conditions through mode probability. |
| 원문(PDF) |
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