| 제목 |
주행 경로의 곡률 특성 반영을 통해 추종 성능을 향상시킨 가변 지평선 Model Predictive Control |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
최윤석(국민대학교), 이원우(국민대학교), 유진우(국민대학교) |
| Key Words |
Model predictive control(모델 예측 제어), Autonomous driving(자율주행), Path tracking(경로 추종), Prediction horizon(예측 지평선), Variable horizon(가변 지평선) |
| 초록 |
This paper proposes a novel model predictive control(MPC) algorithm that increases the path tracking performance based on the driving path. The proposed algorithm reduces the path tracking errors of the MPC by utilizing the curvature of each driving step to update the prediction horizon for the path, and also updates the control horizon according to the latest prediction horizon. We will construct a scenario where straight and curved paths are combined, and then calculate curvatures according to the path at each step. In other words, we will update both the prediction horizon and the control horizon through the calculated curvature at each step. The results of the experiment will verify the tracking performance between the basic MPC and the proposed algorithm via Matlab simulations. Hence, we will demonstrate that the proposed MPC algorithm can improve the path tracking performance compared to the basic MPC. |
| 원문(PDF) |
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