| 제목 |
차량상태 오차를 이용한 경로추종 보정제어 알고리즘 |
| 분야 |
전기ㆍ전자ㆍ통신 |
| 언어 |
Korean |
| 저자 |
이홍규(성균관대학교), 김태윤(성균관대학교), 유동연(성균관대학교), 황성호(성균관대학교) |
| Key Words |
Autonomous driving(자율주행차), Path tracking algorithm(경로 추종 알고리즘), Geometry control method(기하학적 제어 방법), Model-based control method(모델기반 제어 방법), High-definition map(정밀지도) |
| 초록 |
As autonomous driving technology advances, not only basic driving on a given route but also how safe and comfortable driving is becoming more important. In this situation, various controllers widely used for autonomous driving have advantages and disadvantages, so there is a limit to using them alone. This paper proposes a path following correction control algorithm stably applied in HD map-based actual driving environment. The correction controller uses the advantages of a path-following control algorithm, Pure-Pursuit control, and a model-based control algorithm, LQR optimal control. The weight of each controller is determined using Correction Parameter from HD map curvature information and vehicle state errors obtained while driving. The experiment was conducted in a Sangam-DMC automated driving testbed. The experiment results present the correction controller with good path-following and driving comfort performance. |
| 원문(PDF) |
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