32권 2호 173-183 2024 [한국자동차공학회 논문집 ]
| 제목 | 자율주행 자동차의 범용 경로 추종을 위한 재귀 최소 자승법 기반 파라미터 독립 적응형 조향 제어 알고리즘 개발 |
|---|---|
| 분야 | 차량동역학 및 제어 |
| 언어 | Korean |
| 저자 | 이지웅(한경국립대학교), 오광석(한경국립대학교) |
| Key Words | Autonomous vehicle(자율주행 자동차), Adaptive control(적응 제어), Parameter-free control(파라미터 독립 제어), Path tracking(경로 추종), Steering control(조향 제어), Recursive least squares(재귀 최소 자승) |
| 초록 |
This study proposed a parameter-free, adaptive steering control algorithm for universal path tracking of autonomous vehicles with Recursive Least Square(RLS). A parameter-free, steering control algorithm was designed for autonomous driving by using error dynamics with RLS-based parameter estimation. The error dynamics was based on path tracking errors and steering inputs, such as front and rear wheel angles. The path tracking errors used in this study include yaw angle error and lateral error at preview point. The RLS method that relied on multiple forgetting factors was used to estimate coefficients in the error dynamics, and to compute control input. Based on the estimated coefficients and the Lyapunov direct method, the front and rear steering wheel angles are designed to be computed with the sliding mode approach. The proposed control algorithm was tested by conducting a performance evaluation under the Matlab/Simulink environment with co-simulation of the CarMaker software. |
| 원문(PDF) | 다운로드 Journal Site |