450-456 2024 [추계학술대회]
| 제목 | 트레일러 주차 보조 제어 알고리즘의 설계 및 검증 |
|---|---|
| 분야 | 지능형 샤시 및 제어 |
| 언어 | Korean |
| 저자 | 성민상(현대자동차), 공도현(현대자동차), 김찬중(현대자동차) |
| Key Words | Trailer Parking Assist (TPA, 트레일러 주차 보조), Chassis Control (샤시 제어), Steering Control (조향 제어), Lyapunov Function (Lyapunov 함수), PID Control (PID 제어) |
| 초록 |
This paper presents a novel control algorithm designed to assist drivers in reversing trailers. Unlike conventional driving methods, reversing a vehicle with a trailer requires specialized techniques to navigate the trailer accurately. To address this challenge, we developed a trailer parking assist (TPA) control algorithm that enables drivers to maintain the desired angle between the vehicle and the trailer (hitch angle) during reverse maneuvers. The algorithm utilizes a motor-driven power steering (MDPS) system and a tow bar equipped with an angle sensor. To control the trailer's trajectory, we designed a kinematics-based Lyapunov function and a PID control algorithm. These algorithms were rigorously evaluated and compared through MILS simulations and vehicle testing. The results demonstrated that the Lyapunov function-based algorithm consistently outperformed the PID control algorithm in achieving precise trailer parking maneuvers. |
| 원문(PDF) | 다운로드 |