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최희재(Heejae Choi),김도현(Dohyun Kim),송봉섭(Bongsob Song) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
The unified lateral control algorithm for automatic valet parking for various types of vehicles is presented and its feasibility is shown experimentally via field tests for the given parking scenario. With consideration of different types of vehicles and operating conditions, a kinematic vehicle model with design parameters for different maneuvers is proposed and validated using field test data. Furthermore, trajectory generation for forward driving and parking maneuvers is developed and the lateral vehicle controller based on a nonlinear control technique is designed for the vehicle model. Finally the proposed lateral control algorithm is validated via simulations for different types of vehicles and experimentally using a test vehicle through field tests.