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Autonomous Lane Change System for Intelligent Vehicle Based on Model Curve Fitting
Pengfei Lin(임붕비),Woo Young Choi(최우영),Chung Choo Chung(정정주) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
In this paper, we present a novel lane change system for intelligent vehicles combined with the model curve fitting method to plan a safe-feasible path in high speed. According to the existing literature, the current virtual potential function (VPF) performs well in real-time collision avoidance. However, this method also exists a flaw that it is based on the point mass model to produce the path in which could be non-safe for intelligent vehicles to track. To improve this method to be more practical, we propose a novel model curve fitting (MCF) method to consider the dynamics of the ground vehicles that can plan a safer path for intelligent vehicles to track. We simulated the overall system framework in MATLAB/Simulink with vehicle dynamic lateral motion model. From the simulation results, we confirm that the MCF method combined with VPF is highly effective compared to the traditional VPF method.
Intelligent Vehicle for Collision Avoidance Using Artificial Potential Field with Speed Variation
Pengfei Lin(임붕비),Woo Young Choi(최우영),Chung Choo Chung(정정주) 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7
In this paper, we present a novel approach for waypoint tracking scheme with a local path planner based on the artificial potential field (APF) to avoid dynamic obstacles. It is reported that APF is highly efficient in collision-avoidance issues, but there is less work combining the waypoint tracking with APF-based local path planner. To enrich this field, a waypoint tracking using APF with speed variation is proposed to prevent the possibly excessive tire slip angle when the vehicle is driven at a high speed. The simulation results show that the proposed algorithm is effective in collision avoidance with dynamic obstacles, especially for waypoint tracking scenario. The proposed system framework is validated with the vehicle dynamic lateral motion model in MATLAB/Simulink and CarSim.