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자동주행 차량의 차선변경 충돌회피 알고리즘의 개발 및 HILS 시험
류제하(Jeha Ryu),김종협(Jonghyup Kim) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.11_2
A lane-change collision avoidance algorithm for autonomous vehicles is studied. Nominal control inputs are generated by solving the inverse dynamic equation of motion for lane-change maneuver. A corrective steering input from preview is also considered to reduce unpredictable errors. The proposed control algorithm include DYMC(Direct Yaw Moment Control) which insure yaw directional stability. The performance of the algorithm is evaluated with ABS H1LS system which consist of 17 DOF vehicle model and real brake and ABS hardware parts. The HILS simulation result shows that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.<br/>