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도시 내 다차선에서의 U턴 주행을 위한 보조 지역 경로 생성 알고리즘
백승혁(SeungHyuk Baek),박장현(Jahnghyon Park) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
Recently, due to the development of Autonomous Driving Car, various Advanced Driver Assistance System(ADAS)s are getting a lot of attention. This paper proposes a method for the Advanced Driving Strategy in U-turn driving which is frequent in urban region. As the classical path planning method generates the discrete waypoint which have steering angle constraints, it is not proper for U-turn driving Scenario. So, I suggest Extra Local Path Generation for the matter above. Finally, An Extra optimal parametric path curve will be expected for Autonomous vehicle to drive comfortably in U-turn driving.
협로 주행을 위한 Gradient Vector Field 기반 경로 추종 알고리즘
백승혁(Seunghyuk Baek),조수빈(Soobin Cho),박장현(Jahnghyon Park) 한국자동차공학회 2023 한국자동차공학회 부문종합 학술대회 Vol.2023 No.5
Various type of Advanced Driving Assistance Systems(ADAS) are being applied to fit different environments and situations within the Urban area. As a representative example, the Highway Driving Assist (HDA) is being applied to assist drivers with driving on highways. Recently, Narrow Space Assist(NSA) is being researched to assist passing through narrow and restricted areas such as intersections, alleys, and parking lots. Therefore, in this study, we propose a control algorithm to enable autonomous vehicles to precisely follow a path when generating a route within narrow passages. Finally, proposed algorithm was implemented using Matlab/Simulink, and the results showed a significant improvement compared to the conventional optimal control method used in narrow passages that require high-curvature low-speed passing.