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In this paper, the lateral controller for path tracking of autonomous vehicle is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving. In order to have robustness about model error, the proposed system is designed according to the sliding mode control with sliding observer estimating side slip angle and yaw rate of vehicle. The performance of the proposed algorithm is evaluated by simulation and real-car test in the proving ground.
This paper presents a identification method of sliding door system for passenger car called by IRSD(Invisible Rail Sliding Door) system, which gets over the limitations of the existing sliding door system in design stage. To design a door speed controller, it is essential to identify IRSD system with high accuracy. Two identification methods (Model based modeling and Black Box modeling) have been studied to find a mathematical model together with optimal values of unknown parameters. The results from two different methods show high similarity and it is validated through the comparison with sensor output that IRSD system identification shows good performance.
The extraction of ego-motion information(e.g. velocity and angular velocity with respect to 3-axis) of the vehicle is much demanded for a lot of driver assistance applications such like collision avoidance system, obstacle detection, and so on. This paper introduces a novel method for vehicle’s ego-motion estimation through EKF (Extended Kalman Filter) of which measurements are obtained from the 2G1Y combo inertial sensor and stereo camera. To enhance the exactness of the proposed methodology, the vehicle lateral dynamics have been taken into account with which the state evolution equation have been augmented. The experiment have been executed and shown that the purposed method estimates the ego vehicvle velocity and angular velocity with high accuracy.
Recently, most automakers have been working on the development of advanced driver assistance systems with an emphasis on driver safety. Conventional BSD is a blind zone warning system, and most of them use radar equipment for obstacle detection. However, BSD systems using radar equipment are still difficult to popularize in terms of price. Therefore, there is a need to reduce costs by developing a multi-function using a popularized driver-assisted system sensor. In this paper, we propose an ultrasonic BSD warning system which has a blind zone warning function by using ultrasonic sensor for parking assist system.