도로 곡률 및 Desired Lateral Position을 이용한 차선변경 알고리즘

다국어 초록 (Multilingual Abstract)

In order to alleviate traffic accidents caused by driver"s burden, global automobile companies such as Hyundai Motor, BMW, and Benz continue to invest in Advanced Driver Assistance Systems (ADAS). For example, Adaptive Cruise Control system (ACC), Advanced Emergency Braking system (AEB), and Lane Keeping Assistant System (LKAS) are a type of ADAS already commercialized. However, commercialized ADAS related to lane change, which is a driver"s burden, has not been developed yet. The known research mainly focused on determining whether the lane change is possible for controller design, intention determination and path generation. In particular, as a method of applying to the controller design, a path planning for a lane change is generated by applying Monte Carlo, Model Predictive Control, a Clothoid model, and Cubic Bezier curve interpolation, or steering control input is obtained. In this paper, we propose an algorithm to change the lane of a car equipped with lane keeping system when the lane change is required by driver "s intention.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 시스템 구성
• 3. 시뮬레이션
• 4. 결론
• References