Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지

A Lane-change Collision Avoidance Algorithm for Autonomous Vehicles and HILS(Hardware-In-the-Loop Simulation) Test

자율주행 차량의 충돌회피 차선변경 제어 알고리즘 개발과 HILS 시험

  • 류제하 (광주과학기술원 기전공학과) ;
  • 김종협 (광주과학기술원 기전공학과 대학원)
  • Published : 1999.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a lane-change collision avoidance control algorithm for autonomous vehicles that will be used in AHS(Automated Highway System). In the proposed control algorithm, nominal control inputs are generated by solving the inverse vehicle dynamic equations of motion for a lane-change maneuver. In addition, a corrective steering input from preview as well as DYC (Direct Yaw Moment Control) may be included to reduce unpredictable errors and to insure yaw directional stability, respectively. The performance of the algorithm is evaluated with an ABS HILS system which consist of 17 DOF vehicle model and real ABS hardware parts. The HILS simulation results show that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.

Keywords

References

  1. IEEE Trans. on Vehicular Technology v.40 no.1 Automatic vehicle Control Developments in the PATH Program S. E. Shladover(et al)
  2. IEEE Trans. on Automatic Control v.38 no.2 Smart Cars on Smart Roads: Problems of Control Varaiya, P.
  3. IEEE Control Systems Magazine v.14 Control Issues in Automated Highway Systems Hedrick, J.K;Tomizuka, M;Varaiya, P.
  4. Vehicle System Dynamics v.23 Effects of Model Complexity on the Performance of Automated Vehicle Steering Controllers: Controller Development and Evaluation Dirk. E. Smith;John Starkey
  5. SAE Paper #951839, SAE 1995 Trans. J. of Passenger Cars v.104 Emergency Maneuvers for AHS Vehicles Zvi Shiller;Satish Sundar
  6. SAE Paper #951839, SAE 1995 Trans. J. of Passenger Cars v.104 Emergency Maneuvers for AHS Vehicles Zvi Shiller;Satish Sundar
  7. AVEC98 Paper #9836671 Evaluation of A Direct Yaw Moment Control Algorithm by Brake Hardware-In-the-Loop simulation Jeha Ryu;Ji-sun Lee;Hosoo Kim
  8. SAE 700377 An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance Howard Dugoff;P. S. Fancher;Leonard Segel