Journal of Mechanical Science and Technology

  • 제16권3호
  • /
  • Pages.338-343
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  • 2002
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  • 1738-494X(pISSN)
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  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

Lateral Control of Autonomous Vehicle by Yaw Rate Feedback

  • Yoo, Wan-Suk (School of Mechanical Engineering, Pusan National University) ;
  • Park, Ju-Yong (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Hong, Seong-Jae (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Park, Kyoung-Taik (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Man-Hyung (School of Mechanical Engineering, Pusan National University)
  • 발행 : 2002.03.01
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초록

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.

키워드

참고문헌

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