International Journal of Automotive Technology

  • 제7권5호
  • /
  • Pages.609-618
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  • 2006
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  • 1229-9138(pISSN)
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  • 1976-3832(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지

LMI-BASED $H_{\infty}$ LATERAL CONTROL OF AN AUTONOMUS VEHICLE BY LOOK-AHEAD SENSING

  • Kim, C.S. (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Kim, S.Y. (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Ryu, J.H. (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Lee, M.H. (School of Mechanical Engineering, Pusan National University)
  • 발행 : 2006.08.01
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초록

This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based $H_{\infty}$ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the $H_{\infty}$ controller is robust and has better performance compared with look-down sensing.

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참고문헌

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