Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Collision Avoidance using Model Predictive Control

모델 예측 제어를 활용한 충돌 회피

  • 최재웅 (서울대학교 기계항공공학부) ;
  • 서종상 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2013.11.05
  • Accepted : 2013.12.20
  • Published : 2013.12.31
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Abstract

This paper presents collision avoidance using model predictive control algorithm. A model predictive control algorithm determines lateral tire force and yaw moment and steering angle input and differential braking input is determined from lateral tire force and yaw moment. A constraint for model predictive control is designed for obstacle avoidance. A objective function is designed to minimize lateral tire force and yaw moment input and to follow changed lane after collision avoidance. The performance of proposed algorithm has been investigated via computer simulation conducted to vehicle dynamic software CARSIM and Matlab/Simulink.

Keywords