전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제65권4호
  • /
  • Pages.642-651
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  • 2016
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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자율주행자동차 가속/제동시스템의 실험적 모델링

Experimental Modeling of Acceleration and Brake Systems for Autonomous Vehicle

  • 투고 : 2015.11.04
  • 심사 : 2016.03.25
  • 발행 : 2016.04.01
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초록

For the acceleration and brake systems of an autonomous vehicle, the dynamic models from acceleration (brake) pedal input to driving(braking) torque at the vehicle wheel are represented by a set of linear transfer functions in this paper. We present an experimental method that can identify these models using a single rectangular pulse response data. Various magnitude of inputs with different running speeds are applied to experimental tests. All the identified models are demonstrated by the measured data. Both acceleration and brake models have been also validated by comparing the velocity of a full vehicle model associated with the proposed models with the measured vehicle velocity.

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참고문헌

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