Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Model-Free Longitudinal Acceleration Controller Design and Implementation Quickly and Easily Applicable for Different Control Interfaces of Automated Vehicles Considering Unknown Disturbances

자율 주행 제어 인터페이스에 강건하며 빠르고 쉽게 적용 가능한 모델 독립식 종 방향 가속도 제어기 개발 및 성능 검증

  • 서다빈 (서울대학교 기계항공공학부) ;
  • 조아라 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2021.05.10
  • Accepted : 2021.10.29
  • Published : 2021.12.31
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Abstract

This paper presents a longitudinal acceleration controller that can be applied to real vehicles (nonlinear and time-varing systems) with only a simple experiment regardless of the type of vehicle and the control interface structure. The controller consists of a feedforward term for fast response, a zero-throttle acceleration compensation term, and a feedback term (P gain) to compensate for errors in the feedforward term, and another feedback term (I gain) to respond to disturbances such as slope. In order to easily apply it to real vehicles, there are only two tuning parameters, feedforward terms of throttle and brake control. And the remaining parameters can be calculated immediately when the two parameters are decided. The tuning procedure is also unified so that it can be quickly and easily applied to various vehicles. The performance of the controller was evaluated using MATLAB/Simulink and Truksim's European Ben model. In addition, the controller was successfully implemented to 3 medium-sized vehicle (HMC Solati), which is composed of different control interface characteristic. Vehicle driving performance was evaluated on the test track and on the urban roads in Siheung and Seoul.

Keywords

Acknowledgement

본 연구는 미래창조과학부 재원으로 한국연구재단(NRF-2016R1E1A1A01943543)의 지원을 받아 수행된 연구입니다.

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