자동차안전학회지 (Journal of Auto-vehicle Safety Association)

한국자동차안전학회 (Korean Auto-vehicle Safety Association)
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자율주행 자동차 정지 거동에서의 인지 불확실성을 고려한 확률적 모델 예측 제어

Stochastic Model Predictive Control for Stop Maneuver of Autonomous Vehicles under Perception Uncertainty

  • 김상윤 (서울대학교 기계항공공학부) ;
  • 조아라 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • 투고 : 2022.04.17
  • 심사 : 2022.11.04
  • 발행 : 2022.12.31
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초록

This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously.

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과제정보

본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었습니다(과제번호 21AMDP-C162182-01).

참고문헌

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