자동차안전학회지 (Journal of Auto-vehicle Safety Association)

한국자동차안전학회 (Korean Auto-vehicle Safety Association)
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자율 주행 차량의 차선 변경을 위한 충격 응답 기반 상태 확장 되먹임 제어

Extended Feedback Control based on Impulse Response for Lane Change of Autonomous Driving Vehicle

  • 김상윤 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부)
  • 투고 : 2021.11.29
  • 심사 : 2023.09.05
  • 발행 : 2023.09.30
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초록

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

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과제정보

본 연구는 국토교통부와 국토교통과학기술진흥원 자율주행 기술개발 혁신사업의 연구비 지원(과제번호 RS-2021-KA162182)에 의해 수행되었습니다.

참고문헌

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