[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.4218/etrij.15.0114.0123

Development of Steering Control System for Autonomous Vehicle Using Geometry-Based Path Tracking Algorithm

Park, Myungwook (IT Convergence Technology Research Laboratory, ETRI)
Lee, Sangwoo (IT Convergence Technology Research Laboratory, ETRI)
Han, Wooyong (IT Convergence Technology Research Laboratory, ETRI)

Publication Information

ETRI Journal / v.37, no.3, 2015 , pp. 617-625 More about this Journal

Abstract

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.

Keywords

Autonomous vehicle; steering control system; geometry path-tracking method;

Citations & Related Records

Times Cited By KSCI : 2 (Citation Analysis)

Reference
Cited By KSCI

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