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http://dx.doi.org/10.14372/IEMEK.2021.16.6.285

Autonomous Driving Acceleration Estimation Model According to the Slope of the Road  

Park, KyeoungWook (Kyungil University)
Heo, Myungseon (autonomous a2z)
Oh, Youngchul (autonomous a2z)
Han, Jihyeong (autonomous a2z)
Jeong, HwaHyen (autonomous a2z)
You, Byungyong (Kyungil University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.16, no.6, 2021 , pp. 285-292 More about this Journal
Abstract
Autonomous vehicles are divided into an upper controller that calculates control value through cognitive judgment and a lower controller that appropriately transmits its control value to an actuator. Here, the longitudinal control in a lower controller has a problem as the road slopes due to the property of the Acceleration sensor to output the acceleration as the slope of the device. Therefore, in this paper, a sigmoid function is proposed to determine the slope to compensate for this problem. Through the experiment, Checked performance by comparing the existing table model with the proposed model.
Keywords
Longitudinal control; Low control unit (LCU); Slope; Weight; Sigmoid Function; Fail/Safe; raspberry pi 4 Model B;
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