• 자동차안전학회지
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• 제12권1호
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• pp.15-25
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• 2020

This paper presents a longitudinal control algorithm for ensuring takeover time of autonomous vehicle using V2V communication. In the autonomous driving of more than level 3, autonomous systems should control the vehicles by itself partially. However if the driver's intervention is required for functional safety, the driver should take over the control reasonably. Autonomous driving system has to be designed so that drivers can take over the control from autonomous vehicle reasonably for driving safety. In this study, control algorithm considering takeover time has been developed based on computation method of takeover time. Takeover time is analysed by conditions of longitudinal velocity of preceding vehicle in time-velocity plane. In addition, desired clearance is derived based on takeover time. The performance evaluation of the proposed algorithm in this study was conducted using 3D vehicle model with actual driving data in Matlab/Simulink environment. The results of the performance evaluation show that the longitudinal control algorithm can control while securing takeover time reasonably.

• 자동차안전학회지
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• 제12권4호
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• pp.13-22
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• 2020

This paper presents an adaptive feedback based actuator fault detection and tolerant control algorithms for longitudinal functional safety of autonomous driving. In order to ensure the functional safety of autonomous vehicles, fault detection and tolerant control algorithms are needed for sensors and actuators used for autonomous driving. In this study, adaptive feedback control algorithm to compute the longitudinal acceleration for autonomous driving has been developed based on relationship function using states. The relationship function has been designed using feedback gains and error states for adaptation rule design. The coefficients in the relationship function have been estimated using recursive least square with multiple forgetting factors. The MIT rule has been adopted to design the adaptation rule for feedback gains online. The stability analysis has been conducted based on Lyapunov direct method. The longitudinal acceleration computed by adaptive control algorithm has been compared to the actual acceleration for fault detection of actuators used for longitudinal autonomous driving.

• 자동차안전학회지
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• 제4권1호
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• pp.12-17
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• 2012

ADAS(Advanced Driver Assistance System) which is developed for alleviating driver's load has become improved with extending it's role. Previously, ADAS offered simple function just to make driver's convenience. However, nowadays ADAS also acts as Active Safety system which is made to release and/or prevent accidents. Longitudinal control system, as one of major parts of Active Safety System, is assessed as doing direct effect on avoiding accidents. Therefore, many countries such as Europe and America has pushed longitudinal control system as a government-wide project. In this paper, it covers the result of evaluation system and vehicle evaluation for development study in FCW, ACC and AEB.

• 자동차안전학회지
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• 제13권4호
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• pp.129-143
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• 2021

This paper proposes actuator fault detection and adaptive fault-tolerant control algorithms using performance index and human-like learning for longitudinal autonomous vehicles. Conventional longitudinal controller for autonomous driving consists of supervisory, upper level and lower level controllers. In this paper, feedback control law and PID control algorithm have been used for upper level and lower level controllers, respectively. For actuator fault-tolerant control, adaptive rule has been designed using the gradient descent method with estimated coefficients. In order to adjust the control parameter used for determination of adaptation gain, human-like learning algorithm has been designed based on perceptron learning method using control errors and control parameter. It is designed that the learning algorithm determines current control parameter by saving it in memory and updating based on the cost function-based gradient descent method. Based on the updated control parameter, the longitudinal acceleration has been computed adaptively using feedback law for actuator fault-tolerant control. The finite window-based performance index has been designed for detection and evaluation of actuator performance degradation using control error.

• 자동차안전학회지
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• 제5권1호
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• pp.56-61
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• 2013

This paper presents a development of the Advanced Emergency Braking (AEB) Algorithm for passenger vehicles. The AEB is the system to slow the vehicle and mitigate the severity of an impact when a rear end collision probability is increased. To mitigate a rear end collision, the AEB comprises of a millimeter wave radar sensor, CCD camera and vehicle parameters of which are processed to judge the likelihood of a collision occurring. The main controller of the AEB algorithm is composed of the two control stage: upper and lower level controller. By using the collected obstacle information, the upper level controller of the main controller decides the control mode based not only on parametric division, but also on physical collision capability. The lower level controller determines warning level and braking level to maintain the longitudinal safety. To decide the braking level, Last Ponit To Brake and Steer (LPTB/LPTS) are compared with current driving statues. To demonstrate the control performance of the proposed AEBS algorithm's, closed-loop simulation of the AEBS was conducted by using the Matlab simlink and CarSim software.

• 자동차안전학회지
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• 제14권4호
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• pp.35-42
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• 2022

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.

• 자동차안전학회지
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• 제12권2호
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• pp.14-20
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• 2020

This paper presents a vehicle mass and road grade estimator for developing an automated bus. To consider the dynamic characteristics of a bus varying with the number of passengers, the longitudinal controller needs the estimation of the vehicle's mass and road grade in real-time and utilizes the information to adjust the control gains. Discrete Kalman filter is applied to estimate the time-varying road grade, and the recursive least squares algorithm is adopted to account for the constant mass estimation. After being implemented in MATLAB/Simulink, the estimators are evaluated with the dynamic model and experimental data of the target bus. The proposed estimators will be applied to complement the algorithm of the longitudinal controller and proceed with algorithm verification.

• 한국안전학회지
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• 제30권6호
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• pp.122-131
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• 2015

Recently, starting with the deep underground road construction plan in Seobu Expressway, Korea, there area many studies on deep underground roads to be newly built. However, there is an extreme lack of safety standards, which does not consider traffic conditions and road driving characteristics. Therefore, this study reviewed safety elements to reflect in the deep underground road planning by analyzing driving stability of longitudinal tunnels with road environments, which resemble deep underground roads. For comprehensive analysis, the characteristics and causes of the accidents that have occurred in seven longitudinal tunnels with a length of 2km or over in Gangwon area, were collected. Specifically, geometric structures and facilities of each tunnel were investigated. Also, the present state of facility installation and the changes in driving speed of vehicles passing through each tunnel were observed to analyze the causes for the traffic accidents in each tunnel and accident reduction alternatives. It was revealed that the most frequent accidents in the tunnels resulted from the changes of traffic flow due to the abrupt speed reduction of forward vehicles, or the failure in speed control of following vehicles during the traffic congestion situation. Moreover, installing facilities such as plane and longitudinal curves, median strips and marginal strips seem to induce consistent driving speed. These results mean that for accident prevention, speed management must be preceded and there is a need to develop and introduce safety facilities actively to control the driving flow of forward and following vehicles.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.861-866
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• 2007

This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)

• International Journal of Automotive Technology
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• 제8권3호
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• pp.351-359
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• 2007

In this study, a hierarchical switching control scheme based on robust control theory is proposed for tracking control of vehicle longitudinal acceleration in the presence of large uncertainties. A model set consisting of four multiplicative-uncertainty models is set up, and its corresponding controller set is designed by the LMI approach, which can ensures the robust performance of the closed loop system under arbitray switching. Based on the model set and the controller set, a switching index function by estimating the system gain of the uncertainties between the plant and the nominal model is designed to determine when and which controller should be switched into the closed loop. After theoretical analyses, experiments have also been carried out to validate the proposed control algorithm. The results show that the control system has good performance of robust stability and tracking ability in the presence of large uncertainties. The response time is smaller than 1.5s and the max tracking error is about $0.05\;m/S^2$ with the step input.