Autonomous Lane Change System for Intelligent Vehicle Based on Model Curve Fitting
- Title
- Autonomous Lane Change System for Intelligent Vehicle Based on Model Curve Fitting
- Author
- 정정주
- Keywords
- Autonomous Vehicle; Collision Avoidance; Virtual Potential Field; Lane Change; Optimal Path Planning
- Issue Date
- 2020-11
- Publisher
- 한국자동차공학회
- Citation
- 2020년 한국자동차공학회 추계학술대회 및 전시회, page. 732-736
- Abstract
- In this paper, we present a novel lane change system for intelligent vehicles combined with the model curve fitting method to plan a safe-feasible path in high speed. According to the existing literature, the current virtual potential function (VPF) performs well in real-time collision avoidance. However, this method also exists a flaw that it is based on the point mass model to produce the path in which could be non-safe for intelligent vehicles to track. To improve this method to be more practical, we propose a novel model curve fitting (MCF) method to consider the dynamics of the ground vehicles that can plan a safer path for intelligent vehicles to track. We simulated the overall system framework in MATLAB/Simulink with vehicle dynamic lateral motion model. From the simulation results, we confirm that the MCF method combined with VPF is highly effective compared to the traditional VPF method.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE10519445https://repository.hanyang.ac.kr/handle/20.500.11754/172710
- ISSN
- 2713-7171
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML