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백스테핑 기반 차선 유지 시스템

Title
백스테핑 기반 차선 유지 시스템
Other Titles
Backstepping based Lane Keeping System
Author
정정주
Keywords
차선유지시스템; 횡방향 제어; 백스테핑; Lane keeping system; Lateral control; Backstepping
Issue Date
2016-11
Publisher
한국자동차공학회
Citation
2016년 한국자동차공학회 추계학술대회 및 전시회, Page. 307-309
Abstract
In this paper, we propose backstepping based lane keeping system (LKS). In general, the dynamics considering the error with respect to road do not include look-ahead distance. To make use of the look-ahead distance, we reformulate the lateral dynamics of the vehicle as normal backstepping form. As a result, the state used in the lateral dynamics is change into the new state which considers look-ahead distance of the vehicle. The proposed method was validated via simulations which consists of MALAB/Simulink and CarSim.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE07124983https://repository.hanyang.ac.kr/handle/20.500.11754/100992
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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