Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 허건수 | - |
dc.date.accessioned | 2019-03-20T02:11:07Z | - |
dc.date.available | 2019-03-20T02:11:07Z | - |
dc.date.issued | 2016-11 | - |
dc.identifier.citation | 2016년 한국자동차공학회 추계학술대회 및 전시회, 2016.11, 208-210 | en_US |
dc.identifier.uri | http://www.dbpia.co.kr/Journal/ArticleDetail/NODE07124948?TotalCount=1&Seq=1&q=%5B%EC%A3%BC%EB%B3%80%20%EC%B0%A8%EB%9F%89%EA%B3%BC%20%EB%8F%84%EB%A1%9C%20%EB%AA%A8%EB%8D%B8%EC%9D%84%20%EA%B3%A0%EB%A0%A4%ED%95%9C%20%EB%AA%A8%EB%8D%B8%20%EC%98%88%EC%B8%A1%20%EB%B0%A9%EC%8B%9D%EC%9D%98%20%ED%9A%A1%20%EB%B0%A9%ED%96%A5%20%EC%A0%9C%EC%96%B4%C2%A7coldb%C2%A72%C2%A751%C2%A73%5D&searchWord=%EC%A0%84%EC%B2%B4%3D%5E%24%EC%A3%BC%EB%B3%80%20%EC%B0%A8%EB%9F%89%EA%B3%BC%20%EB%8F%84%EB%A1%9C%20%EB%AA%A8%EB%8D%B8%EC%9D%84%20%EA%B3%A0%EB%A0%A4%ED%95%9C%20%EB%AA%A8%EB%8D%B8%20%EC%98%88%EC%B8%A1%20%EB%B0%A9%EC%8B%9D%EC%9D%98%20%ED%9A%A1%20%EB%B0%A9%ED%96%A5%20%EC%A0%9C%EC%96%B4%5E*&Multimedia=0&isIdentifyAuthor=0&Collection=0&SearchAll=%EC%A3%BC%EB%B3%80%20%EC%B0%A8%EB%9F%89%EA%B3%BC%20%EB%8F%84%EB%A1%9C%20%EB%AA%A8%EB%8D%B8%EC%9D%84%20%EA%B3%A0%EB%A0%A4%ED%95%9C%20%EB%AA%A8%EB%8D%B8%20%EC%98%88%EC%B8%A1%20%EB%B0%A9%EC%8B%9D%EC%9D%98%20%ED%9A%A1%20%EB%B0%A9%ED%96%A5%20%EC%A0%9C%EC%96%B4&isFullText=0&specificParam=0&SearchMethod=0&Sort=1&SortType=desc&Page=1&PageSize=20 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/101007 | - |
dc.description.abstract | This paper proposes potential field based lateral planning and control method using model predictive approach for autonomous driving. The potential field is constructed as a superposition of disparate functions of surrounding vehicles, road boundaries and lanes. Vehicle states related to comfort and safety are formulated with model predictive approach and a cost function is designed. Then based on the potential field model, the potential risk using predicted states is added to the cost function above. With the combined cost function and roughly discretized input set, the suboptimal solution which has the smallest value of the cost function for path planning and control is solved. The proposed algorithm is developed with MATLAB/Simulink and its performance is evaluated using the commercial software CarSim | en_US |
dc.description.sponsorship | 본 연구는 국토교통부 교통물류 연구사업의‘스마트 자율협력주행 도로시스템 개발’ 과제로 수행된 내용임.(과제번호: 15TLRP-B101406-01) 본 연구는 미래창조과학부 및 정보통신기술진흥센터의 대학ICT연구센터육성 지원사업의 연구결과로 수행되었음 (IITP-2016-H8601-16-1005) | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 한국자동차공학회 | en_US |
dc.subject | 모델 예측 제어 | en_US |
dc.subject | 퍼텐셜 필드 | en_US |
dc.subject | 차선 변경 | en_US |
dc.subject | 충돌 회피 | en_US |
dc.subject | 자율주행차량 | en_US |
dc.subject | Model Predictive Control | en_US |
dc.subject | Potential Field | en_US |
dc.subject | Lane Change | en_US |
dc.subject | Collision Avoidance | en_US |
dc.subject | Autonomous Vehicle | en_US |
dc.title | 주변 차량과 도로 모델을 고려한 모델 예측 방식의 횡 방향 제어 | en_US |
dc.title.alternative | A Model Predictive Approach for Vehicle Lateral Control Considering Surrounding Vehicle and Lane Model | en_US |
dc.type | Article | en_US |
dc.relation.page | 208-210 | - |
dc.contributor.googleauthor | 김동찬 | - |
dc.contributor.googleauthor | 박장희 | - |
dc.contributor.googleauthor | 허건수 | - |
dc.contributor.googleauthor | Kim, Dongchan | - |
dc.contributor.googleauthor | Park, Janghee | - |
dc.contributor.googleauthor | Huh, Kunsoo | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF AUTOMOTIVE ENGINEERING | - |
dc.identifier.pid | khuh2 | - |
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