Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 정정주 | - |
dc.date.accessioned | 2019-11-26T07:41:43Z | - |
dc.date.available | 2019-11-26T07:41:43Z | - |
dc.date.issued | 2017-07 | - |
dc.identifier.citation | IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE, v. 9, no. 3, page. 36-45 | en_US |
dc.identifier.issn | 1939-1390 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/7990641 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/114774 | - |
dc.description.abstract | This article addresses path generation and predictive control for waypoints tracking. By considering irregularity of waypoints given by the leading vehicle, the waypoints-following vehicle is made to track a clothoid path that assures safe and comfortable driving while keeping track of the waypoints in the least squares sense. In the generation of such a clothoid path, the path generation scheme utilized the clothoidal constraint and weighted least squares curve fitting. Predictive control is applied to improve path tracking performance over horizon, with constraints on steering and its rate being considered for safe and comfortable steering. A computational experiment, utilizing a set of leading vehicle generated waypoints on a highway, is conducted to demonstrate utility of the path generation and predictive control scheme. | en_US |
dc.description.sponsorship | This work was partly supported by Korea Evaluation Institute of Industrial Technology(KEIT) grant funded by the Korea government(MOTIE) (No. 10044620, Automatic lane change system for novice drivers) and Institute for Information & communications Technology Promotion(IITP) grant funded by the Korea government(MSIP) (No. R7117-16-0164, Development of wide area driving environment awareness and cooperative driving technology which are based on V2X wireless communication). | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | VEHICLES | en_US |
dc.title | On-Road Path Generation and Control for Waypoints Tracking | en_US |
dc.type | Article | en_US |
dc.relation.no | 3 | - |
dc.relation.volume | 9 | - |
dc.identifier.doi | 10.1109/MITS.2017.2709778 | - |
dc.relation.page | 36-45 | - |
dc.relation.journal | IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE | - |
dc.contributor.googleauthor | Kang, Chang Mook | - |
dc.contributor.googleauthor | Lee, Seung-Hi | - |
dc.contributor.googleauthor | Chung, Chung Choo | - |
dc.relation.code | 2017010122 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF ELECTRICAL AND BIOMEDICAL ENGINEERING | - |
dc.identifier.pid | cchung | - |
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