Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 이형철 | - |
dc.contributor.author | 이재웅 | - |
dc.date.accessioned | 2020-02-11T03:55:34Z | - |
dc.date.available | 2020-02-11T03:55:34Z | - |
dc.date.issued | 2020-02 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/123674 | - |
dc.identifier.uri | http://hanyang.dcollection.net/common/orgView/200000437742 | en_US |
dc.description.abstract | Tractor-semi trailer vehicles have different dynamics from other vehicles, and have a higher center of gravity than passenger tractors, which increases the risk of rollover. In particular, if the tractor-semi trailer vehicle steers rapidly to avoid collisions, roll-over and jack-knife may occur, and additionally the risk of secondary accidents and damage to cargo loss. In this paper, we studied the path planning and the collision avoidance control based on the model prediction control in the emergency steering avoidance of the tractor-semi trailer vehicle. Model predictive control aims to satisfy the yaw stability and roll stability in order to ensure the driving stability of the vehicle and to avoid collisions and to enable collision avoidance. The constraint on the control input is based on the distance to the vehicle ahead and the yaw & roll angle that satisfies the yaw & roll stability. The controller designed in this paper is designed and verified based on the 5-DOF linear motion model of the tractor-semi trailer. To do this, we compared and verified the propensity of Trucksim's tractor-semi-trailer vehicle nonlinear model and 5-DOF linear motion model, and used MATLAB / Simulink program to design and verify the controller. The verification scenario assumes that only the preceding vehicle and the own vehicle exist when driving on a two-lane road. |트랙터-세미 트레일러 차량의 경우 다른 차량과 다른 Dynamics를 가지고 있으며 일반 승용차에 비해 무게 중심이 높아 Roll-over의 위험성이 크다. 특히 트랙터-세미 트레일러 차량이 충돌을 회피하기 위해 급격한 Steer 조작을 할 경우 Roll-over 및 Jack-knife 현상이 발생할 수 있고 추가적으로 2차 사고의 위험성 및 화물 유실로 인한 피해가 발생하게 된다. 이에 본 논문에서는 트랙터-세미 트레일러 차량의 긴급조향회피 시 차량의 안정성을 고려한 회피 경로 계획을 위해 모델 예측 제어를 진행하였다. 모델 예측 제어는 차량의 주행 안정성을 확보하며 충돌을 회피하기 위해 Yaw Stability 및 Roll Stability를 만족하며 충돌 회피가 가능하도록 하는 것을 목표로 한다. 제어 입력에 대한 구속 조건은 전방 차량과의 거리 및 Yaw & Roll Stability를 만족하는 Yaw & Roll 각도를 기준으로 한다. 본 논문에서 설계한 제어기는 트랙터-세미 트레일러의 5-DOF 선형 운동 모델을 기반으로 설계 및 검증을 진행하였다. 그러기 위해 상용 프로그램인 Trucksim의 트랙터-세미 트레일러 차량 비선형 모델과 5-DOF 선형 운동 모델의 경향성을 비교 및 검증하였으며 제어기의 설계 및 검증을 위해 MATLAB/Simulink 프로그램을 사용하였다. 검증 시나리오는 2차선 도로에서 1차로 주행 시 선행 차량과 자차 2대의 차량만 존재하는 것으로 가정하였다.; Tractor-semi trailer vehicles have different dynamics from other vehicles, and have a higher center of gravity than passenger tractors, which increases the risk of rollover. In particular, if the tractor-semi trailer vehicle steers rapidly to avoid collisions, roll-over and jack-knife may occur, and additionally the risk of secondary accidents and damage to cargo loss. In this paper, we studied the path planning and the collision avoidance control based on the model prediction control in the emergency steering avoidance of the tractor-semi trailer vehicle. Model predictive control aims to satisfy the yaw stability and roll stability in order to ensure the driving stability of the vehicle and to avoid collisions and to enable collision avoidance. The constraint on the control input is based on the distance to the vehicle ahead and the yaw & roll angle that satisfies the yaw & roll stability. The controller designed in this paper is designed and verified based on the 5-DOF linear motion model of the tractor-semi trailer. To do this, we compared and verified the propensity of Trucksim's tractor-semi-trailer vehicle nonlinear model and 5-DOF linear motion model, and used MATLAB / Simulink program to design and verify the controller. The verification scenario assumes that only the preceding vehicle and the own vehicle exist when driving on a two-lane road. | - |
dc.publisher | 한양대학교 | - |
dc.title | 트랙터-세미 트레일러 차량의 긴급조향회피 시 모델예측제어 기반의 경로 계획 및 충돌 회피 제어 | - |
dc.title.alternative | Path Planning and Collision Avoidance Control Based on Model Prediction Control in Emergency Steering Avoidance of Tractor-Semi Trailer Vehicle | - |
dc.type | Theses | - |
dc.contributor.googleauthor | 이재웅 | - |
dc.contributor.alternativeauthor | Yi, Jae Woong | - |
dc.sector.campus | S | - |
dc.sector.daehak | 대학원 | - |
dc.sector.department | 자동차전자제어공학과 | - |
dc.description.degree | Master | - |
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