충돌회피를 위한 가속도를 고려한 차선변경 시스템 개발

Abstract

This paper presents the lane change system for collision avoidance. The proposed algorithm consists of a making collision avoidance path and automated path following. Using a calculation of TTC (Time to Collision), partial braking is operated and collision avoidance path is generated considering relative distance, velocity and acceleration. After that, desired yaw angle and yaw rate are calculated from collision avoidance path for an automated path following. In order to automate path following, lateral controller is needed. So the lateral controller is developed by control-lyapunov function using 3 D.O.F vehicle model and vehicle parameter. The controller use yaw angle, yaw rate, wheel velocity, longitudinal and lateral velocity to generate required steering angle to follow the desired yaw angle and yaw rate. This system is developed MATLAB/Simulink and its performance is evaluated using the commercial software CarSim.