충돌 시점 예측을 통한 collision avoidance steering controller 개발

Abstract

Vehicle steering control can be implemented to ADAS, such as lane keeping, automated trajectory following, collision avoidance lane change, or more extreme evasive maneuvers to assist drivers. Especially, collision avoidance lane change steering wheel controller can be a way to avoid imminent crash scenarios. This paper presents collision avoidance lane change steering controller with crash prediction algorithm for active safety system to implement on an intelligent vehicle. The paper investigates vehicle trajectory prediction method based on 2-dimension kinematics, and collision avoidance lane change steering controller using LQR (Linear Quadratic Regulator). Also, simple bicycle model is used to calculate error between collision avoidance lane change trajectory and vehicle CG. The simulation results using proposed algorithm show collision avoidance lane change results for each speed profile.