지능형 차량을 위한 차선유지 보조시스템과 종횡방향 통합 제어 시스템의 개발

Abstract

ASV (Advanced Safety Vehicle) is the designation for a new generation of vehicles that not only achieve safety enhancement by using the latest electronics and other technologies, but also become a platform for a variety of ITS (Intelligent Transport Systems) functions and technologies. The research and development in advanced vehicle-safety technologies have been processed by the academic community, the automobile and the related industries. In order to advanced safety technologies, including an autonomous driving system. One of the current research areas in ASV field is aimed at improving driving safety based on the development of driver support system, also called ADAS (Advanced Driver Assistance System). The ADAS is expected to use in order to reduce driver workload and to assist the driver in controlling the vehicle. In this study, LKAS (Lane Keeping Assistance System) and integrated longitudinal-lateral control system are developed, respectively. The proposed LKAS includes the lane detection system with a camera to detect the deviation from a lane center and provides steering assist torque to reduce the driver workload. The proposed integrated longitudinal-lateral control system is composed of the local path generation algorithm, LKAS and ACC (Adaptive Cruise Control). A novel path planning method is proposed considering the whole driving environment such as road shape, ego vehicle and surrounding vehicles’ movement. The integrated longitudinal-lateral control system is designed to track the generated local path. The designed LKAS utilizes a SDRE (State Dependent Riccati Equation) optimal control scheme with varying vehicle velocity at each time step and the ACC controller is designed using the constant time-gap spacing policy.