Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 허건수 | - |
dc.date.accessioned | 2022-03-29T01:23:06Z | - |
dc.date.available | 2022-03-29T01:23:06Z | - |
dc.date.issued | 2020-07 | - |
dc.identifier.citation | 2020 한국자동차공학회 춘계학술대회, page. 304-307 | en_US |
dc.identifier.issn | 2713-7163 | - |
dc.identifier.uri | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE09417959 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/169482 | - |
dc.description.abstract | Recent requirements for safety and convenience have resulted in the application of many ADAS technologies, including Adaptive Cruise Control (ACC), Lane Keeping System (LKS), etc. These technologies are expanding beyond passenger cars to commercial cars. Commercial vehicles have different behavior characteristics from passenger cars due to their long overall width, overall length and overhang (distance between axle and edge of the car). These factors should be considered in the self-driving technology of large buses. In this paper, a method proposed to plan safe trajectory considering the characteristics of the bus and a lateral control system following the planned trajectory. The lane information and the safe distance from the surrounding vehicle or obstacle are set as constraints considering both the front and rear overhang of the bus. The optimal trajectory is planned by considering the safety and the constraints. Based on the behavior model of the bus, the controller is designed to meet the constraints and follow the planned trajectory. The proposed trajectory planning and lateral control algorithm is verified by simulation using commercial software, TruckMaker and MATLAB/Simulink. | en_US |
dc.description.sponsorship | 본 연구는 한국자동차연구원의 "대형버스용 자율주행 시스템 및 평가검증 기술개발" 과제의 연구 결과로 수행되었음(10006852) | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 한국자동차공학회 | en_US |
dc.subject | 경로 계획 | en_US |
dc.subject | 횡방향 제어 시스템 | en_US |
dc.subject | 자율주행 기술 | en_US |
dc.subject | 자율주행 버스 | en_US |
dc.subject | 의사 결정 | en_US |
dc.subject | Trajectory Planning | en_US |
dc.subject | Lateral Control System | en_US |
dc.subject | Autonomous Driving Technology | en_US |
dc.subject | Autonomous Bus | en_US |
dc.subject | Decision making | en_US |
dc.title | 버스의 특성을 고려한 경로 계획 및 횡방향 제어 시스템 개발 | en_US |
dc.title.alternative | Development of Trajectory Planning and Lateral Control System considering Characteristics of Bus | en_US |
dc.type | Article | en_US |
dc.relation.page | 853-856 | - |
dc.contributor.googleauthor | 성지훈 | - |
dc.contributor.googleauthor | 한상원 | - |
dc.contributor.googleauthor | 윤성환 | - |
dc.contributor.googleauthor | 허건수 | - |
dc.contributor.googleauthor | Sung, Jihoon | - |
dc.contributor.googleauthor | Han, Sangwon | - |
dc.contributor.googleauthor | Yoon, Sunghwan | - |
dc.contributor.googleauthor | Huh, Kunsoo | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF AUTOMOTIVE ENGINEERING | - |
dc.identifier.pid | khuh2 | - |
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