Predictive Collision Avoidance Control with Optimized Ride Comfort in Vehicle Lateral Motion Control
- Title
- Predictive Collision Avoidance Control with Optimized Ride Comfort in Vehicle Lateral Motion Control
- Author
- 정정주
- Keywords
- Autonomous vehicles; Model predictive control; Collision avoidance; Active safety; Lateral ride comfort
- Issue Date
- 2020-10
- Publisher
- ICROS
- Citation
- 2020 20th International Conference on Control, Automation and Systems (ICCAS), page. 737-742
- Abstract
- This study aims to propose how autonomous vehicle overtakes an obstacle with model predictive control and makes a lateral ride comfortability by optimizing a jerk in a lateral direction. In this paper, we conducted a case study on collision avoidance in a waypoint tracking situation. To avoid the obstacle, we proposed a desired lateral offset from the global route and used the offset as a reference for avoidance. Then, we defined a quadratic cost function considering the jerk to minimize a motion sickness during the avoidance maneuver. To verify the method, we executed a computational simulation using actual waypoint data. As a result, we observed that the proposed scheme has more comfortability for obstacle avoidance than the method without optimizing the jerk.
- URI
- https://ieeexplore.ieee.org/document/9268424https://repository.hanyang.ac.kr/handle/20.500.11754/171829
- ISBN
- 978-89-93215-20-5
- ISSN
- 2642-3901; 1598-7833
- DOI
- 10.23919/ICCAS50221.2020.9268424
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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