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Autonomous Lane Change System for Intelligent Vehicle Based on Model Curve Fitting

Title
Autonomous Lane Change System for Intelligent Vehicle Based on Model Curve Fitting
Author
정정주
Keywords
Autonomous Vehicle; Collision Avoidance; Virtual Potential Field; Lane Change; Optimal Path Planning
Issue Date
2020-11
Publisher
한국자동차공학회
Citation
2020년 한국자동차공학회 추계학술대회 및 전시회, page. 732-736
Abstract
In this paper, we present a novel lane change system for intelligent vehicles combined with the model curve fitting method to plan a safe-feasible path in high speed. According to the existing literature, the current virtual potential function (VPF) performs well in real-time collision avoidance. However, this method also exists a flaw that it is based on the point mass model to produce the path in which could be non-safe for intelligent vehicles to track. To improve this method to be more practical, we propose a novel model curve fitting (MCF) method to consider the dynamics of the ground vehicles that can plan a safer path for intelligent vehicles to track. We simulated the overall system framework in MATLAB/Simulink with vehicle dynamic lateral motion model. From the simulation results, we confirm that the MCF method combined with VPF is highly effective compared to the traditional VPF method.
URI
https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE10519445https://repository.hanyang.ac.kr/handle/20.500.11754/172710
ISSN
2713-7171
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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