차량 횡방향 운동학 모델 기반 차선 유지 시스템
- Title
- 차량 횡방향 운동학 모델 기반 차선 유지 시스템
- Other Titles
- Kinematic Vehicle Lateral Motion Model based Lane Keeping System
- Author
- 정정주
- Issue Date
- 2015-05
- Publisher
- 한국자동차공학회
- Citation
- 2015 KSAE 부문 종합학술대회, 2015.5, 530-531
- Abstract
- In this paper, we propose kinematic vehicle lateral motion model based lane keeping system considering look-ahead distance. We design kinematic vehicle lateral motion model based state-space model. The lane keeping controller based on the kinematic model was derived. In addition, output measurement matrix using clothoidal constraints was designed to consider look-ahead distance in the kinematic vehicle lateral motion model. Control performance of model was validated via experimental results with electric power steering system equipped with an Autobox from dSPACE
- URI
- http://www.dbpia.co.kr/Article/NODE06367280http://hdl.handle.net/20.500.11754/24540
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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