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A Comparative Study of Lane Keeping System : Dynamic and Kinematic Models with Look-ahead Distance

Title
A Comparative Study of Lane Keeping System : Dynamic and Kinematic Models with Look-ahead Distance
Author
정정주
Keywords
Vehicles; Kinematics; Dynamics; Computational modeling; Vehicle dynamics; Mathematical model; Roads
Issue Date
2015-06
Publisher
IEEE
Citation
Intelligent Vehicles Symposium (IV), 2015 IEEE , Page. 1-6
Abstract
In this paper, we propose kinematic vehicle lateral motion model based lane keeping system considering look-ahead distance. The state-space model based on the kinematic vehicle lateral motion model is derived and we design the lane keeping system(LKS) based on the kinematic model. The kinematic model based LKS is robust against unknown vehicle parameters variation. Furthermore, to consider look-ahead distance in the kinematic vehicle lateral motion model, we designed output measurement matrix using clothoidal constraints. Hence, we can control the vehicle at look-ahead distance like human driver. Control performance of each model was validated via computational simulation results with CarSim and MAT-LAB/Simulink, and experimental results with electric power steering system equipped with an Autobox from dSPACE.
URI
http://ieeexplore.ieee.org/document/7225821/http://hdl.handle.net/20.500.11754/25155
ISBN
978-1-4673-7266-4
ISSN
1931-0587
DOI
10.1109/IVS.2015.7225821
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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