조향률에 기반한 자동차의 회전 궤적 모델링

다국어 초록 (Multilingual Abstract)

We proposed a steering control method for an autonomous vehicle by controlling the steering rate instead of the steering angle. The lateral dynamic model of this work is based on the bicycle model of the vehicle. The proposed kinetic model is implemented in LabVIEW Design and Simulation module. The trajectory of vehicle obtained from simulations shows predicted Clothoid spirals when a steering rate input changes from driving straight lane to circular road. The proposed model was verified by LabVIEW simulations of lane change test. The proposed steering model can be applied to a real 4 wheel-car eventhough its based on bicycle model assumption, because difference between left and right wheel angle is easliy considered by Ackerman turning geometry. The proposed method will be applied to trajectory planing and steering controller algorithm for development of unmanned autonomous vehicles.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 회전 궤적 운동 모델
• 3. Steering controller
• 4. 시뮬레이션 결과 및 분석
• 5. 결론
• References