고속 자율 주행 차량의 고자유도 모델 기반 조향제어 알고리즘 개발

다국어 초록 (Multilingual Abstract)

This paper is study of steering control for path tracking of autonomous vehicle. One of the core technologies of autonomous vehicle is steering control technology for accurate path tracking. Conventional steering control algorithms have been applied for controlling the low-speed driving. Steering control on the low-speed driving is possible by using the 2-D.O.F. model. To prepare for a variety of driving conditions, steering control algorithms for high-speed driving should be developed. But, cornering stiffness and lateral load transfer by roll should be considered for controlling the high-speed driving. In order to reflect these factors for controlling the high-speed driving, the steering control algorithm based on nonlinear 3-D.O.F. model should be developed. For verifying the developed algorithm, developed steering control algorithm based on nonlinear 3-D.O.F. was compared with conventional steering control algorithm.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 저자유도 조향제어 알고리즘
• 3. 고자유도 조향제어 알고리즘
• 4. 성능평가 시뮬레이션
• 4. 결론
• References