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정태영(Taeyoung Jeong),이경수(KyongsuYi) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.5
A lane change algorithm for collision avoidance of a intelligent cruise control system has been proposed in<br/> this paper. Steering control algorithm is activated in the case that relative distance is less than a critical<br/> distance which is computed using headway time, relative velocity, brake actuator delay, and the minimum<br/> acceleration of the controlled vehicle. We introduces two feedforward terms ; using nominal steering control<br/> input and nominal lane changing trajectory. Those of feedforward control input has been determined taking<br/> into account nonlinear vehicle dynamic characteristics. The performance of the proposed lane change<br/> algorithm has been investigated via simulations. It has been shown from simulation results that the proposed<br/> steering control algorithm provides good lane change and collision avoidance performance with a comfortable<br/> ride
정태영(Taeyoung Jeong),하정수(Jungsoo Ha),이경수(KyongsuYi),김정태(Jungtae Kim) 한국자동차공학회 2002 한국자동차공학회 Symposium Vol.2002 No.11
This paper presents a stability margin and a specifications of vehicle stability controller by means of dynamic<br/> simulation model which validates dynamic behavior of vehicle. The model is consisted of 6-DOF sprung mass and<br/> 4-quarter car model for vehicle body dynamics. Powertrain model including differential gear and Pacejka tire model<br/> is applied. We validate a vehicle behavior under nominal cornering situations and critical driving conditions with<br/> general steering controller.