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충돌회피 강인성 확보를 위한 모델예측제어 기반 제동 및 조향 통합제어에 관한 연구
인진성(Jinsung In),구요한(Yohan Koo),김도우(Dowoo Kim),장형준(Hyeongjun Jang),박기홍(Kihong Park) 한국자동차공학회 2016 한국자동차공학회 부문종합 학술대회 Vol.2016 No.5
Collision accidents have been occurred in lane change circumstances from driver’s inattention and various complicated driving situation. In a high speed condition, lateral collision accidents can cause multi-vehicle collision or secondary collision accidents. Actually, many research institutes and corporations have researched system which prevents lateral collision in lane change circumstances. Although the lane change assist system such as Blind Spot Detection and Lane Change Assist have been developed, it haven’t considered various driving situation and performed an active collision avoidance. Situations of lateral collision that are in actual lane change circumstance take place in various complicated driving situation, so it need an active collision avoidance. Thus, in this paper, we developed an algorithm which can prevent lateral collision accidents in multi-lane change circumstance by considering various surrounding environments. Additionally, we propose integrated control strategy which can secure robustness on collision avoidance.