지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 567 - 570 (4page)
이용수
초록· 키워드
오류제보하기
This paper presents the cooperative lateral control algorithm for automatic valet parking (AVP). While a position measurement system such as DGPS is in general used for autonomous driving on highway, the position information is provided for AVP via vehicle to infrastructure (V2I) communication. Both noise and time delay for position measurement via V2I is considered. Therefore, it is necessary for the lateral controller to be robust enough to compensate for the noise and time delay. With the assumptions of low speed and no sideslip angle, a nonlinear kinematic model is used for lateral control. Based on the nonlinear model, a nonlinear control technique called dynamic surface control (DSC) is applied to design the lateral controller. Furthermore, the preview and nonlinear damping ideas are incorporated with DSC to redesign the lateral controller. Finally the proposed lateral control algorithm is validated through simulations.
목차
Abstract
1. INTRODUCTION
2. AVP SYSTEM
3. LATERAL CONTROL
4. SIMULATION RESULTS
5. CONCLUSIONS
ACKNOWLEDGMENT
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913110