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A study on Fuzzy control system apply to the acceleration profile for the autonomous-driving in urban street
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도심지 기반의 자율주행을 위한 가속도 프로파일이 적용된 퍼지 제어 시스템

논문 기본 정보

Type
Proceeding
Author
Ohsung kwon (국민대학교) Jungil Yoon (국민대학교) Jungha Kim (국민대학교)
Journal
The Korean Society Of Automotive Engineers 한국자동차공학회 춘계학술대회 KSAE 2017 Annual Spring Conference
Published
2017.5
Pages
762 - 766 (5page)

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A study on Fuzzy control system apply to the acceleration profile for the autonomous-driving in urban street
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In this paper, we propose a longitudinal acceleration controller invoked fuzzy logic to follow acceleration plans considering autonomous urban driving. To solve the difficult problem which is formulating the powertrain model of vehicle, therefore we applied fuzzy logic to the controller. The controller receives the acceleration error, jerk and APS(Accel position sensor) signal, and outputs displacement of APS signal and brake pedal position to control the speed of vehicle. In addition, we estimate the gradient with IMU(Inertial measurement unit) in order to maintain the desired speed even on the slope, and complement the performance of the controller by selecting suitable APS signal and brake pedal control for the situation.

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Abstract
1. 서론
2. 본론
3. 실험
4. 결론
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UCI(KEPA) : I410-ECN-0101-2018-556-000999655