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학술지 Development of Steering Control System for Autonomous Vehicle Using Geometry-Based Path Tracking Algorithm
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저자
박명욱, 이상우, 한우용
발행일
201506
출처
ETRI Journal, v.37 no.3, pp.617-625
ISSN
1225-6463
출판사
한국전자통신연구원 (ETRI)
DOI
https://dx.doi.org/10.4218/etrij.15.0114.0123
협약과제
14MC1300, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
초록
In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.
키워드
Autonomous vehicle, Geometry path-tracking method, Steering control system
KSP 제안 키워드
Advanced Pure pursuit method, Autonomous vehicle, Control systems, Dead band, Geometry-based, Lateral offset, Look-ahead Distance, Path tracking algorithm, Servo motor, Steering actuator, Steering control