상세정보
학술지
Development of Steering Control System for Autonomous Vehicle Using Geometry-Based Path Tracking Algorithm
- 발행일
- 201506
- 출처
- ETRI Journal, v.37 no.3, pp.617-625
- ISSN
- 1225-6463
- 출판사
- 한국전자통신연구원 (ETRI)
- 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.
- 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