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Development of vehicle maneuvering system for autonomous driving

Title
Development of vehicle maneuvering system for autonomous driving
Author(s)
Choi, Jung HyunLee, Hyuk JinOh, SehoonNam, Kanghyun
Issued Date
2022-08
Citation
Mechatronics, v.85
Type
Article
Author Keywords
Disturbance observerSteering controlAutonomous driving
Keywords
MOTION CONTROL
ISSN
0957-4158
Abstract
Recently, autonomous driving technology has received significant interest, and consequently, various autonomous driving algorithms have been developed by researchers. An experimental (conventional) vehicle verifies the strategy for autonomous driving by testing the performance and feasibility of the corresponding algorithms. Implementation of the autonomous driving strategy in the conventional vehicle system requires modification of the electronic control unit (ECU); however, this is limited by security issues and the high cost of development. In this paper, a maneuvering system that can control the steering angle, braking force, and accelerating signal so that autonomous driving does not operate via the ECU is proposed. Because the steering angle is an important factor in terms of the vehicle motion behavior, a robust angle controller based on the disturbance observer is adopted. Moreover, to ensure safety and user convenience, a user intention recognition algorithm is proposed. Based on this algorithm, the maneuvering system can be disabled during control without using any perception sensor. Finally, several experiments are conducted to evaluate the functions of the maneuvering system. A scenario-based driving test is also performed to verify the feasibility of the maneuvering system.
URI
http://hdl.handle.net/20.500.11750/17160
DOI
10.1016/j.mechatronics.2022.102798
Publisher
Pergamon Press Ltd.
Related Researcher
  • 오세훈 Oh, Sehoon 로봇및기계전자공학과
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Appears in Collections:
Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles

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