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자율주행 자동차 정지 거동에서의 인지 불확실성을 고려한 확률적 모델 예측 제어 : Stochastic Model Predictive Control for Stop Maneuver of Autonomous Vehicles under Perception Uncertainty
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김상윤 | - |
dc.contributor.author | 조아라 | - |
dc.contributor.author | 이경수 | - |
dc.date.accessioned | 2023-12-11T00:22:11Z | - |
dc.date.available | 2023-12-11T00:22:11Z | - |
dc.date.created | 2023-12-07 | - |
dc.date.issued | 2022-12 | - |
dc.identifier.citation | 자동차안전학회지, Vol.14 No.4, pp.35-42 | - |
dc.identifier.issn | 2005-9396 | - |
dc.identifier.uri | https://hdl.handle.net/10371/197613 | - |
dc.description.abstract | This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously. | - |
dc.language | 한국어 | - |
dc.publisher | 사단법인 한국자동차안전학회 | - |
dc.title | 자율주행 자동차 정지 거동에서의 인지 불확실성을 고려한 확률적 모델 예측 제어 | - |
dc.title.alternative | Stochastic Model Predictive Control for Stop Maneuver of Autonomous Vehicles under Perception Uncertainty | - |
dc.type | Article | - |
dc.identifier.doi | 10.22680/kasa2022.14.4.035 | - |
dc.citation.journaltitle | 자동차안전학회지 | - |
dc.citation.endpage | 42 | - |
dc.citation.number | 4 | - |
dc.citation.startpage | 35 | - |
dc.citation.volume | 14 | - |
dc.identifier.kciid | ART002912547 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | 이경수 | - |
dc.description.journalClass | 2 | - |
dc.subject.keywordAuthor | Stochastic Model Predictive Control | - |
dc.subject.keywordAuthor | Stop Maneuver | - |
dc.subject.keywordAuthor | Perception Uncertainty | - |
dc.subject.keywordAuthor | 확률적 모델 예측 제어 | - |
dc.subject.keywordAuthor | 정지 거동 | - |
dc.subject.keywordAuthor | 인지 불확실성 | - |
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