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Robust Autonomous Emergency Braking Algorithm using the Tire-road Friction Estimation and the Sensor Uncertainties : 타이어 노면 마찰 추정 및 센서 불확실성을 활용한 강건한 자동비상제동알고리즘 개발
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 이경수 | - |
dc.contributor.author | 이태영 | - |
dc.date.accessioned | 2017-07-13T06:17:58Z | - |
dc.date.available | 2017-07-13T06:17:58Z | - |
dc.date.issued | 2015-02 | - |
dc.identifier.other | 000000025245 | - |
dc.identifier.uri | https://hdl.handle.net/10371/118432 | - |
dc.description | 학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2015. 2. 이경수. | - |
dc.description.abstract | Safe and collision-free travel is vital in todays society. It is also an important issue in many industrial processes. Therefore the automakers are trying to help drivers to avoid or mitigate collision with active safety systems instead of passive safety systems. For example, ACC (Adaptive Cruise Control) and AEBS (Advanced Emergency Braking System) warn the driver from rear-end collision risk and intervene by partial braking maneuvers have already been implemented in modern passenger vehicles in recent years.
Since the active safety system always work with a human driver co-existing, the longitudinal safety system must be acceptable to the driver. Thus the system operation law need to be set based on the human drivers driving characteristics. In order to be acceptable to drivers, vehicle behavior or driving characteristics of the control in target situation needs to be similar to the human drivers. Therefore, in this thesis, the longitudinal safety control algorithm was not only designed by using the physical collision risk but also by drivers characteristic to achieve safe and acceptable control algorithm. In the case of road information, previous research about friction estimation was used to estimate the tire-road friction information. To make up for unreliability in normal steady driving situation, some assumptions were applied in the case of normal steady-straight driving condition. By using the estimated tire-road friction information, safety indices for the control mode decision were redefined. Generally, measured sensor signal has difference with true value due to the measurement noise or uncertainty. To guarantee the robust control performance, RADAR and vision sensor are used. For robust control mode decision, the simple static theory and Kalman filter considering the measurement noise are used in this research. The expected error range of the longitudinal safety index from the measurement noise can be defined from the covariance matrix of the Kalman filter and simple definition of the deviation of the function. By using the expected error, the threshold of new longitudinal safety index was determined for the safety monitoring of the driving situation. The proposed vehicle longitudinal safety algorithm was evaluated through computer simulations using vehicle simulation software, CARSIM and MATLAB/Simulink in two kinds of scenario: 1) emergency braking in steady following driving, 2) stop preceding vehicle in the rainy day situation. Also, to confirm the robustness of the proposed control algorithm, the simulation was conducted 100 iteration in the same scenario. From simulation results, it can be concluded that the proposed longitudinal safety algorithm could enhanced the longitudinal safety and guarantee the robust capacity from the sensor uncertainty and various road condition. | - |
dc.description.tableofcontents | Abstract i
List of Tables v List of Figures vii Chapter 1 Introduction 1 1.1 Background and Motivation 1 1.2 Previous Researches 7 1.3 Thesis Objectives 9 1.4 Thesis Outline 11 Chapter 2 Advanced Emergency Brake Algorithm 12 2.1 Safety Index for Longitudinal Safety Assessment 13 2.2 New Safety Index for Longitudinal Safety Control 26 2.3 Safety Threshold for the New Longitudinal Safety Index 29 Chapter 3 Sensor Information Analysis and Environment Information based Longitudinal Safety Control Algorithm 39 3.1 Environment Information for Vehicle Longitudinal Safety Control 40 3.2 Tire-road fricition Estimation 46 3.3 Safety Monitoring by using the Environment information 50 3.4 Sensor Information for Vehicle Longitudinal Safety Control 56 3.5 Sensor Data Fusion 67 3.6 Control Mode Decion by using the Fused Sensor Data 76 Chapter 4 Simulation of the Vehicle Longitudinal 81 4.1 Simulation with/without fused sensor information for longitudinal safety algorithm 83 4.2 Simulation with tire-road friction information for longitudinal safety algorithm 91 Chapter 5 Conclusions 98 Bibliography 101 국문초록 108 | - |
dc.format | application/pdf | - |
dc.format.extent | 2474185 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | Advanced Emergency Braking System | - |
dc.subject | Sensor uncertainty | - |
dc.subject | Tire-road friction coefficient | - |
dc.subject | Longitudinal Safety Control | - |
dc.subject | Collision Avoidance | - |
dc.subject.ddc | 621 | - |
dc.title | Robust Autonomous Emergency Braking Algorithm using the Tire-road Friction Estimation and the Sensor Uncertainties | - |
dc.title.alternative | 타이어 노면 마찰 추정 및 센서 불확실성을 활용한 강건한 자동비상제동알고리즘 개발 | - |
dc.type | Thesis | - |
dc.description.degree | Doctor | - |
dc.citation.pages | ix,110 | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2015-02 | - |
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