Research of the Unmanned Vehicle Control and Modeling for Obstacle Detection and Avoidance

물체인식 및 회피를 위한 무인자동차의 제어 및 모델링에 관한 연구

  • 김상겸 (국민대학교 자동차공학대학원) ;
  • 김정하 (국민대학교 자동차공학대학원)
  • Published : 2003.09.01


Obstacle detection and avoidance are considered as one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle detection and avoidance and it is composed of vehicle control, modeling, and sensor experiments. Obstacle detection and avoidance consist of two parts: one is longitudinal control system for acceleration and deceleration and the other is lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control system of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are evaluated through road tests.


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