• Kim, S.-G. (Graduate School of Automotive Engineering, Kookmin University) ;
  • Kim, J.-H. (Graduate School of Automotive Engineering, Kookmin University)
  • Published : 2003.12.01


Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a 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 strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.


  1. Dorf, R. C. and Bishop, R. H. (1997). Modem Control Systems, Addison Wesley, New Jersey
  2. Ellis, J. R. (1969). Vehicle Dynamics and Control, London Business Book, London
  3. Franklin, G. E, Powell, J. D. and Emami-Naeini, A. (1995). Feedback Control of Dynamic Systems, Addison Wesley, California
  4. Kim, D. H. (1993). Basic and Application of a Small Size Motor, Jin Young Press, Seoul, Korea
  5. Kim, M. S. (2001). The System Modeling for Unmanned Vehicle & Autonomous Driving Technique by Ultrasonic Sensors, Masters Thesis, Graduate School of Automotive Engineering, Kookmin University, Seoul, Korea
  6. Kim, B. G., Park, Y. H., Kim, S. G. and Kim, J. H. (2001). The development of collision avoidance algorithm for unmanned vehicle using ultrasonic range sensors. Proceeding of ICCAS, Cheju Island, 20-23
  7. Lee, J. W. (1999). An application of computer vision and laser radar to a collision warning system. Trans. KSAE 7,5,258-267
  8. Lee, S. J. and Yi, K. S. (2001). Throttle/brake combined control for vehicle-to-vehicle distance and speed control. Trans. KSAE 9,2, 137-142
  9. National Instruments. (1996). Lab-VIEW Data Acquisition Basics Manual, National Instruments Cor., U.S.A
  10. Paresh, C. S. (1998). Principles of Electric Machines and Power Electronics, SciTech Media, Korea
  11. Park, K. H., Heo, S. J., Paik, I. H. and Yi, K. S. (2001). Estimator design for road friction coefficient and body sideslip angle for use in vehicle dynamics control systems. Trans. KASE 9,2, 176-184
  12. Thomas, D. Gillespie. (1992). Fundamentals of Vehicle Dynamics, Society of Automotive Engineers, Inc., Warrendale
  13. Tumbo, S. D., M. Salyani J. D. (2001). Laser, ultrasonic and manual measurements of canopy volumes of citrus trees. American Society of Agricultural Engineers (ASAE), Paper No. 01-011068