ICROS (제어로봇시스템학회지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

차량과 인프라 간 통신 기반 자동 발렛 파킹 시스템 개발 및 검증

  • Published : 2012.12.25
Download PDF
⟨ Previous Next ⟩

Abstract

차량 간 통신 또는 차량과 인프라 간의 통신을 기반으로 자동차를 스마트화 또는 무인화 하려는 기술들이 지속적으로 개발되고 있다. 이러한 시스템의 안전성을 보장할 수 있는 신뢰도를 검증할 수 있는 방법들이 활발하게 개발되고 있다. 특히 제어기의 강인성과 고장감지의 신뢰도와 같은 관점에서 개발되는 알고리즘의 성능을 검증하는 방법에 대해서 살펴보고자 한다.

Keywords

References

  1. B. Song, "Perception technology for intelligent safety vehicle," KSAE Auto Journal (in Korean), vol. 34, no. 6, pp. 35-40, 2012.
  2. California PATH, Intellimotion, vol. 16, no. 1, 2010.
  3. D. Jung", Intelligent vehicle development and application projects in USA,"KSAE Auto Journal (in Korean), vol. 31, no. 4, pp. 66- 71, 2009.
  4. Smart Highway R&D Center, a Proposal of Smart Highway Project (in Korean), Korea Expressway Co. 2009.
  5. K. An, J. Choi, and D. Kwak, "Automatic valet parking system incorporating a nomadic device and parking servers,"Proc. of IEEE Int. Conf. on Consumer Electronics, pp. 111-112, 2011.
  6. C. Urmson, J. Anhalt, and D. Bagnell, "Autonomous driving in urban environments," J. of Field Robotics, vol. 25, no. 8, pp. 425-466, 2008.
  7. A. Bacha, et al.", Odin: team victor tango's entry in the DARPA urban challenge,"Journal of Field Robotics, vol. 25, no. 8, pp. 467-492, 2008. https://doi.org/10.1002/rob.20248
  8. R. Rajamani, C. Zhu, and L. Alexander, "Lateral control of a backward driven front-steering vehicle," Control Engineering Practice, vol. 11, no. 5, pp. 531-540, 2003. https://doi.org/10.1016/S0967-0661(02)00143-0
  9. R. Rajamani, Vehicle Dynamics and Control, Springer, 2003.
  10. H. Choi and B. Song", Design of Lateral controller for automatic valet parking and its performance analysis with respect to vehicle types," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 11, pp. 1051-1058, 2012. https://doi.org/10.5302/J.ICROS.2012.18.11.1051
  11. B. Song and J. K. Hedrick, Dynamic Surface Control for Uncertain Nonlinear Systems: An LMI Approach, Springer, 2011.
  12. B. Song and J. K. Hedrick," Fault tolerant nonlinear control with applications to an automated transit bus," Vehicle System Dynamics, vol. 43, no. 5, pp. 331-350, 2005. https://doi.org/10.1080/00423110412331282922
  13. S. Kim, B. Song and H. Song, "Integrated fault detection and diagnosis system for longitudinal control of an autonomous allterrain vehicle," International Journal of Automotive Technology, vol. 10, no. 4, pp. 505-512, 2009. https://doi.org/10.1007/s12239-009-0058-5
  14. CarSim, available at http://www.carsim.com.
  15. ASM Vehicle Dynamics Simulation Package, available at http://www.dspaceinc.com/en/inc/home/products/sw/automotive_s imulation_models.cfm.
  16. QNX, available at http://www.qnx.com.