Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Development of Lane Change System considering Acceleration for Collision Avoidance

충돌회피를 위한 가속도를 고려한 차선 변경 시스템 개발

  • Kang, Hyunkoo (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Lee, Donghwi (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Huh, Kunsoo (Department of Automotive Engineering, Hanyang University)
  • 강현구 (한양대학교 대학원 자동차공학과) ;
  • 이동휘 (한양대학교 대학원 자동차공학과) ;
  • 허건수 (한양대학교 미래자동차공학과)
  • Received : 2012.03.09
  • Accepted : 2012.08.23
  • Published : 2013.03.01
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Abstract

This paper presents the lane change system for collision avoidance. The proposed algorithm for the collision avoidance consists of path generation and path following. Using a calculated TTC (Time to Collision), partial braking is operated and collision avoidance path is generated considering relative distance, velocity and acceleration. Based on the collision avoidance path, desired yaw angle and yaw rate are calculated for the automated path following. The lateral controller is designed by a Lyapunov function approach using 3 D.O.F vehicle model and vehicle parameters. The required steering angle is determined from wheel velocity, longitudinal and lateral velocity in order to follow the desired yaw angle and yaw rate. This system is developed MATLAB/Simulink and its performance is evaluated using the commercial software CarSim.

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References

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