IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Autonomous Driving Acceleration Estimation Model According to the Slope of the Road

도로의 경사도에 따른 자율주행 가속도 추정 모델

  • Received : 2021.10.12
  • Accepted : 2021.11.17
  • Published : 2021.12.31
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Abstract

Autonomous vehicles are divided into an upper controller that calculates control value through cognitive judgment and a lower controller that appropriately transmits its control value to an actuator. Here, the longitudinal control in a lower controller has a problem as the road slopes due to the property of the Acceleration sensor to output the acceleration as the slope of the device. Therefore, in this paper, a sigmoid function is proposed to determine the slope to compensate for this problem. Through the experiment, Checked performance by comparing the existing table model with the proposed model.

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Acknowledgement

이 논문은 산업통상자원부 산업기술혁신사업 (10079730, 자동차전용도로/도심로 자율주행 시스템 개발 및 성능평가)과 과학기술정보통신부 및 정보통신기획평가원의 대학ICT연구센터지원사업의 연구결과로 수행되었습니다(IITP-2021-2020-0-01808*).

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