Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Development of Throttle and Brake Controller for Autonomous Vehicle Simulation Environment

자율주행 시뮬레이션 환경을 위한 차량 구동 및 제동 제어기 개발

  • 곽지섭 (서울대학교 기계공학부) ;
  • 이경수 (서울대학교 기계공학부)
  • Received : 2021.11.05
  • Accepted : 2022.03.03
  • Published : 2022.03.31
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Abstract

This paper presents a development of throttle and brake controller for autonomous vehicle simulation environment. Most of 3D simulator control autonomous vehicle by throttle and brake command. Therefore additional longitudinal controller is required to calculate pedal input from desired acceleration. The controller consists of two parts, feedback controller and feedforward controller. The feedback controller is designed to compensate error between the actual acceleration and desired acceleration calculated from autonomous driving algorithm. The feedforward controller is designed for fast response and the output is determined by the actual vehicle speed and desired acceleration. To verify the performance of the controller, simulations were conducted for various scenarios, and it was confirmed that the controller can successfully follow the target acceleration.

Keywords

Acknowledgement

본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었음(과제번호 21AMDP-C162182-01).

References

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