• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• International Journal of Control, Automation, and Systems
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• 제2권1호
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• pp.83-91
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• 2004

The purpose of this paper is to obtain an accurate nonlinear system model to test various control schemes for a motion control system that requires high speed, robustness and accuracy. An industrial sewing machine equipped with a Brushless DC motor is considered. It is modeled by a neural network that is configured as an output-error dynamical system. The identified model is essentially a one step ahead prediction structure in which past inputs and outputs are used to calculate the current output. Using the model, a 2 degree-of-freedom PID controller to compensate the effects of disturbance without degrading tracking performance has been de-signed. In this experiment, it is not preferable for safety reasons to tune the controller online on the actual machinery. Experimental results confirm that the model is a good approximation of sewing machine dynamics and that the proposed control methodology is effective.

• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.110-116
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• 2022

Recently, various studies have been conducted to apply deep learning and AI to various fields of autonomous driving, such as recognition, sensor processing, decision-making, and control. This paper proposes a controller applicable to path following, static obstacle avoidance, and pedestrian avoidance situations by utilizing reinforcement learning in autonomous vehicles. For repetitive driving simulation, a reinforcement learning environment was constructed using virtual environments. After learning path following scenarios, we compared control performance with Pure-Pursuit controllers and Stanley controllers, which are widely used due to their good performance and simplicity. Based on the test case of the KNCAP test and assessment protocol, autonomous emergency steering scenarios and autonomous emergency braking scenarios were created and used for learning. Experimental results from zero collisions demonstrated that the reinforcement learning controller was successful in the stationary obstacle avoidance scenario and pedestrian collision scenario under a given condition.