Recently, technological evolution of autonomous vehicles and various autonomous driving platforms are being developed. As a result, an increasing number of vehicles are acquiring temporary autonomous driving licenses targeting real road-based autonomous driving data collection. Therefore, the range ...
Recently, technological evolution of autonomous vehicles and various autonomous driving platforms are being developed. As a result, an increasing number of vehicles are acquiring temporary autonomous driving licenses targeting real road-based autonomous driving data collection. Therefore, the range of roads where autonomous driving is possible will be expanded and various atypical situations will be encountered. This paper proposes a solution to the problem of longitudinal control with incorrect acceleration on a sloped road among various irregular situations. In autonomous driving, control is divided into upper control and lower control, and the system before input of a control value to the actuator is defined as upper control, and the system after that is defined as lower control. The lower controller designed a Look-Up Table for the requested control value of the upper controller, and the acceleration error that occurs nevertheless is feed back- controlled through the PI controller. However, on a sloped road, the PI controller compensates incorrectly. This is because the acceleration error is accurate on a flat road, but an incorrect acceleration error is output on an inclined road due to the characteristics of the IMU sensor. The IMU sensor utilizes the inertial force to calculate the acceleration. Therefore, it calculates the wrong acceleration due to the gravitational acceleration on an sloped road. To solve this problem, unlike the IMU sensor, a wheel sensor that is not affected by the inertia force was used. The wheel sensor calculates the vehicle's speed by using the rotational speed of the wheel. Therefore, the wheel acceleration is calculated by differentiating the wheel speed. Here, when the road slopes, an error occurs between the wheel acceleration and the IMU acceleration due to the characteristics of the IMU sensor. Therefore, in this paper, this acceleration error is applied to the sigmoid function to determine the slope of the road. Then, a model for estimating the acceleration by applying these as weights to the wheel acceleration and the IMU acceleration was proposed. In addition, excellent performance was verified by comparing the continuity of the sigmoid function with the existing table model, and it was confirmed that the system proposed in this paper has better speed tracking and riding comfort on sloped road.
Recently, technological evolution of autonomous vehicles and various autonomous driving platforms are being developed. As a result, an increasing number of vehicles are acquiring temporary autonomous driving licenses targeting real road-based autonomous driving data collection. Therefore, the range of roads where autonomous driving is possible will be expanded and various atypical situations will be encountered. This paper proposes a solution to the problem of longitudinal control with incorrect acceleration on a sloped road among various irregular situations. In autonomous driving, control is divided into upper control and lower control, and the system before input of a control value to the actuator is defined as upper control, and the system after that is defined as lower control. The lower controller designed a Look-Up Table for the requested control value of the upper controller, and the acceleration error that occurs nevertheless is feed back- controlled through the PI controller. However, on a sloped road, the PI controller compensates incorrectly. This is because the acceleration error is accurate on a flat road, but an incorrect acceleration error is output on an inclined road due to the characteristics of the IMU sensor. The IMU sensor utilizes the inertial force to calculate the acceleration. Therefore, it calculates the wrong acceleration due to the gravitational acceleration on an sloped road. To solve this problem, unlike the IMU sensor, a wheel sensor that is not affected by the inertia force was used. The wheel sensor calculates the vehicle's speed by using the rotational speed of the wheel. Therefore, the wheel acceleration is calculated by differentiating the wheel speed. Here, when the road slopes, an error occurs between the wheel acceleration and the IMU acceleration due to the characteristics of the IMU sensor. Therefore, in this paper, this acceleration error is applied to the sigmoid function to determine the slope of the road. Then, a model for estimating the acceleration by applying these as weights to the wheel acceleration and the IMU acceleration was proposed. In addition, excellent performance was verified by comparing the continuity of the sigmoid function with the existing table model, and it was confirmed that the system proposed in this paper has better speed tracking and riding comfort on sloped road.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.