지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2024.3
- 수록면
- 206 - 213 (8page)
- DOI
- 10.5302/J.ICROS.2024.23.0183
이용수
초록· 키워드
오류제보하기
Self-driving shuttle services frequently provide a less comfortable experience for passengers than human drivers. This observation emphasizes the importance of motion planning and control methods. This paper proposes a method to improve ride comfort in urban autonomous driving. The path information is utilized for velocity planning to minimize lateral acceleration and limiting the acceleration when controlling the PID to avoid rapid deceleration. Additionally, the hybrid lateral controller increases path following performance. The proposed method proved excellent performance compared to the existing geometric lateral control method. A decision tree was employed to evaluate ride comfort to meet ISO standards. The acceleration and jerk were assessed to determine their impact on ride comfort. Furthermore, the lateral error and the heading error were analyzed to evaluate the stability of the route during autonomous driving. An experiment was conducted and verified in the actual urban environment of Songdo New Town, Incheon, to ascertain the efficacy of the proposed method in enhancing ride comfort.
목차
Abstract
I. 서론
II. 관련 연구
III. 승차감 최적화를 위한 제안 기법
IV. 실험 및 결과
V. 결론
REFERENCES
참고문헌 (16)
참고문헌 신청
Y. Jo and D. Lee, “Real-time lane detection techniques using optimal estimator and deep learning-based lane segmentation for self-driving vehicles,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 28, no. 4, pp. 353-361, Apr. 2022. doi: https://doi.org/10.5302/J.ICROS.2022.20.8006
J. Jang, H. Jeong, and J. Kim, “Minimizing fault handling time interval of camera sensor failure for fail-operational autonomous driving systems,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 2, pp. 105-110, Feb. 2021. doi: https://doi.org/10.5302/J.ICROS.2021.20.0180
J. Kim and C. Chung, “Data-driven modeling of automated vehicles: koopman operator approach and its application,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 28, no. 11, pp. 1038-1044, Nov. 2022. doi: https://doi.org/10.5302/J.ICROS.2022.22.0159
S. Kim, J. Shin, and S. Back, “Development of optimization-based path planning method with virtual environment,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 29, no. 6, pp. 467-474, Jun. 2023. doi: https://doi.org/10.5302/J.ICROS.2023.23.0029
A. Salonen and N. Haavisto, “Towards autonomous transportation. passengers’ experiences, perceptions and feelings in a driverless shuttle bus in Finland,” Sustainability, vol. 11, no. 3, pp. 588, Jan. 2019. doi: https://doi.org/10.3390/su11030588
J. Jang, H. Jeong, and J. Kim, “Minimizing fault handling time interval of camera sensor failure for fail-operational autonomous driving systems,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 2, pp. 105-110, Feb. 2021. doi: https://doi.org/10.5302/J.ICROS.2021.20.0180
J. Kim and C. Chung, “Data-driven modeling of automated vehicles: koopman operator approach and its application,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 28, no. 11, pp. 1038-1044, Nov. 2022. doi: https://doi.org/10.5302/J.ICROS.2022.22.0159
S. Kim, J. Shin, and S. Back, “Development of optimization-based path planning method with virtual environment,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 29, no. 6, pp. 467-474, Jun. 2023. doi: https://doi.org/10.5302/J.ICROS.2023.23.0029
A. Salonen and N. Haavisto, “Towards autonomous transportation. passengers’ experiences, perceptions and feelings in a driverless shuttle bus in Finland,” Sustainability, vol. 11, no. 3, pp. 588, Jan. 2019. doi: https://doi.org/10.3390/su11030588
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