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초록
A design algorithm for trajectory prediction of ego vehicle is proposed using the vehicle inner states. The objective of the proposed algorithm is to ensure the safety of the ego vehicle before collision by obtaining the predicted trajectory in advance. In this study, the vehicle’s inner information, which is longitudinal/lateral acceleration, yaw rate, and longitudinal velocity, is used to calculate the predicted trajectory. The vehicle trajectory can be calculated by integration of combination of velocity and yaw rate, etc. The proposed algorithm is verified by the simulation using the experiment using test vehicle.
키워드
Trajectory prediction method(궤적 예측 기법); Vehicle inner state(차량 내부 정보); Vehicle dynamics(차량동역학); intelligent vehicle(지능형 자동차)
- 제목
- 차량 내부 정보를 이용한 자차량 궤적 예측 기법
- 제목 (타언어)
- An algorithm for trajectory prediction method of ego vehicle using the vehicle inner states
- 저자
- 이동휘; 김양수; 허건수; 손영섭
- 발행일
- 2011-05
- 유형
- Proceeding
- 저널명
- 2011 한국자동차공학회 부분종합 학술대회
- 페이지
- 810 ~ 811