충돌 회피를 위한 무인자동차의 제어 및 모델링에 관한연구

Detection obstacle and avoidance are considered one of the key technologies on an unmanned vehicle system In this paper, we propose a method of detection obstacle and avoidance and it can be expressed as vehicle control, modeling, and sensor experiments. Detection obstacle and avoidance consist of two parts: one longitudinal control system for acceleration and deceleration ,and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.