무인자동차를 위한 기본설계 및 센서융합과 성능검증

The unmaned vehicle is composed of three parts: the front & side sensor system for keeping the lane and avoiding obstacles, the acceleration & brake control system for longitudinal motion control, and the steering control system for the lateral motion control. Each system helps the unmanned vehicle which should take notice of its location and recognize obstacles around the place by itself and make a decision how much fast to proceed according to circumstances. During the operation. The control strategy that the vehicle can detect obstacles and avoid collision on the road involves with vehicle vclocity very much. therefore, We have to define a traction system which is powered by DC-motor so that, unmanned vehicle can control its velocity accurately. In this study, we find mechanical and electronic parts are implemented to operate unmaned vehicle as a integrated system, which includes vehicle driving DC motor, another DC motor for brake actuator system, step motor for steering control and all of them are controlled by one processor. A laser range tinder is used to detect for long distance of front side. And ultra-sensors are used for detecting close-distance of lateral side.