자율주행 자동차를 위한 경로추종 시스템 개발

In this paper, the full-speed range path following system is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving. In order to have robustness about model parameter error, the proposed system is designed according to the back-stepping control algorithm. For control performance in full speed range, both kinematic and dynamic model are used, and to avoid the frequent transition between kinematic and dynamic model based control mode, the hysteresis characteristics is applied. The performance of the proposed algorithm is evaluated by simulation and real-car test in the proving ground with 1km straight road and 30m radius curved road.