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다차량 추종 적응순항제어
Multi-Vehicle Tracking Adaptive Cruise Control

문일기   (현대 모비스 카트로닉스 연구소CC0003030  ); 이경수   (한양대학교 기계공학부UU0001519  );
  • 초록

    A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion. have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.


  • 주제어

    상호 다모델 .   확률적 데이터 연관 필터 .   적응순항제어 .   첨단안전차량 .   목표차량 추종.  

  • 참고문헌 (10)

    1. Liang, C. and Peng, H., 1999,'Optimal Adaptive Cruise Control with Guaranteed String Stability,' Vehicle System Dynamics, Vol. 32 No. 4-5, pp. 313-330 
    2. Hedrick, J.K., McMahon, D., Narendra, V. and Swaroop, D. , 1991,'Longitudinal Vehicle Controller Design for IVHS Systems,' Proceedings of the 1991 American Control Conference, pp. 3107-3112 
    3. Yamamura, Y., Tabe, M., Kanehira, M. and Murakami, T., 2001,'Development of an Adaptive Cruise Control System with Stop-and-Go Capability,' SAE Paper No. 2001-01-0798 
    4. Yi, K., Yoon, H.J., Huh, K. Cho, D. and Moon, I., 2002,'Implementation and Vehicle Tests of a Vehicle Stop-and-Go Cruise Control System,' Proceedings of the Institution of Mechanical Engineers, Journal of Automobile Engineering, Vol. 216, Part D, pp. 537-544 
    5. S. Tokoro, 'Automotive application systems of a millimeter-wave radar', IEEE Conference on Intelligent Vehicles Symposium, Sept. 1996 
    6. Blom, H. A. P. and Bar-Shalom, Y., 1984, 'An Efficient Filter for Abruptly Changing Systems,' Proceedings of the 23rd IEEE Conference on Decision and Control, pp. 656-658 
    7. Bar-Shalom, Y. , 1978, 'Tracking Methods in a Multitarget Environment,' IEEE Trans. Automat. Contr., Vol. AC-23, pp. 618-626 
    8. Bar-Shalom, Y. and Fortmann, T.E, 1988, Tracking and Data Association, Academic Press, New York,NY 
    9. Caveney, D. and Hedrick, J. K., 2002, 'Single versus Tandem Radar Sensor Target Tracking in the Adaptive Cruise Control Environment,' Proceedings of the 2002 American Control Conference, Anchorage, Alaska 
    10. Moon, I., Lee,J., Min,S., Lee,G. , Yi, K.. 2004, 'Collision Warning with Multi-target Tracking Algorithm,' 2004 Spring Conference Proceedings of the Korea Society of Automotive Engineers, Vol. III , pp. 1535-1540 
  • 이 논문을 인용한 문헌 (1)

    1. Ahn, Dae Ryong ; Yang, Ji Hyun ; Lee, Sang Hun 2015. "A Study on Mode Confusions in Adaptive Cruise Control Systems" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 39(5): 473~482     

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