타이어 슬립과 조향작동장치의 성능을 고려한 무인자동차 자율주행 제어

An autonomous vehicle control algorithm based on Ackerman Geometry is known to be reliable in low tire slip situation. However, vehicles at high speed make lateral errors due to high tire slip. In this paper, considering the tire slip of vehicles, the steering angle is determined based on the Ackerman Geometry and is supplemented tire slip angle by the Stanley steering algorithm. In addition, to prevent the tire slip, the algorithm, which restricts steering if a certain level of slip occurs, is used to reduce the lateral error. While many studies have been extended to include vehicle slip, studies also need to be carried out on the tire slip depending on hardware performance. The control algorithm of autonomous vehicles is compensated considering the sensor noise and the performance of steering actuator. Through the various simulations, it was found that the performance of steering actuator was the key factor affecting the performance of autonomous driving. Also, it was verified that the usefulness of steering algorithm considering the tire slip and performance of steering actuator.