Control_Planning

Control_Planning 파트는 차량의 주행 경로 알고리즘(path-planning algorithm)과 제어를 담당하는 파트입니다.

1. ERP42의 통신 방법과 제어 방법 링크
2. IONIQ의 통신 방법과 제어 방법 링크
3. Path_planning과 Simulator 링크

개괄

Path Planning

Summery

• State Lattice와 MPTG(Model Predictive Trajectory Generator)를 활용한 Local Path Planner를 제작했다.
• Lidar(RS Lidar or VLP-16)을 활용해 Obstacles Detection 하였으며Lidar, MPTG를 활용하여 Lane State Sampling을 했다.

Algorithm

• MPTG
• State Lattice
• Dynamic Obstacle Avoidance
• move to pose

Result

Demo Video

Youtube Videos

Figure

This experiment conducted with Hyundae Ioniq

Control

Summery

• PID제어를 활용한 Ioniq 종방향 속도제어
• Lidar를 활용한 SCC(Smart Cruise Control)
• AEB(Auto Emergency Braking)
• Pure Pursuit, Stanly Method를 활용한 Lane Keeping Assistance System(LKAS), Global Path Following(GPS기반)
• Move to Pose Control : Simple Geometric Control -> For Parking and MPTG

Algorithm

• PID
• Stanly
• Pure Pursuit
• Move to Pose
• Smart Cruise Control
• Auto Emergency Braking
• Lane Keeping System

Result

PID Control

링크

Lane Keeping System & Smart Cruise Control

Blog Link

Youtube Video

Paper

Hybrid Tracker Based Optimal Path Tracking System of Autonomous Driving for Complex Road Environments

AEB

Parking

Youtube Video