[기계] Autonomous Collision Avoidance System Using Path Planning and MPC Based Active Front Steer

<Invited Special Lecture>

Autonomous Collision Avoidance System Using Path Planning and MPC Based Active Front Steer

By Professor Taehyun Shim
(University of Michigan-Dearborn)
August 5 (Thursday) 2010 11:00-12:00
Room 1512-2 Building 301
Seoul National University

Abstract:
Autonomous vehicles have drawn more attention in recent years as vehicle applications are evolving to a more intelligent and autonomous stage. This seminar presents a development of a collision avoidance system for an autonomous vehicle application which consists of a motion planner and MPC based active vehicle steering and active wheel torque control. A motion planner, based on polynomial parameterization, determines a collision free trajectory when a vehicle collision with obstacles is likely to happen, then a MPC based control system controls the front steering and individual wheel torques to track the desired collision free reference trajectory. The proposed system is evaluated through simulation, using an 8 degree-of-freedom vehicle model with a Magic Formula tire model and an active front steering and active wheel torque distribution systems. The simulation results show that it effectively performs collision avoidance maneuvers.

Bio :
Associate Professor of Mechanical Engineering

Education :
Ph. D., Mechanical Engineering, University of California, Davis, March 2000&nbsp;
M.S., Mechanical Engineering, University of California, Davis, December 1997&nbsp;
B.S., Mechanical Engineering, Hankuk Aviation University, Korea, March 1992

Honors and Awards :
Rackham Faculty Fellowship, The University of Michigan, Ann Arbor (2005)
Faculty Appreciation Award (for outstanding support of student athlete), University of Michigan-Dearborn (2007)
Society of Automotive Engineers (SAE) Ralph Teetor Award (2008)

Professional Societies :
American Society of Mechanical Engineers (ASME)
Society of Automotive Engineers (SAE)
Society for Modeling and Simulation (SCS)
Korean-American Scientists and Engineers Association (KSEA)
Korean-American Professionals in the Automotive Industries (KPAI)

Prof. Kyongsu Yi (기계항공공학부 이경수 교수) (☏ 1941 )