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Recursive penalty method to estimate a stable velocity profile for an autonomous vehicle

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Abstract

A driving velocity decision algorithm is used as an auxiliary means for estimating the velocity at which an autonomous vehicle appropriately follows a predetermined path, or for estimating a safe velocity of a remotely controlled robot. To find a reliable velocity decision algorithm for an autonomous vehicle moving over a rough terrain, it is necessary to satisfy the conditions such as the roughness of the terrain, the dynamic characteristics of the vehicle, and safety criteria. Conventional methods usually do not consider these conditions at the same time, and some methods do not estimate a perfect safe driving velocity due to a probabilistic velocity estimation technique. In this study, we propose a new velocity decision algorithm that satisfies safety criteria while considering the roughness of the terrain and the dynamic characteristics of the vehicle. To verify the proposed method, a driving simulation of a 4 × 4 vehicle model with various roughness characteristics was carried out, and the results of the safe velocity estimation were compared with those of the existing method.

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Acknowledgments

This research was supported by a grant for the project managed by Agency for Defense Development, “Technology development for rescue robots capable of lifting over 120 kgf”, funded by Civil-Military Technology Cooperation Program.

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Authors and Affiliations

  1. School of Mechanical Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Korea

    Tae-Yun Kim & Wan-Suk Yoo

  2. Hanwha Defense, 6, Pangyo-ro 319beon-gil, Bundang-gu, Seongnam-si, Gyeonggi-do, Korea

    Samuel Jung

Authors
  1. Tae-Yun Kim
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  2. Samuel Jung
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  3. Wan-Suk Yoo
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Corresponding author

Correspondence to Wan-Suk Yoo.

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Recommended by Associate Editor Doo Ho Lee

Tae-Yun Kim received his B.S. (2013) and M.S. (2015) degrees from Pusan National University. He is pursuing doctoral studies in Pusan National University. His main area of interest is flexible multi-body dynamics and vehicle dynamics.

Samuel Jung received his B.S. (2009) and M.S. (2014) and Ph.D. (2018) degrees from Pusan National University. He is currently a Senior Research Engineer at Hanwha Defense. His main area of interest is flexible multi-body dynamics and vehicle dynamics.

Wan-Suk Yoo received his B.S. degree from Seoul National University (1976), M.S. from KAIST (1978) and Ph.D. from University of Iowa (1985). He is currently a Professor at the School of Mechanical Engineering at Pusan National University. His major areas are flexible multi-body dynamics and vehicle dynamics.

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Kim, TY., Jung, S. & Yoo, WS. Recursive penalty method to estimate a stable velocity profile for an autonomous vehicle. J Mech Sci Technol 33, 4119–4127 (2019). https://doi.org/10.1007/s12206-019-0807-y

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  • DOI: https://doi.org/10.1007/s12206-019-0807-y

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