자율주행자동차 가속/제동시스템의 실험적 모델링

For the acceleration and brake systems of an autonomous vehicle, the dynamic models from acceleration (brake) pedal input to driving(braking) torque at the vehicle wheel are represented by a set of linear transfer functions in this paper. We present an experimental method that can identify these models using a single rectangular pulse response data. Various magnitude of inputs with different running speeds are applied to experimental tests. All the identified models are demonstrated by the measured data. Both acceleration and brake models have been also validated by comparing the velocity of a full vehicle model associated with the proposed models with the measured vehicle velocity.