차량 후방 추돌 시 오버라이드/언더라이드 방지를 위한 자세 제어

Abstract

Safety systems in intelligent cars are being developed to enhance driving convenience and safety of drivers. These systems are designed to recognize conditions of object cars using radar and vision sensor and have automatic braking function and distance warning function. But aforementioned approaches can’t reduce the damage caused by mismatch of bumper heights when rear-end collisions occur. The proposed control scheme is designed to reduce the crash damage, when unavoidable rear-end collisions occur, by controlling active suspension of vehicle to match bumper heights. The proposed algorithm is a modified control scheme using the optimal finite horizon LQ control and the optimal receding horizon LQ control. In real situation, estimated time to collision may be varying at each sampling time by unpredicted drving conditions of object car and susbject car. The conventional finite horizon LQ control scheme can’t be applied in this sittuation. A new control scheme that can control the desired attitude of vehicle is proposed.