• Adaptation of feedback gain by sensitivity estimation

• Self-tuning of adaptation gain by personalized rule

• Generated path can be used for various scenarios

- (Input) Offset, length, width, point interval

- (Output) Waypoints

• Software : ROS

• Function : path tracking, safety control

• Controller : longitudinal and  lateral control

- (goal) Kinematics-based desired acceleration

- (goal) Model-free steering controller

• Software : Matlab/Simulink + CarMaker

• Target motion : virtual car-following

• Controller : Model-free adaptive feedback controller (MF-AFC)

: Using gradient-descent method

: Sliding mode control algorithm

• Mass : about 300 kg

• Size : about 1,600 mm x 1,160 mm x 550 mm

• Velocity : ~ 20 kph (max. 40 kph)

• Environment sensors for autonomous driving (to be installed later)

  • Lidar(Sick)

  • Camera(Microsoft webcam)

• LDS lidar for object detection

  • Detection range : 10 ~ 3,500 mm

  • Field of view : 360 deg

  • Angular resolution : 1 deg

  • Scanning frequency : 5 Hz

• Two wheel driving module

  • Motor : brushless DC motor

  • Input voltage : 24 V

  • Rear wheel : free rotational wheel w.r.t z-axis

  • Maximum speed(longitudinal) : 1.5 m/s