RESEARCH STATEMENTS

[0] Research Scheme

[Goal] Robust Autonomous Driving under Uncertainty (off-road & adverse weather)

[1] Dynamics-Based & Uncertainty-Integrated Autonomous Vehicle Control w/ ADAS

[Overview] Propose a safe and robust methodology for autonomous vehicle control applicable to a wide range of environment
[Achievements] Published/accepted (2 SCIE), submitted (1 SCIE), ongoing (2 SCIE, 1 Patent)

① Robust Path Tracking & Collision Avoidance

[1] Uncertainty-integrated robust collision avoidance & path tracking

[Content] Propose nonlinear MPC (iLQR) and uncertainty-integrated potential function for collision avoidance & path tracking
[Ongoing] 1) Potential function acceleration method, 2) Stochastic reachability set-based approach
[Future Topic] Risk assessment potential function

[2] Trailer safety-guaranteed tractor-trailer path tracking

[Content] Design LQR control and 6 wheels tractor-4 wheels trailer error dynamics for path tracking & trailer stabilization
[Future Topic] DOB-based control for compensation of trailer weight variation

② Adaptive Emergency Braking for Autonomous Vehicle

[1] Uncertain object behavior-adaptive emergency braking

[Content] Propose full-braking activation parameter adaptive to uncertain braking duration of the object vehicle to improve driving comfort
[Ongoing] Vision-based preemptive emergency braking using future road-type information

[2] Road condition-adaptive emergency braking

[Content] Propose braking deceleration correction factor adaptive to road geometry (slope, corner) and tire-road friction to ensure collision avoidance in various environment
[Ongoing] Generate excitation of the road friction coefficient during emergency braking for high-accuracy friction estimation

[3] Optimization-based integration of emergency braking and autonomous driving

[Content] Design nonlinear MPC (iLQR) integrating emergency braking and autonomous driving based on four-wheel vehicle dynamics
[Future Topic] Design control-limited differential dynamic programming (DDP) to combine various constraints into an MPC problem

[2] High-Speed Multi-Agent Formation Control Based on Vehicle Dynamics

[Overview] Propose a safe high-speed formation control based on vehicle and wheel dynamics
[Achievements] Published/accepted (2 SCIE, 2 Int. Conf.)

① High-speed leader-follower formation control

[Content] Propose four-wheel vehicle & tire dynamics-based feedback linearization control for high-speed leader-follower formation control
[Future Topic] Multi-objectives formation control using MPC

② Stable waypoint formation control

[Content] Propose Lyapunov stability-based follower stabilizing reference generation for nonholonomic vehicle
[Future Topic] Vision-based distributed formation control

[3] 4D Radar and Vision-Empowered Robust Estimation for Adverse Weather Autonomous Driving

[Overview] Propose a 4D radar-based robust motion estimation for adverse weather autonomous driving
[Achievements] Published/accepted (1 SCIE), submitted (1 SCIE, 1 Int. Conf.), ongoing (1 SCIE)

① 4D Radar-Based Motion Estimation

[1] 4D Radar Ego velocity estimation for bias-compensated extended Kalman filter

[Content] GPS/IMU-based EKF w/ bias compensation and 4D radar velocity estimation using random sampling consensus (RANSAC)

[2] 4D radar denoised multi-object tracking (MOT)

[Content] Estimate the motion states of the surrounding objects using DBSCAN/IMM/EKF, and PDA
[Ongoing] Propose point cloud clustering using rigid body dynamics

② Vision-Based ADAS

[1] Lane detection for vehicle trajectory prediction

[Content] Apply lane detection algorithms to predict driver future trajectory
[Ongoing] Combine with stochastic reachability set for smooth trajectory prediction

[2] Road type classification for preemptive emergency braking

[Content/Ongoing] Predict road type using the camera to estimate approximate road friction for preemptive emergency braking

[4] H/W Configurations for Autonomous Driving & ADAS

[Overview] Contruct H/W systems for verification of autonomous driving and ADAS algorithms
[Achievements] Published/accepted (1 SCIE)

① Full-scale sedan EV

[Objective] Verifying path tracking and emergency braking algorithms
[Equipment] 3D/4D radar, stereo camera, RTK-GPS, AHRS, wheel encoder, CAN bus (steering wheel, acceleration pedal)

② Electric golf cart (Daedong) & delivery vehicle (FEV F100)

[Objective] Verifying emergency braking algorithms
[Equipment] 3D/4D radar, stereo camera, RTK-GPS, AHRS, wheel encoder, CAN bus (steering wheel, acceleration pedal)

③ Small-scale vehicle w/ V2V communication

[Objective] Verifying path tracking and formation control algorithms
[Equipment] ROS, GPS, IMU, AGX Xavier, Wi-Fi adapter

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