Disclosed are an unmanned vehicle location tracking method and apparatus based on vehicle dynamic modeling. The unmanned vehicle location tracking apparatus based on vehicle dynamic modeling comprises: a vehicle dynamic model unit for deriving velocity-longitudinal acceleration of a vehicle using current state information of the vehicle and an acceleration/deceleration model; and a path following unit for predicting a delay time using the current state information of the vehicle and the velocity-longitudinal acceleration, selecting a path point to be followed in consideration of the delay time, and calculating an acceleration/deceleration control command to follow the selected path point. According to the present invention, accurate path tracking is possible through fast calculation.

    차량 동적 모델링에 기초한 무인 차량 위치 추종 방법 및 그 장치가 개시된다. 차량 동적 모델링에 기초한 무인 차량 위치 추종 장치는, 차량의 현재 상태 정보와 가감속도 모델을 이용하여 상기 차량의 속도-종방향 가속도를 도출하는 차량 동적 모델부; 및 상기 차량의 현재 상태 정보와 상기 속도-종방향 가속도를 이용하여 지연 시간을 예측하고, 상기 지연 시간을 고려하여 추종할 경로 포인트(point)을 선정하며, 상기 선정된 경로 포인트를 추종하도록 가감속 제어 명령을 계산하는 경로 추종부를 포함한다.


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    Title :

    Unmanned Vehicle Location Tracking Method and apparatus based on vehicle dynamic modeling


    Additional title:

    차량 동적 모델링에 기초한 무인 차량 위치 추종 방법 및 그 장치


    Contributors:

    Publication date :

    2021-06-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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