Vehicle Collision Avoidance Path Planning and Tracking using Artificial Potential Field

??? ????????? ?????? ????????? ????????? ???????????? ?????? ?????? ????????? ????????? ?????? ???????????? ?????? ???????????? 1??? ????????? ???????????? ?????? ???????????? ?????? 2??? ????????? ???????????? ?????? ????????? ???????????????. ?????? ?????? ????????? ?????? ????????? (Advanced Driver Assistance System)??? ??? ????????? ????????????????????? ?????? ????????? ??????????????? ???????????? ???????????? ??????. ????????? ?????? ???????????? ???????????? ???????????? ???????????? ???????????? ?????? ????????? ?????? ????????? ???????????????. ?????? ???????????? ?????? ????????? ??????????????? ?????? ????????? ????????? ?????? ?????? ?????? ????????? (Autonomous Emergency Braking)??? ??????????????? ????????? ???????????? ????????? ?????? ?????? ???????????? ??????, ?????? ????????? ????????? ????????? ?????? ???????????? ???????????? ????????? ????????? ??? ????????? ???????????? ????????????. ?????? ?????? ?????? ?????? ???????????? ?????? ?????? ????????? ????????? ??????, ?????? ???????????? 2??? ????????? ????????? ???????????? ??????. ????????? ????????? ????????? ????????? ?????? ???????????? ?????? ?????? ????????? ??????????????? ??????????????? ??????. ??? ??????????????? ????????? ?????? ???????????? ???????????? ??????????????? APF(Artificial Potential Field)??? ?????? ???????????? ??????????????? ????????? ??????(Potential Function)??? ???????????? ?????? ????????? ?????? ?????? ??????(Path planning)??? ????????????. ????????? ??????????????? DGPS(Differential Global Positioning System), LIDAR(Light Detection and Ranging), Radar, WSS(Wheel Speed Sensor)??? ?????? ?????????????????? ?????? ???????????? ???????????? Potential Field??? ???????????? ????????? Potential Field??? ????????? ??????(Gradient descent)??? ???????????? ?????? ????????? ???????????? Path planning ????????? ????????? ????????? ???????????? ????????? ????????? ??? ????????? ????????? ???????????? Path Tracking ???????????? ????????????. APF??? ????????? ?????? ?????? ?????? ????????? ???????????? ???????????? ?????? ????????? ?????? ????????? ??????????????? ??????????????? MATLAB/Simulink 2017b??? CarSim 8.2.1??? ???????????? ?????????????????? ???????????? ????????? ???????????????. ??? ?????? ???????????? ?????? ????????? ???????????? ?????? ??????????????? APF ?????? ?????? ?????? ?????? ????????? ???????????? ???????????????, ????????? ??? ????????? ?????? ?????? ?????? ???????????? ?????? ????????? ?????? ?????? ?????? ???????????? ???????????? ????????? ???????????? ???????????????. ??? ????????? ?????? ???????????? ????????? ??? ?????? ?????? ????????? ?????? ?????? ????????? ??? ?????? ????????? Cut-in ???????????? ????????? ??? ?????????, ?????? ?????? ??????, ????????? ?????? ?????? ????????? ???????????? ?????? ????????? ?????? ?????? ???????????? ?????? ????????? ????????? ????????????.Maste