Driven by vision. Defined by persistence.
B.S. in Automotive EngineeringKookmin University, Senior
Path-tracking controllers that translate planned trajectories into precise steering and throttle commands — from geometric controllers to nonlinear model predictive control.
A speed-adaptive hybrid controller combining Pure Pursuit (lookahead-based, smooth at high speed) and Stanley (cross-track error-based, precise at low speed). Adaptive lookahead distance scales with velocity for stable tracking across speed ranges.
Model Predictive Controller using a bicycle kinematic model with arctangent-weighted steering angle costs. Solves a finite-horizon optimization at 50Hz, providing superior tracking performance and driving stability compared to geometric controllers, especially in sharp turns.
PID-based speed controller maintains target velocity from the planner. Integrates acceleration limits, jerk constraints, and emergency braking logic. Works in tandem with lateral controllers for smooth combined steering-and-speed maneuvers.