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남기혜(Gihye Nam),박창우(Changwoo Park),이형철(Heongcheol Lee) 한국자동차공학회 2019 한국자동차공학회 부문종합 학술대회 Vol.2019 No.5
This paper represents visualization environment with HMD (head-mounted display) for test driver who are testing ADAS (Advanced Driver Assistance System) vehicle. Recently the ADAS is actively developed. Naturally, various methods are required to validate the stability of the system. Among them, VIL (Vehicle In the Loop) allows for safe and reproducible testing of safety-critical ADAS function. The VIL method perfectly merges real test driving and simulated elements, and test driver experiences the simulated environment with virtual reality solutions represented in this paper in real time. This paper offer visualization of real vehicle data and virtual driving environment data and then discuss about effectiveness between the actual driving and the virtual environment with two scenarios.
도로 기하 정보를 적용한 다중 모델 기반의 확률적인 차량 경로 예측
남기혜(Gihye Nam),권대욱(Daewook Kwon),조건희(Kunhee Cho),이형철(Heongcheol Lee) 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7
This paper proposed a multi-model based stochastic vehicle trajectory prediction algorithm using road geometry information. The probability of collision with surrounding vehicles has been suggested as an indicator for determining the suitability of an autonomous driving system. To estimate vehicle behavior in complicated situation in usual roadway, the road geometry and the model-based estimation of various vehicle behaviors should be integrated. the Interacting Multiple Model (IMM) filter with a curvilinear coordinate system is used for model integration to estimation vehicle behavior from complex road geometry information. Moreover, each probabilities of basis models are used to predict trajectory of surrounding vehicles. This proposed method was designed in simulation environment and validated with various scenarios such as lane keeping and lane changing in curved road.