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이용하(Yongha Lee),강용문(Yongmun Kang),백석영(Seokyeong Baek),성우석(Woosuk Sung) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
We develop the autonomous driving system of vehicles for environmental monitoring. The vehicle is designed to monitor the quality of the environment while autonomously driving around the operational area, Pyeong-dong industrial complex in Gwangju-si. This paper presents two key subsystems which enable the vehicle to achieve the design goals successfully. The perception subsystem is based on four LiDARs placed in the right places to reduce blind spots all around the vehicle. Deploying multi-LiDARs is more important with blind spots enlarged owing to the box-shaped body of the vehicle. The deployed LiDARs are fused through the extrinsic calibration, pointcloud concatenation, and validation. The control, indication, and warning subsystems are required for the vehicle to operate unattended. The warning subsystem is based on the fail-safe function which stops the vehicle from operating when a failure occurs in the autonomous driving system. Preventing unsafe consequences of the systems failure is more critical to the vehicle with no attendant to respond to take-over requests.