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자율주행의 기능 안전을 위한 슬라이딩 모드 관측기 기반 가중 가속도 고장 탐지 및 허용 제어 알고리즘
송태준(Taejun Song),오광석(Kwangseok Oh),이종민(Jongmin Lee),윤영민(Youngmin Yoon),이경수(Kyongsu Yi) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
This paper describes a weighted acceleration fault detection and tolerant control algorithm for functional safety of autonomous driving based on sliding mode observer. In order to detect fault signal of longitudinal acceleration, fault detection regions have been reconstructed using multi-sliding mode observer. The weighted fault diagnosis method has been proposed in this study to enhance diagnosis reliability. The fault signal in acceleration has been reconstructed based on sliding mode observer using information of the preceding vehicle acceleration. Based on the reconstructed fault signal, fault-tolerant control algorithm has been constructed for functional safety of autonomous driving. The 3D vehicle model and actual driving data have been used to conduct reasonable performance evaluation.
자율주행 자동차의 제어권 전환 시간 확보를 위한 차간 통신 기반 종방향 제어 알고리즘 개발
이혜원,송태준,윤영민,오광석,이경수,Lee, Hyewon,Song, Taejun,Yoon, Youngmin,Oh, Kwangseok,Yi, Kyongsu 한국자동차안전학회 2020 자동차안전학회지 Vol.12 No.1
This paper presents a longitudinal control algorithm for ensuring takeover time of autonomous vehicle using V2V communication. In the autonomous driving of more than level 3, autonomous systems should control the vehicles by itself partially. However if the driver's intervention is required for functional safety, the driver should take over the control reasonably. Autonomous driving system has to be designed so that drivers can take over the control from autonomous vehicle reasonably for driving safety. In this study, control algorithm considering takeover time has been developed based on computation method of takeover time. Takeover time is analysed by conditions of longitudinal velocity of preceding vehicle in time-velocity plane. In addition, desired clearance is derived based on takeover time. The performance evaluation of the proposed algorithm in this study was conducted using 3D vehicle model with actual driving data in Matlab/Simulink environment. The results of the performance evaluation show that the longitudinal control algorithm can control while securing takeover time reasonably.