적응 순항 제어 시스템에서의 모드 혼동에 관한 연구

안대룡(Dae Ryong Ahn),양지현(Ji Hyun Yang),이상헌(Sang Hun Lee) 대한기계학회 2015 大韓機械學會論文集A Vol.39 No.5

최근 과학 기술의 발전으로 첨단 자율 기능을 탑재된 차량의 출현이 가능하게 되었으며, 기존 차량에 추가된 첨단 운전자 지원 시스템(Advanced Driver Assistance Systems: ADAS)은 기존 차량에 추가된 이러한 자율 시스템들의 좋은 예라 할 수 있다. 이러한 시스템은 다수의 작동 모드를 가지는데 운전자들이 현재 수행중인 작동 모드를 잘못 인지하게 되면 교통사고가 일어날 수 있음이 관찰되고 있다. 본 연구에서는 적응 순항제어(Adaptive Cruise Control: ACC) 시스템을 장착한 자동화된 자동차의 운전자 인터페이스를 설계하고 이를 정형 기법을 통한 분석과 피실험자를 이용한 실험을 통해 모드 혼동 발생여부를 검증하고 이를 개선하는 연구를 수행하였다. 이를 통해 모드 혼동을 방지하기 위해서는 시스템에 대한 심성 모델의 정확성과 간결성뿐만 아니라 인터페이스 구현시 디스플레이의 명확성이 또한 매우 중요하다는 것을 확인하였다. Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions.

무인자동차를 위한 기본설계 및 센서융합과 성능검증

윤득선 ( Duk-sun Yun ),유환신 ( Han-sin Yu ) 한국고등직업교육학회 2001 한국고등직업교육학회논문집 Vol.2 No.1

The unmanned vehicle should take notice of its location and recognize circumstance around the place itself to enable tele operation system of unmaned vehicle. During the operation, it has a serious control strategy. Vehicle can detect obstacles and avoid collision on the road. For these performances, we designed sensor fusion system, which comprised four main unmaned vehicle parts : front & side sensor system, acceleration & brake control system for longitudinal motion control, vision system for keeping the lane and steering control system for the lateral motion control. In this study, mechanical and electronic parts are implemented to operate unmaned vehicle as a integrated system, which includes vehicle driving DC motor, brake DC motor, step motor for steeling control and all of them are controlled by one processor A laser range finder is used to detect long distance obstacle of front side. And ultra-sensors are used for detecting close distance obstacle of lateral side. Algorithm for operating each control parts is developed and AICC logic is applied and enhanced experimentally. In this paper, we propose that the basic system integration and system evaluation for the unmanned vehicle.

통합 주행 안전을 위한 지능형 차량 제어

조완기(Wanki Cho),문승욱(Seungwuk Moon),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

This paper describes an intelligent vehicle safety control strategy for the lateral stability and the safety clearance to avoid rear-end collision in various driving situations. The intelligent vehicle safety control system consists of a supervisor, control algorithms, and a coordinator. From the measurement and estimation signals, the supervisor determines the control modes among a normal driving, a longitudinal safety, a lateral stability, and an integrated safety. The control algorithms consist of a longitudinal driving/safety controller such as ACC/CA system and a lateral stability controller such as ESC/AFS system. Individual controllers calculate a desired longitudinal force and a desired yaw moment. In order to apply throttle/brake control to maintain safe clearance in normal cruise control driving situations and to apply differential braking and active front steering to obtain lateral stability, the coordinator determines the throttle, brake, and active front steering inputs optimally based on the current status of the subject vehicle. The closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.

지능화 차량의 차간거리/속도 제어

이경수(Kyongsu Yi),문일기(Ilki Moon) 대한기계학회 2001 대한기계학회 춘추학술대회 Vol.2001 No.2

This paper presents a vehicle control algorithm for stop and go cruise control systems which makes the vehicle remain at a safe distance from a preceding vehicle according to the driver's preference, automatically slow down and come to a full stop behind a preceding vehicle. The control algorithm consists of speed and distance control algorithm and a combined throttle/brake control law. Throttle and brake actuators are controlled by the throttle/brake control law so that the vehicle acceleration tracks the desired acceleration designed based on the vehicle speed and distance control algorithm. A stepper motor and an electronic vacuum booster have been used for the throttle and brake actuators. The throttle and brake actuators have been tested and the actuator dynamics has been incorporated in simulation study. The uncertainties of vehicle model have been considered in the design of the control law. The effect of throttle/brake control has been investigated via simulations. The simulations were performed using a complete nonlinear vehicle model. The results indicate that the proposed control law can provide the stop and go cruise control system with a good distance and velocity tracking performance.

MODEL PREDICTIVE ADAPTIVE CRUISE CONTROL OF INTELLIGENT ELECTRIC VEHICLES BASED ON DEEP REINFORCEMENT LEARNING ALGORITHM FWOR DRIVER CHARACTERISTICS

Guo Jinghua,Li WenChang,Luo Yugong,Li Keqiang 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.4

This paper presents a novel model predictive adaptive cruise control strategy of intelligent electric vehicles based on deep reinforcement learning algorithm for driver characteristics. Firstly, the influence mechanism of factors such as inter-vehicle distance, relative speed and time headway (THW) on the driver’s behavior in the process of car following is analyzed by the correlation coefficient method. Then, the driver behavior in the process of car following is learned from the natural driving data, the car following model is established by the deep deterministic policy gradient (DDPG) algorithm, and the output acceleration of the DDPG model is used as the reference trajectory of the ego vehicle’s acceleration. Next, in order to reflect the driver behavior and achieve multi performance objective optimization of adaptive cruise control of intelligent electric vehicles, the model predictive controller (MPC) is designed and used for tracking the desired acceleration produced by the car following DDPG model. Finally, the performance of the proposed adaptive cruise control strategy is evaluated by the experimental tests, and the results demonstrate the effectiveness of proposed control strategy.

DESIGN AND EVALUATION OF INTELIGENT VEHICLE CRUISE CONTROL SYSTEMS USING A VEHICLE SIMULATOR

Han, D.H.,Yi, K.S.,Lee, J.K.,Kim, B.S.,Yi, S. The Korean Society of Automotive Engineers 2006 International journal of automotive technology Vol.7 No.3

This paper presents evaluation and comparisons of manual driving and driving with intelligent cruise control(ICC) systems. An intelligent vehicle cruise control strategy has been designed to achieve natural vehicle behavior of the controlled vehicle that would make human driver feel comfortable and therefore would increase driver acceptance. The evaluation and comparisons of the ICC and manual driving have been conducted using real-world vehicle driving data and an ICC vehicle simulator.

DESIGN AND EVALUATION OF INTELIGENT VEHICLE CRUISE CONTROL SYSTEMS USING A VEHICLE SIMULATOR

D. H. HAN,K. S. YI,J. K. LEE,B. S. KIM,S. YI 한국자동차공학회 2006 International journal of automotive technology Vol.7 No.3

This paper presents evaluation and comparisons of manual driving and driving with intelligent cruise control (ICC) systems. An intelligent vehicle cruise control strategy has been designed to achieve natural vehicle behavior of the controlled vehicle that would make human driver feel comfortable and therefore would increase driver acceptance. The evaluation and comparisons of the ICC and manual driving have been conducted using real-world vehicle driving data and an ICC vehicle simulator.

Driving Performance Analysis of the Adaptive Cruise Controlled Vehicle with a Virtual Reality Simulation System

Kwon Seong-Jin,Chun Jee-Hoon,Jang Suk,Suh Myung-Won The Korean Society of Mechanical Engineers 2006 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.20 No.1

Nowadays, with the advancement of computers, computer simulation linked with VR (Virtual Reality) technology has become a useful method for designing the automotive driving system. In this paper, the VR simulation system was developed to investigate the driving performances of the ASV (Advanced Safety Vehicle) equipped with an ACC (Adaptive Cruise Control) system. For this purpose, VR environment which generates visual and sound information of the vehicle, road, facilities, and terrain was organized for the realistic driving situation. Mathematical models of vehicle dynamic analysis, which includes the ACC algorithm, have been constructed for computer simulation. The ACC algorithm modulates the throttle and the brake functions of vehicles to regulate their speeds so that the vehicles can keep proper spacing. Also, the real-time simulation algorithm synchronizes vehicle dynamics simulation with VR rendering. With the developed VR simulation system, several scenarios are applied to evaluate the adaptive cruise controlled vehicle for various driving situations.

ACC 차량의 시험평가 방법에 대한 연구

김봉주(Bong Ju Kim),이선봉(Seon Bong Lee) 유공압건설기계학회 2017 드라이브·컨트롤 Vol.14 No.3

With automobiles sharply increasing in numbers worldwide, we are faced with critical social issues such as traffic accidents, traffic jams, environmental pollution, and economic inefficiency. In response, research on ITS is promoted mainly by regions with advanced automotive industry such as the U.S., Europe, and Japan. While Korea is working on moving forward in the global market through developing and turning to global standards systems related to ASV (Advanced Safety Vehicle), the country is not fully prepared for such projects. The purpose of ACC (Adaptive Cruise Control) is to control a vehicle’s longitudinal speed and distance and minimize driver workload. Such a system should be valuable in preventing accidents, as it reduces driver workload in the 21st-century world of telematics created by development of the automobile culture industry. In this light, the thesis presents a method to test and evaluate ACC system and a mathematical method to assess distance. For the proposed test and evaluation, theoretical values are tested with vehicle test and a database is acquired, by using vehicles equipped with an ACC system. Theoretical evaluation criteria for developing ACC system may be used and scenario-specific evaluation methods may find useful application through testing the formula proposed by comparing the database and mathematical method.

적응 순항 제어기 성능 평가를 위한 실시간 차량 시뮬레이터 개발

한동훈(Donghoon Han),이경수(Kyongsu Yi) 한국자동차공학회 2006 한국 자동차공학회논문집 Vol.14 No.3