자율주행 셔틀버스의 통신 정보 융합 기반 충돌 위험 판단 알고리즘 개발

이승민,이창형,박만복 사단법인 한국자동차안전학회 2019 자동차안전학회지 Vol.11 No.3

Recently, autonomous vehicles have been studied actively. Autonomous vehicles can detect objects around them using their on board sensors, estimate collision probability and maneuver to avoid colliding with objects. Many algorithms are suggested to prevent collision avoidance. However there are limitations of complex and diverse environments because algorithm uses only the information of attached environmental sensors and mainly depends on TTC (time-to-Collision) parameter. In this paper, autonomous driving algorithm using I2V communication-based cooperative sensing information is developed to cope with complex and diverse environments through sensor fusion of objects information from infrastructure camera and object information from equipped sensors. The cooperative sensing based autonomous driving algorithm is implemented in autonomous shuttle bus and the proposed algorithm proved to be able to improve the autonomous navigation technology effectively.

자동 긴급 제동시스템을 위한 레이더 신호 분석

김태윤,이상협,이석,이경창 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.8

실사고 기반 자동긴급제동장치 차량의 교차로 사고 경향 분석

신윤식,김문영,정재일 사단법인 한국자동차안전학회 2023 자동차안전학회지 Vol.15 No.1

The purpose of this study is to predict how the actual accident changes by reconstructing the accident with an Autonomous Emergency Braking system (AEB) based on the actual accident of the LTAP-OD (Left Turn Crossing Path - Opponent Direction) intersection. A virtual AEB sensor was developed, and 150 head-on collision accident reports were secured to the insurance company to reconstruct the accident. As a result of the accident type analysis, a total of 13 types of head-on collision accidents were derived, and it is the LTAP-OD intersection accident with the highest frequency. In the LTAP-OD intersection accident, the simulation was conducted by applying the virtual AEB of each vehicle, the accident rate decreased by 90% or more when the AEB of the left-turn vehicle was applied, and the accident rate decreased by 50%. In addition, the most frequent collision types in LTAP-OD accidents were the front bumper on the driver’s side of a vehicle going straight and the front bumper on the passenger’s side of a vehicle turning left.

노면 상태를 고려한 AEB 시스템 제동 개입 시점에 관한 연구

강태완(Taewan Kang),유원근(Wongeun Yoo),김남한(Namhan Kim),소민우(Minwoo Soh),권재준(Jaejoon Kwon),홍태욱(Taewook Hong),박기홍(Kihong Park) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5

This paper proposes the adapted brake time of AEB(Autonomous Emergency Braking) system for various road conditions. AEB system uses radar or lidar-based technology to identify potential accidents with forward vehicles. The establishment of regulations which is about vehicle-safety is in progress with increasing interests in the active safety system such as AEB system. In this paper the algorithm executes multiple operations that consist of road condition estimation and collision avoidance. It computes the tractive force and the vertical load on tires and estimates road friction characteristics, then calculates adapted brake time for collision avoidance. At the end of this paper, the verification of developed algorithm based on Euro NCAP scenarios is conducted.

충돌 방지를 위한 종방향 제어에 관한 연구

길현준(Hyeonjun Gil),김상준(Sangjun Kim),박선영(Seonyeong Park),김정하(Jungha Kim) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11

Nowdays, various studies of vehicle control for collision prevention are being conducted to implement level 3-4 of autonomous driving. In this paper, we propose longitudinal collision prevention system using adaptive cruise control and autonomous emergency braking. Though a decision support system considering Time-to-collision and relative speed, we can implement safe longitudinal collision prevention control.

보행자 AEB 시험평가 방법에 관한 연구

김봉주,권병헌,이선봉 사단법인 한국자동차안전학회 2018 자동차안전학회지 Vol.10 No.4

Due to the rapid increase in the number of vehicles, the physical and human losses caused by traffic accidents have become serious social problems. In the global trend, there have been active studies conducted on improving safety level of automobile in order to reduce the number of automobile accident. As a result of such research, traffic accidents continue to decline. In the case of South Korea, however, rate of death by automobile accident is 8.5 per 10,000 people and it is a seven rank among the countries in OECD (Organization for Economic Cooperation and Development).This average rate is almost double compared to average automobile accident rate per 10,000 vehicles, of other OECD countries in 2015. Consequently, many studies and policies currently have been conducted and made for increasing safety of pedestrians; however, they are only emphasizing characteristics of pedestrians and drivers. For this reason, this study suggests scenarios for establishment of test standard corresponding with domestic environment and international standard of AEB (Autonomous Emergency Braking) and conducts a real car test by scenarios by setting up a goal with a function for remaining distance after braking and then examine equation by comparing real car tests results and outcome after calculation. This is a theoretical method to predict a relative remaining distance after AEB prior to conducting a real car test for evaluation of safeness of automobile with AEB and it is expected that it solves problem of complication of real car test.

자동긴급제동시 어린이 안전장치 탑승자의 안전성 평가

강명관,박현우,이인주,임도형 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4

어린이 구속 시스템(CRS)는 연령 별 체형에 따라 최적의 구속 조건을 제공함으로써 어린이 탑승자를 효과적으로 보호한다. 또한, 탑승자를 보조하는 자율주행기술이 도입되면서 차량 사고로 인한 상해 및 사망률은 크게 감소하는 전망이다. 하지만, 자율주행기술의 적용이 어린이 탑승자에게 미치는 영향에 관련된 연구는 미비하다. 특히, 차량의 자동긴급제동(AEB)은 1 초 이내에 1g의 감속 환경을 제공하며 이때 관성에 의한 동작은 어린이 탑승자에게 위험할 수 있다. 본 연구는 AEB 작동 시 어린이 탑승자의 동작 특성을 확인하고 CRS의 안전성을 평가하는 것을 목적으로 한다. 실험에는 Hybrid III Q-series dummy (Q6, Q10)을 사용하였고, AEB 작동은 가속도(±0.8g)의 슬레드 테스트 플랫폼으로 구현하였다. 탑승자 동작은 삼차원 동작분석시스템, 고속카메라, 로드셀로 측정하였다. CRS는 연령에 따라 5 점식, 3 점식 안전벨트로 구속되는 3 개의 모델을 적용하였다. 5 점식 안전벨트가 적용된 시트는 느슨한 경우(slack: 70 mm)와 최대로 구속된 경우의 2 가지 구속 조건으로 구분하여 확인하였다. Q6 dummy는 5 점식 안전벨트에 따른 영향이 크게 작용했다. 최대 구속된 경우에서 구속 효과가 제일 높았고(최대 머리 변위: 53.3 mm, 최대 목 회전각: 9.0 ̊), 느슨한 경우에서 가장 낮았다(최대머리 변위: 126.9 mm, 최대 목 회전각: 25.2 ̊). Q10 dummy는 5 점식 벨트의 적용이 없었으며, 전체 CRS 에서의 동작이 30%내외에서 유의한 차이를 보이지 않았다. 5 점식 벨트가 적용된 경우, 느슨한 구속 상태를 피하는 것이 어린이 탑승자의 안전 확보를 위해 중요할 수 있다. 본 연구 결과는 CRS에 능수동 통합 안전 시스템을 적용하기 위해 활용될 것으로 사료된다.

고령운전자를 위한 자동긴급제동시스템 기술 개발

신동훈 사단법인 한국자동차안전학회 2024 자동차안전학회지 Vol.16 No.2

This paper describes autonomous emergency braking systems (AEB) for elderly drivers designed to consider their driving characteristics. With aging, perception-reaction time, and decision-making time increase accordingly. Without being aware of these performance degradations, however, changes in driving patterns due to increased alertness while driving lead to vehicle crashes. Therefore, it is necessary to develop an autonomous emergency braking system by incorporating the characteristics of the elderly driver. In order to enhance the driver acceptance of older people, perception-reaction time, alertness, and ride comfort need to be considered for conventional autonomous emergency braking systems (C-AEB). Proactive AEB(P-AEB) algorithm has been proposed to reflect human factor of elderly driver above. The performance of the proposed algorithm has been evaluated through MATLAB simulink simulation studies. It has been shown from the computer simulations that the proposed P-AEB algorithm enhances the driver acceptance of older people by improving ride comfort while ensuring safety of vehicle.

고속도로 주행 시 선행차량의 전방 긴급 장애물 회피에 따른 Car-to-Car Cut-out 시나리오 기반 AES 성능평가 방법 연구

김진석,이동훈 사단법인 한국자동차안전학회 2022 자동차안전학회지 Vol.14 No.4

With the popularization of autonomous driving technology, safety has emerged as a more important criterion. However, there are no assessment protocol or methods for AES (Autonomous Emergency Steering). So, this study proposes AES assessment protocol and scenario corresponding to collision avoidance Car-to-Car scenario of Euro NCAP in order to prepare for obstacles that appear after the emergency steering of LV (Leading Vehicle) avoiding obstacles in front of. Autoware-based autonomous driving stack is developed to test and simulate scenario in CARLA. Using developed stack, it is confirmed that obstacle avoidance is successfully performed in CARLA, and the AES performance of VUT (Vehicle Under Test) is evaluated by applying the proposed assessment protocol and scenario.

자율주행 ECU의 보안성 평가를 위한 HILS 환경개발 및 시뮬레이션

윤호영(Hoyoung Yun),강래청(Raecheong Kang),장은영(Eunyoung Jang) 한국자동차공학회 2023 한국자동차공학회 학술대회 및 전시회 Vol.2023 No.11

The advancement of autonomous driving technology plays a pivotal role in transforming the driving environment and enhancing the efficiency and convenience of vehicle operation. However, autonomous driving systems are composed of various Electronic Control Units (ECUs) connected through networks, making them susceptible to security attacks such as hacking. These attacks can lead to severe consequences, including system manipulation and personal data breaches, highlighting the critical issue of security. As a result, evaluating the security of autonomous driving systems is of utmost importance. Security evaluation involves thorough validation of various attack scenarios and threat models for ECUs to identify potential vulnerabilities and weaknesses. To achieve this, our research leverages Hardware-in-the-Loop (HIL) simulation and the Controller Area Network (CAN) Fuzzer technique. HIL simulation is a robust method that combines real hardware and software components to conduct experiments under conditions closely resembling actual operating environments. In this study, we establish an HIL simulation environment to simulate the interaction between an autonomous driving logic-equipped vehicle model and ECUs. The CAN Fuzzer is a tool that transmits massive input data to ECUs via the CAN communication protocol, generated randomly. Such input data is employed for modeling unexpected and attack scenarios. Fuzzer, in conjunction with the connected CAN bus network, evaluates how ECUs respond to attacks. The primary objective of this study is to develop a methodology for assessing the security of autonomous driving ECUs by combining HIL simulation and the CAN Fuzzer technique. This methodology encompasses the detection of potential security vulnerabilities and the assessment of exploitability, among various factors, including emergency response calculation. Therefore, in this paper, we conduct research involving HIL simulation to test the systems response in various situations of autonomous vehicles and employ CAN Fuzzer to identify ECU vulnerabilities in the development of a security evaluation methodology