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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.
LiDAR를 활용한 ROS 기반 ACC 인지 시스템 및 NDT-Localization 시스템에 대한 연구
김상준(Sangjun Kim),길현준(Hyeonjun Gil),최윤중(Yunjung Choi),김정하(Jungha Kim) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
This paper proposes ROS-Based ACC Recognition System and NDT-Localization System using LiDAR Sensor. The platform selected as the sub-controller is ERP-42, which informs the current speed, steering angle, and driving mode of the vehicle. An industrial PC is combined on the vehicle and used as a upper-Level controller. In the upper- Level controller, object detection and localization through LiDAR Sensor are published in the topic form on ROS. The vehicle performs object detection and localization through real-time communication using the corresponding topic. In conclusion, this system enables object detection and localization for ACC with one PC. By developing this study, it will be possible to build a optimized perception system using LiDAR Sensor.