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김병광,이철하,권수림,정창영,천창환,박민우,나용천,Kim, Byoung-Kwang,Lee, Cheol Ha,Kwon, Surim,Jung, Changyoung,Chun, Chang Hwan,Park, Min Woo,Na, Yongcheon 한국자동차안전학회 2017 자동차안전학회지 Vol.9 No.2
An autonomous driving system based on a precise digital map is developed. The system is implemented to the Hyundai's Tucsan fuel cell car, which has a camera, smart cruise control (SCC) and Blind spot detection (BSD) radars, 4-Layer LiDARs, and a standard GPS module. The precise digital map has various information such as lanes, speed bumps, crosswalks and land marks, etc. They can be distinguished as lane-level. The system fuses sensed data around the vehicle for localization and estimates the vehicle's location in the precise map. Objects around the vehicle are detected by the sensor fusion system. Collision threat assessment is performed by detecting dangerous vehicles on the precise map. When an obstacle is on the driving path, the system estimates time to collision and slow down the speed. The vehicle has driven autonomously in the Hyundai-Kia Namyang Research Center.