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자율주행 자동차 임시운행 허가를 위한 안전 성능 평가 시나리오
정용환,이경수,최인성,민경찬,Jeong, Yonghwan,Yi, Kyongsu,Choi, In Seong,Min, Kyong Chan 한국자동차안전학회 2015 자동차안전학회지 Vol.7 No.2
This paper presents an evaluation scenario of safety performance for extraordinary service permission of autonomous vehicle driving on a motorway. Based on advanced driver assistance system (ADAS) which is already mass-production, an autonomous vehicle driving on motorway is tested on the public roads and also getting close to mass-production. Before the autonomous vehicle tested, the safety of autonomous driving system should be evaluated based on a proper test scenario. Prior to develop the test scenario, this paper reviews the licensing standards for an autonomous vehicle in California and Nevada, and the international regulations of each ADAS. To develop the scenario, the driving conditions of motorway are categorized into five modes and fundamental evaluation requirements of elements of autonomous driving system are derived. An evaluation scenario, which represents the real driving conditions, has been developed to assess the safety of autonomous vehicle. This scenario has validated by computer simulation using model predictive control (MPC) based autonomous driving algorithm.
정용환(Yonghwan Jeong),이경준(Kyoungjun Lee),정혁진(Hyok-Jin Chong),고봉철(Bong-Chul Ko),이경수(Kyongsu Yi) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper presents a vehicle sensor fault tolerant algorithm for automated vehicles. The proposed algorithm consists of a fault detection algorithm and virtual sensor. The fault detection algorithm is designed to monitor the health of steering wheel angle, yaw-rate, and wheel speed sensors. Three yaw-rate estimators using different sensor measurements are used to construct a bank of residuals. A fault of vehicle sensor leads to increase the unique subset of residuals and an adaptive threshold is used to identify the increase of residuals. The virtual sensor is composed of steering wheel angle, yaw-rate, and wheel speed estimators which uses measurements from normal operating sensors. After a faulty sensor is identified, measurement from faulty sensor is replaced by measurement from virtual sensor. The fault tolerant performance and reliability of the proposed algorithm have been validated via computer simulation.
채흥석,정용환,이명수,신재곤,이경수,Chae, Heungseok,Jeong, Yonghwan,Lee, Myungsu,Shin, Jaekon,Yi, Kyongsu 한국자동차안전학회 2017 자동차안전학회지 Vol.9 No.1
Regulation for the testing and operation of automated vehicles on public roadways has been recently developed all over the world. For example, the licensing standards and the evaluation technology for automated vehicles have been proposed in California, Nevada and EU. But specific safety evaluation scenarios for automated vehicles have not been proposed yet. This paper presents safety evaluation scenarios for extraordinary service permission of automated vehicles on highways. A total of seven scenarios are selected in consideration of safety priority and real traffic situation. Six scenarios are relevant with lane keeping and one scenario is relevant with lane change. All scenarios are developed based on existing ADAS evaluation scenarios and repeated simulation of automated vehicle algorithm. Safety evaluation factors as well as scenarios are developed. The safety factors are based on existing ADAS ISO requirements, ADAS safety factors and current traffic regulations. For the scenarios, a hunter vehicle is needed in addition to automated vehicle evaluated. The hunter vehicle performs multiple roles like preceding vehicle, cut-in vehicle and so on. The hunter vehicle is also automated vehicle equipped with high performance GPS, radar and Lidar. All the scenarios can be implemented by driving a lap on a KATRI ITS test track. These scenarios and safety evaluation factors are investigated via both a computer simulation and an experimental vehicle test on the test track. The experimental vehicle test was conducted with two automated vehicles, which are the evaluated vehicle and the hunter vehicle.
자율주행 버스의 종방향 제어를 위한 질량 및 종 경사 추정기 개발
조아라,정용환,임형호,이경수,Jo, Ara,Jeong, Yonghwan,Lim, Hyungho,Yi, Kyongsu 한국자동차안전학회 2020 자동차안전학회지 Vol.12 No.2
This paper presents a vehicle mass and road grade estimator for developing an automated bus. To consider the dynamic characteristics of a bus varying with the number of passengers, the longitudinal controller needs the estimation of the vehicle's mass and road grade in real-time and utilizes the information to adjust the control gains. Discrete Kalman filter is applied to estimate the time-varying road grade, and the recursive least squares algorithm is adopted to account for the constant mass estimation. After being implemented in MATLAB/Simulink, the estimators are evaluated with the dynamic model and experimental data of the target bus. The proposed estimators will be applied to complement the algorithm of the longitudinal controller and proceed with algorithm verification.
고속도로에서의 자율주행 알고리즘 개발 및 평가를 위한 다차량 시뮬레이션 환경 개발
이호준,정용환,민경찬,이명수,신재곤,이경수,Lee, Hojoon,Jeong, Yonghwan,Min, Kyongchan,Lee, Myungsu,Shin, Jae Kon,Yi, Kyongsu 한국자동차안전학회 2016 자동차안전학회지 Vol.8 No.4
Since real road experiments have many restrictions, a multi-vehicle traffic simulator can be an effective tool to develop and evaluate fully automated driving systems. This paper presents multi-vehicle environment simulation tool to develop and evaluate motorway automated driving systems. The proposed simulation tool consists of following two main parts: surrounding vehicle model and environment sensor model. The surrounding vehicle model is designed to quickly generate rational complex traffic situations of motorway. The environment sensor model depicts uncertainty of environment sensor. As a result, various traffic situations with uncertainty of environment sensor can be proposed by the multi-vehicle environment simulation tool. An application to automated driving system has been conducted. A lane changing algorithm is evaluated by performance indexes from the multi-vehicle environment simulation tool.
레이더, 비전, 라이더 융합 기반 자율주행 환경 인지 센서 고장 진단
최승리,정용환,이명수,이경수,Choi, Seungrhi,Jeong, Yonghwan,Lee, Myungsu,Yi, Kyongsu 한국자동차안전학회 2017 자동차안전학회지 Vol.9 No.4
For automated vehicles, the integrity and fault tolerance of environment perception sensor have been an important issue. This paper presents radar, vision, lidar(laser radar) fusion-based fault detection algorithm for autonomous vehicles. In this paper, characteristics of each sensor are shown. And the error of states of moving targets estimated by each sensor is analyzed to present the method to detect fault of environment sensors by characteristic of this error. Each estimation of moving targets isperformed by EKF/IMM method. To guarantee the reliability of fault detection algorithm of environment sensor, various driving data in several types of road is analyzed.
자율주행 자동차를 위한 주행 데이터 기반 종방향 제어기 고장 감지 알고리즘 개발
윤영민,정용환,이종민,이경수,Yoon, Youngmin,Jeong, Yonghwan,Lee, Jongmin,Yi, Kyongsu 한국자동차안전학회 2019 자동차안전학회지 Vol.11 No.2
This paper suggests an algorithm for detecting fault of longitudinal controller in autonomous vehicles. Guaranteeing safety in fault situation is essential because electronic devices in vehicle are dependent each other. Several methods like alarm to driver, ceding control to driver, and emergency stop are considered to cope with fault. This research investigates the fault monitoring process in fail-safe system, for controller which is responsible for accelerating and decelerating control in vehicle. Residual is computed using desired acceleration control command and actual acceleration, and detection of its abnormal increase leads to the decision that system has fault. Before computing residual for controller, health monitoring process of acceleration signal is performed using hardware and analytic redundancy. In fault monitoring process for controller, a process model which is fitted using driving data is considered to improve the performance. This algorithm is simulated via MATLAB tool to verify performance.