[논문]듀얼카메라를 활용한 ACC 안전성 평가 방법에 관한 연구

김봉주; 이선봉

doi:10.22680/kasa2022.14.2.057

듀얼카메라를 활용한 ACC 안전성 평가 방법에 관한 연구
A Study on the ACC Safety Evaluation Method Using Dual Cameras 원문보기

자동차안전학회지 = Journal of Auto-Vehicle Safety Association, v.14 no.2, 2022년, pp.57 - 69

김봉주 (계명대학교 기계공학과) , 이선봉 (계명대학교 자동차시스템공학과)

Abstract ▼ AI-Helper

Recently, as interest in self-driving cars has increased worldwide, research and development on the Advanced Driver Assist System is actively underway. Among them, the purpose of Adaptive Cruise Control (ACC) is to minimize the driver's driving fatigue through the control of the vehicle's longitudinal speed and relative distance. In this study, for the research of the ACC test in the real environment, the real-road test was conducted based on domestic-road test scenario proposed in preceding study, considering ISO 15622 test method. In this case, the distance measurement method using the dual camera was verified by comparing and analyzing the result of using the dual camera and the result of using the measurement equipment. As a result of the comparison, two results could be derived. First, the relative distance after stabilizing the ACC was compared. As a result of the comparison, it was found that the minimum error rate was 0.251% in the first test of scenario 8 and the maximum error rate was 4.202% in the third test of scenario 9. Second, the result of the same time was compared. As a result of the comparison, it was found that the minimum error rate was 0.000% in the second test of scenario 10 and the maximum error rate was 9.945% in the second test of scenario 1. However, the average error rate for all scenarios was within 3%. It was determined that the representative cause of the maximum error occurred in the dual camera installed in the test vehicle. There were problems such as shaking caused by road surface vibration and air resistance during driving, changes in ambient brightness, and the process of focusing the video. Accordingly, it was determined that the result of calculating the distance to the preceding vehicle in the image where the problem occurred was incorrect. In the development stage of ADAS such as ACC, it is judged that only dual cameras can reduce the cost burden according to the above derivation of test results.

주제어

표/그림 (21)

그림 Fig. 1 Parallel stereo camera model
그림 Fig. 2 Distance to the object in straight road
표 Table 1 Dual camera parameters
그림 Fig. 3 Distance to the object in curve road
그림 Fig. 4 Detection range scenario
표 Table 2 Detection range scenario interval conditions
그림 Fig. 5 ACC test scenario (a) Scenario 1 (b) Scenario 2 (c) Scenario 3 (d) Scenario 4, 5, 6, 7 (e) Scenario 8, 9 (f) Scenario 10 (g) Scenario 11
표 Table 3 ACC test scenario conditions
그림 Fig. 6 Test vehicle (GENESIS G90)
그림 Fig. 7 Test real-road
표 Table 4 Environmental condition
그림 Fig. 8 Test measuring device (a) RT-3002 (b) DAQ (c) RT-range (d) camera
그림 Fig. 9 Dual camera
표 Table 5 Measuring device spec.
표 Table 6 Results of relative distance
그림 Fig. 10 Test result (measuring device) (a) scenario 1 (b) scenario 2 (c) scenario 3 (d) scenario 8 (e) scenario 9 (f) scenario 10 (g) scenario 11
그림 Fig. 11 Test result (dual camera) (a) scenario 1 (b) scenario 2 (c) scenario 3 (d) scenario 8 (e) scenario 9 (f) scenario 10 (g) scenario 11
그림 Fig. 12 Test result (a) measuring device result (b) dual camera result
표 Table 7 Error rate comparison
표 Table 8 Comparison of additional scenario error factors (min, max, average)
표 Table 9 Error rate comparison (min, max, average)

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