[논문]고정목표에 대한 자율주행자동차 시험방법에 관한 연구

김봉주; 이선봉

doi:10.22680/kasa2022.14.3.006

고정목표에 대한 자율주행자동차 시험방법에 관한 연구
A Study on the Test Method of Autonomous Vehicle for Fixed Targets 원문보기

자동차안전학회지 = Journal of Auto-Vehicle Safety Association, v.14 no.3, 2022년, pp.6 - 16

김봉주 (동양대학교 스마트모빌리티학과) , 이선봉 (계명대학교 자동차시스템공학과)

Abstract ▼ AI-Helper

Recent, the issue of the fourth industrial revolution triggered by technological advances has changed the automobile industry centered on internal combustion engines, and quantitative growth of the global automobile market, which has grown rapidly, has been slowing since 2015. These advances in technology are expected to develop beyond the advanced driver assistance system to autonomous driving technology. According to SAE-J3016 published by the Society of Automotive Engineers, the technology of autonomous vehicles is divided into a total of six stages according to the driver's intervention and automation level from 0 to 5. Securing safety for autonomous vehicles is important. But, research on safety evaluation theory and autonomous vehicle evaluation method based on real vehicle test is insufficient. In this study, the longitudinal distance theory equation and continuous test scenario were proposed for the test method of autonomous vehicles for fixed targets, and the real vehicle test was conducted. When comparing the theoretical values compared to the measured values, it was determined that it was reliable with a minimum error rate of 0.484% and a maximum error rate of 7.391%. Using the proposed theoretical equation, it is judged that it can be used as a safety evaluation method in an environment where real vehicle test is not possible because it can grasp the trend in the longitudinal direction in the development stage.

주제어

표/그림 (14)

그림 Fig. 1 Fixed Target scenario for autonomous vehicles
그림 Fig. 2 Scenario for autonomous vehicles (a) own lane follow scenario, (b) emergency braking scenario (malfunction), (c) crossroad scenario (left turn, right turn), (d) avoidance & braking scenario, (e) lane change scenario, (f) a road sign recognition scenario, (g) legend
그림 Fig. 3 Test vehicles (a) autonomous vehicle, (b) Fixed Target vehicle
표 Table 1 Autonomous vehicle specification
그림 Fig. 4 Test device (a) RT-3002, (b) Brick, (c) GPS, (d) Radar, (e) Camera
그림 Fig. 5 Vehicle-road connection test intersection of Korea Intelligent Automotive Parts Promotion Institute
표 Table 2 Fixed Target specification
표 Table 3 Test equipment specification
표 Table 4 Environmental conditions
표 Table 5 Comparative analysis of results
그림 Fig. 6. Test results (First test scenario) (a) speed, (b) steering angle, (c) longitudinal acceleration, (d) lateral acceleration, (e) left lane distance, (f) right lane distance, (g) longitudinal relative distance, (g) lateral relative distance, (i) yaw rate
그림 Fig. 7. Test results (Second test scenario) (a) speed, (b) steering angle, (c) longitudinal acceleration, (d) lateral acceleration, (e) left lane distance, (f) right lane distance, (g) longitudinal relative distance, (g) lateral relative distance, (i) yaw rate
그림 Fig. 8. Test results (Third test scenario) (a) speed, (b) steering angle, (c) longitudinal acceleration, (d) lateral acceleration, (e) left lane distance, (f) right lane distance, (g) longitudinal relative distance, (g) lateral relative distance, (i) yaw rate
그림 Fig. 9. Test results (Fourth test scenario) (a) speed, (b) steering angle, (c) longitudinal acceleration, (d) lateral acceleration, (e) left lane distance, (f) right lane distance, (g) longitudinal relative distance, (g) lateral relative distance, (i) yaw rate

참고문헌 (17)

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