Study on the Remote Controllability of Vision Based Unmanned Vehicle Using Virtual Unmanned Vehicle Driving Simulator

가상 무인 차량 시뮬레이터를 이용한 영상 기반 무인 차량의 원격 조종성 연구

Kim, Sunwoo;Han, Jong-Boo;Kim, Sung-Soo

  • Received : 2015.11.07
  • Accepted : 2016.03.09
  • Published : 2016.05.01


In this paper, we proposed an image shaking index to evaluate the remote controllability of vision based unmanned vehicles. To analyze the usefulness of the proposed image-shaking index, we perform subjective tests using a virtual unmanned vehicle driving simulator. The developed driving simulator consists of a real-time multibody dynamic software of the unmanned vehicle, a motion simulator, and a driver console. We perform dynamic simulations to obtain the motion of the unmanned vehicle running on the various road surfaces such as ISO roughness level A~E roads. The motion of the vehicle body is reflected in the motion simulator. Then, to enable remote control operation, we offer to operators the image data that was measured using the camera sensor on the simulator. We verify the usefulness of the proposed image-shaking index compared with subjective index provided by operators.


Remote Control;Unmanned Vehicle;Image Processing


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Supported by : 충남대학교