Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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 (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Han, Jong-Boo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
  • 김선우 (충남대학교 메카트로닉스 공학과) ;
  • 한종부 (충남대학교 메카트로닉스 공학과) ;
  • 김성수 (충남대학교 메카트로닉스 공학과)
  • Received : 2015.11.07
  • Accepted : 2016.03.09
  • Published : 2016.05.01
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Abstract

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.

본 논문에서는 영상기반의 무인 차량에 대한 원격 조종 가능성을 평가할 수 있는 객관적 지표를 제안하고자 한다. 제안된 영상 흔들림 지표의 효용성을 검증하기 위하여, 가상 환경의 무인 차량 시뮬레이터 실험 환경을 통한 주관적인 평가를 수행하였다. 가상 환경 시뮬레이터는 다물체 동역학 기반의 실시간 무인 차량 동역학 프로그램, 모션시뮬레이터, 드라이버 콘솔 등으로 이루어져 있다. 동역학 해석에 의해 차량의 운동이 정의되고, 차체의 움직임이 모션시뮬레이터를 통해 반영된다. 모션시뮬레이터 위의 카메라는 흔들리는 영상정보를 피실험자에게 제공한다. 다양한 노면에 대한 흔들리는 영상에 대하여 객관적인 지표와 피실험자들이 느끼는 주관적인 평가를 비교하여 그 효용성을 분석하였다.

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References

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