Journal of the Korea Convergence Society (한국융합학회논문지)

Korea Convergence Society (한국융합학회)
권호 표지
DOI QR코드

DOI QR Code

A Human-Centered Control Algorithm for Personalized Autonomous Driving based on Integration of Inverse Time-To-Collision and Time Headway

자율주행 개인화를 위한 역 충돌시간 및 차두시간 융합 기반 인간중심 제어 알고리즘 개발

  • Oh, Kwang-Seok (Department of Mechanical Engineering, Hankyong National University)
  • 오광석 (한경대학교 기계공학과)
  • Received : 2018.07.25
  • Accepted : 2018.10.20
  • Published : 2018.10.28
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a human-centered control algorithm for personalized autonomous driving based on the integration of inverse time-to-collision and time headway. In order to minimize the sense of difference between driver and autonomous driving, the human-centered control technology is required. Driving characteristics in case that vehicle drives with the preceding vehicle have been analyzed and reflected to the longitudinal control algorithm. The driving characteristics such as acceleration, inverse time-to-collision, time headway have been analyzed for longitudinal control. The control algorithm proposed in this study has been constructed on Matlab/Simulink environment and the performance evaluation has been conducted by using actual driving data.

본 논문은 자율주행 개인화를 위한 역 충돌시간 및 차두시간 융합 기반 인간중심 제어 알고리즘 개발에 관한 것이다. 운전자 및 탑승자의 자율주행에 대한 이질감 최소화를 위해 인간중심적 주행제어 기술이 필요하다. 운전자가 선행차량과 함께 주행하는 조건에서 운전자의 주행특성을 분석하고, 분석된 결과를 종방향 자율주행 제어에 반영하였다. 주행특성으로 가속도, 역 충돌시간, 차두시간 분포가 분석되었고, 운전자의 주행특성이 반영된 제어기 구성을 위해 역 충돌시간 및 차두시간을 이용한 종방향 제어기를 구성하였다. 본 연구에서 제안된 제어 알고리즘은 Matlab/Simulink 환경에서 구성되었으며 실 주행데이터 기반 성능평가가 수행되었다.

Keywords

References

  1. C. W. Park, W. B. Na, H. C, Lee. (2018). Driver Friendly Adaptive Cruise Control by Driver Behavior. The Transaction of Korean Society of Automotive Engineers, 26(3), 416-425. https://doi.org/10.7467/KSAE.2018.26.3.416
  2. T. W. Kim, S. G. Heo, K. S, Yi. K. C, Min. J. K, Shin. (2018). Robust Autonomous Emergency Braking Algorithm for Vulnerable Road Users. The Transaction of Korean Society of Mechanical Engineers, 42(7), 611-619. https://doi.org/10.3795/KSME-A.2018.42.7.611
  3. T. Y. Lee, K. Y. Yi, C. H. Jeong. (2011). Analysis of the Driver Characteristic for Development of the Stochastic Driver Model. Proceedings of Spring Conference, Korean Society of Mechanical Engineers, 161-167.
  4. J. W. Son, M. O. Park, H. S. Oh J. E. Lee, T. Y. Lee, (2013). Age and Gender Difference in Fuel Efficiency on Highway Driving. Proceedings of Spring Conference, Korean Society of Automotive Engineers, 264-268.
  5. K. S. Oh and K. Y. Yi, (2014). A predictive driver model with physical constraints for closed loop simulation of vehicle-driver system. 2014 IEEE 17th International Conference on Intelligent Transportation Systems, 3126-3131.
  6. K. S. Oh, (2017). A RLS-based Convergent Algorithm or Driving Characteristic Classification for Personalized Autonomous Driving. Journal of the Korea Convergence Society, 8(9), 285-292. https://doi.org/10.15207/JKCS.2017.8.9.285
  7. C. S. Kim, Y. G. Jin, J. Y. Park, (2018). Exploring the influence of commuter's variable departure time in autonomous driving car operation. Journal of the Korea Convergence Society, 9(5), 7-14. https://doi.org/10.15207/JKCS.2018.9.5.007
  8. B. J. Song and H. J. Ahn, (2011). Development of the Logistics Network Diagnostic Assessments and Monitoring Service to promote Eco-driving Behaviors for Truck Drivers. Journal of the Korea Convergence Society, 2(4), 15-19.
  9. J. M. Cho, S. K. Kim, K. S. Huh, (2015). Development of the Autonomous Emergency Braking System Considering Driver Steering Intervention. Proceedings of Spring Conference, Korean Society of Automotive Engineers, 401-404.
  10. B. C. Jang, (2011). Driver Adapted MDPS Variable Base Current Control Strategy. Proceedings of Conference, Korean Society of Automotive Engineers, 1121-1124.
  11. I. K. Moon and K. S. Yi, (2004). Human Drivers' Driving Pattern Analysis and An Adaptive Cruise Control Strategy. Transactions of KSAE, 12(4), 191-197.
  12. C. W. Park, W. B. Na, H. C. Lee, (2018). Driver Friendly Adaptive Cruise Control by Driver Behavior. Transactions of KSAE, 26(3), 416-425. https://doi.org/10.7467/KSAE.2018.26.3.416
  13. W. S. Lee and Y. S. Kim, (2006). Behavioral Adaptation to an Adaptive Cruise Control System. Transactions of KSAE, 14(6), 82-88.
  14. H. J. Kim, H. J. Lim, J. H. Yang, (2016). Design and Evaluation of Alert Threshold for Takeover Request in Partial Autonomous Vehicles Considering Human Factors(1/2). Proceedings of Conference, Korean Society of Automotive Engineers, 1337.
  15. T. W. Kim, S. G. Heo, K. S. Yi, J. K. Shin, K. C. Min, (2018). Robust Autonomous Emergency Braking Algorithm for Vulnerable Road Users. Transactions of KSME, 42(7), 611-619.