The Journal of The Korea Institute of Intelligent Transport Systems (한국ITS학회 논문지)

The Korea Institute of Intelligent Transport Systems (한국ITS학회)
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Selecting a Landmark for Repositioning Automated Driving Vehicles in a Tunnel

자율주행 차량의 터널내 측위오차 보정 지원시설 선정

  • Kim, Hyoungsoo (Korea Institute of Civil Engineering and Building Technology, Department of Future Technology and convergence) ;
  • Kim, Youngmin (Korea Institute of Civil Engineering and Building Technology, Department of Future Technology and convergence) ;
  • Park, Bumjin (Korea Institute of Civil Engineering and Building Technology, Department of Future Technology and convergence)
  • 김형수 (한국건설기술연구원 미래융합연구본부) ;
  • 김영민 (한국건설기술연구원 미래융합연구본부) ;
  • 박범진 (한국건설기술연구원 미래융합연구본부)
  • Received : 2018.06.08
  • Accepted : 2018.08.29
  • Published : 2018.10.31
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Abstract

This study proposed a method to select existing facilities as a landmark in order to reset accumulated errors of dead reckoning in a tunnel difficult to receive GNSS signals in automated driving. First, related standards and regulations were reviewed in order to survey 'variety' on shapes and installation locations as a feature of facilities. Second, 'recognition' on facilities was examined using image and Lidar sensors. Last, 'regularity' in terms of installation locations and intervals was surveyed through related references. The results of this study selected a fire fighting box / lamp (50m), an evacuation corridor lamp (300m), a lane control system (500m), a maximum / minimum speed limit sign and a jet fan as a candidate landmark to reset positioning errors. Based on those facilities, it was determined that error correction was possible. The results of this study are expected to be used in repositioning of automated driving vehicles in a tunnel.

일반적으로 자율주행 차량은 측위를 위하여 GNSS(Global Navigation Satellite System)에서 절대위치 신호를 수신하여 지도에 매칭하는 방식을 사용한다. 하지만 도심이나 터널에서 정상적인 위성신호를 수신하기 어렵기 때문에 추측항법(Dead Reckoning)으로 절대위치를 추측하므로 누적 오차의 주기적 보정이 병행되어야 한다. 본 연구에서는 자율주행시 GNSS 위치 신호 수신이 어려운 터널 내에서 사용되는 추측항법의 오차를 일정수준 이하로 유지하기 위하여 기존 도로시설물을 이용한 오차 보정을 위한 시설물의 선정 방법을 제안하였다. 시설물의 특성으로서 모양, 설치위치 등 '다양성' 검토를 위하여 관련 기준 검토, 영상 및 라이다센서 조사로 얼마나 잘 인지하는 지에 대한 '인지성' 조사, 설치위치 및 간격에 의한 '규칙성'을 조사하여 후보시설물을 선정하였다. 본 연구 결과로 측위오차 보정 지원시설로 소화전함/안내표지(50m), 유도표지등A(300m), Lane Control System(500m), 최고/최저속도제한표지, 제트팬을 선정하였으며, 기존 시설물만으로 오차 보정이 가능하다고 판단하였다. 본 연구의 결과는 자율주행 차량의 터널내 측위보정시 활용될 것으로 기대된다.

Keywords

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Cited by

  1. Modeling of Digital Lane Marking System to Improve Positioning Accuracy for Autonomous Driving Vehicle vol.20, pp.12, 2018, https://doi.org/10.9728/dcs.2019.20.12.2455
  2. GPS 음영 환경에서 무선랜 기반 차량 위치 추정 연구 vol.19, pp.1, 2018, https://doi.org/10.12815/kits.2020.19.1.94