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

  • 제21권3호
  • /
  • Pages.73-82
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  • 2022
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  • 1738-0774(pISSN)
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  • 2384-1729(eISSN)
한국ITS학회 (The Korea Institute of Intelligent Transport Systems)
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속도 제어와 차간거리 제어 수용성 개선을 위한 종방향 알고리즘 개발

Development of Longitudinal Algorithm to Improve Speed Control and Inter-vehicle Distance Control Acceptability

  • 김재이 (한국교통대학교 전자공학과) ;
  • 박만복 (한국교통대학교 전자공학과)
  • Kim, Jae-lee (Dept. of Electronic engineering Korea National Univ, of Transportation) ;
  • Park, Man-bok (Dept. of Electronic engineering Korea National Univ, of Transportation)
  • 투고 : 2021.12.20
  • 심사 : 2022.06.13
  • 발행 : 2022.06.30
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초록

자율주행 시스템의 수용성 보장은 중요하다. 시스템 수용성 요소 중 하나인 자율주행 종방향 제어기는 상위 제어기와 하위 제어기로 구성된다. 상위 제어기는 Cruise 제어와 Space 제어를 상황에 맞는 제어를 결정하고 필요한 목표 속도를 만든다. 하위 제어기에서는 목표 속도를 추종하기 위한 가속도 신호를 만들어서 제어를 수행한다. 본 논문에서는 상위 제어기에서 Cruise 제어와 Space 제어전환 문제에서 발생하는 차간거리 변동을 개선하는 알고리즘을 제안한다. 제안한 방법은 Cruise 제어에서 Space 제어로 전환되는 시점에 Cruise 제어에 Approach 알고리즘을 추가하여 전환 거리에서 Space 제어로 전환되도록 하는 것이다. 이를 통해서 ± 12m 초기 오차에서 ±4m까지 오차를 개선했으며 실차검증을 수행하였다.

Driver acceptance of autonomous driving is very important. The autonomous driving longitudinal controller, which is one of the factors affecting acceptability, consists of a high-level controller and a low-level controller. The host controller decides the cruise control and the space control according to the situation and creates the required target speed. The sub-controller performs control by creating an acceleration signal to follow the target speed. In this paper, we propose an algorithm to improve the inter-vehicle distance fluctuations that occur in the cruise control and space control switching problems in the host controller. The proposed method is to add an approach algorithm to the cruise control at the time of switching from cruise control to space control so that it is switched to space control at the correct switching distance. Through this, the error was improved from 12m error to 4m, and actual vehicle verification was performed.

키워드

과제정보

본 논문은 산업통상자원부가 지원한 '자율주행기술개발혁신사업'의 지원을 받아 수행된 연구 결과입니다. [과제명: Lv.4 자율주행시스템의 FailOperational 기술개발 / 과제번호: 20018055]. 본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었음(과제번호 22AMDP-C160501-02). 또한 이 연구는 2022년도산업통상자원부가 지원한 '자율주행기술개발혁신사업'의 지원을 받아 수행된 연구 결과입니다. [과제명 : 수요응답형 자동발렛주차 및 서비스 기술 개발 / 과제번호 : 20018448]

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