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Cyclic Executive for Autonomous Driving with Real-Time Smart Cruise Control

순환실행체제를 이용한 무인 자율주행 실시간 스마트 크루즈 컨트롤

  • Lee, Jaemyoun (Dept. of Computer Science and Engineering, Hanyang University) ;
  • Kang, Kyungtae (Dept. of Computer Science and Engineering, Hanyang University) ;
  • Noh, Dong Kun (School of Electronic Engineering, Soongsil University)
  • 이재면 (한양대학교 컴퓨터공학과) ;
  • 강경태 (한양대학교 컴퓨터공학과) ;
  • 노동건 (숭실대학교 정보통신전자공학부)
  • Received : 2013.10.05
  • Accepted : 2013.11.15
  • Published : 2014.01.29

Abstract

In recent years, much attention has been paid to the development of intelligent vehicles that integrate automotive technology into the information technology, with the aim of improving user friendliness and stability. The representative function is a autonomous driving and a cruise control. In designing such vehicles, it is critical to address the real-time issues (i.e., real-time vehicle control and timely response). However, previous research excluded the real-time scheduling. We develop a model car with unmanned cruise control, design the real-time scheduler using cyclic executive to easily adapt the model car, and provide some insight into potential solutions based on various experiments.

최근 사용자의 편의성과 안정성을 향상시키기 위해, 자동차 기술과 IT 기술을 접목한 지능형 자동차 개발에 많은 관심이 모아지고 있는데, 그 대표적인 기능으로 무인 자율주행과 스마트 크루즈 컨트롤이 있다. 지능형 자동차는 설계 및 구현 시 자동차가 요구하는 실시간 제약 조건을 만족하는 것이 매우 중요하다. 본 연구에서는 무인 자율주행과 스마트 크루즈 컨트롤 기능을 모형차량에 구현하고, 이에 적합한 실시간 스케줄링 알고리즘을 연산 복잡도가 낮고 구현이 간단한 순환실행체제를 이용하여 설계하였다. 또한 모의실험을 통하여 실제 시스템으로의 적용 가능성을 입증하였다.

Keywords

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Cited by

  1. Research Trends of Scheduling Techniques for Domestic Major Industries vol.41, pp.1, 2018, https://doi.org/10.11627/jkise.2018.41.1.059