자동차안전학회지 (Journal of Auto-vehicle Safety Association)

한국자동차안전학회 (Korean Auto-vehicle Safety Association)
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자율주행 셔틀버스의 통신 정보 융합 기반 충돌 위험 판단 알고리즘 개발

Development of I2V Communication-based Collision Risk Decision Algorithm for Autonomous Shuttle Bus

  • 이승민 (한국교통대학교 일반대학원 전자공학과 & Garage.M) ;
  • 이창형 (한국교통대학교 글로벌대학원 전자공학과 & 이아우토반) ;
  • 박만복 (한국교통대학교 전자공학과)
  • 투고 : 2019.06.22
  • 심사 : 2019.09.07
  • 발행 : 2019.09.30
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초록

Recently, autonomous vehicles have been studied actively. Autonomous vehicles can detect objects around them using their on board sensors, estimate collision probability and maneuver to avoid colliding with objects. Many algorithms are suggested to prevent collision avoidance. However there are limitations of complex and diverse environments because algorithm uses only the information of attached environmental sensors and mainly depends on TTC (time-to-Collision) parameter. In this paper, autonomous driving algorithm using I2V communication-based cooperative sensing information is developed to cope with complex and diverse environments through sensor fusion of objects information from infrastructure camera and object information from equipped sensors. The cooperative sensing based autonomous driving algorithm is implemented in autonomous shuttle bus and the proposed algorithm proved to be able to improve the autonomous navigation technology effectively.

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참고문헌

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