자동차안전학회지 (Journal of Auto-vehicle Safety Association)

한국자동차안전학회 (Korean Auto-vehicle Safety Association)
권호 표지
DOI QR코드

DOI QR Code

보행자 충돌 회피를 위한 자율주행 차량의 종방향 거동 계획

Longitudinal Motion Planning of Autonomous Vehicle for Pedestrian Collision Avoidance

  • 김유진 (서울대학교 차량 동역학 및 제어 연구실) ;
  • 문종식 (서울대학교 차량 동역학 및 제어 연구실) ;
  • 정용환 (서울대학교 차량 동역학 및 제어 연구실) ;
  • 이경수 (서울대학교 차량 동역학 및 제어 연구실)
  • 투고 : 2019.07.08
  • 심사 : 2019.09.17
  • 발행 : 2019.09.30
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents an autonomous acceleration planning algorithm for pedestrian collision avoidance at urban. Various scenarios between pedestrians and a vehicle are designed to maneuver the planning algorithm. To simulate the scenarios, we analyze pedestrian's behavior and identify limitations of fusion sensors, lidar and vision camera. Acceleration is optimally determined by considering TTC (Time To Collision) and pedestrian's intention. Pedestrian's crossing intention is estimated for quick control decision to minimize full-braking situation, based on their velocity and position change. Feasibility of the proposed algorithm is verified by simulations using Carsim and Simulink, and comparisons with actual driving data.

키워드

참고문헌

  1. Coffin, A. and J. Morrall. Walking Speeds of Elderly Pedestrians at Crosswalks. In Transportation Research Record 1487, TRB, National Research Council, Washington, D.C., 1995, pp. 63-67.
  2. Knoblauch, R. L., M. Pietrucha, and M. Nitzburg. Field Studies of Pedestrian Walking Speed and Start-Up Time. In Transportation Research Record 1538, TRB, National Research Council, Washington, D.C., 1996, pp. 27-38.
  3. Montufar, J., Arango, J., Porter, M., and Nakagawa, S. (2007), Pedestrians' Normal Walking Speed and Speed When Crossing a Street. Transportation Research Record, 2002(1), 90-97. https://doi.org/10.3141/2002-12
  4. Christoph G. Keller and Dariu M. Gavrila, 2014, Will the Pedestrian Cross? A Study on Pedestrian Path Prediction, IEEE Transactions on Intelligent Transportation Systems, Vol. 15, No. 2. M.
  5. S. Kohler, M. Goldhammer, S. Bauer, K. Doll, U. Brunsmann, and K.Dietmayer. Early detection of the pedestrian's intention to cross the street. In Intelligent Transportation Systems (ITSC), 2012 15th International IEEE Conference on, pages 1759-1764, Sept 2012.
  6. Meuter, U. Iurgel, S.-B. Park, and A. Kummert, "The unscented Kalman filter for pedestrian tracking from a moving host", in Proc. IEEE Intell. Veh. Symp., 2008, pp. 37-42.
  7. 허슬기, 정용환, 이경수, "자율주행 차량을 위한 보행자 대상 속도제어 전략", 한국자동차안전학회 춘계 학술대회, 2018.