Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Development of a Longitudinal Control Algorithm based on V2V Communication for Ensuring Takeover Time of Autonomous Vehicle

자율주행 자동차의 제어권 전환 시간 확보를 위한 차간 통신 기반 종방향 제어 알고리즘 개발

  • 이혜원 (한경대학교 기계공학과) ;
  • 송태준 (한경대학교 기계공학과) ;
  • 윤영민 (서울대학교 기계항공공학부) ;
  • 오광석 (한경대학교 기계공학과) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2019.10.24
  • Accepted : 2020.02.06
  • Published : 2020.03.31
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Abstract

This paper presents a longitudinal control algorithm for ensuring takeover time of autonomous vehicle using V2V communication. In the autonomous driving of more than level 3, autonomous systems should control the vehicles by itself partially. However if the driver's intervention is required for functional safety, the driver should take over the control reasonably. Autonomous driving system has to be designed so that drivers can take over the control from autonomous vehicle reasonably for driving safety. In this study, control algorithm considering takeover time has been developed based on computation method of takeover time. Takeover time is analysed by conditions of longitudinal velocity of preceding vehicle in time-velocity plane. In addition, desired clearance is derived based on takeover time. The performance evaluation of the proposed algorithm in this study was conducted using 3D vehicle model with actual driving data in Matlab/Simulink environment. The results of the performance evaluation show that the longitudinal control algorithm can control while securing takeover time reasonably.

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References

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