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Analyzing the Impact of Changes in the Driving Environmenton the Stabilization Time of Take-over in Conditional Automation

조건부 자율주행시 주행환경 변화에 따른 제어권 전환 안정화 시간 영향 분석

  • Sungho Park (Center for Convergence and open Sharing, Ajou University) ;
  • Kyeongjin Lee (Dept. of D.N.A. Convergence, Major in Transportation Eng., Ajou University) ;
  • Jungeun Yoon (Dept. of D.N.A. Convergence, Major in Transportation Eng., Ajou University) ;
  • Yejin Kim (Dept. of D.N.A. Convergence, Major in Transportation Eng., Ajou University) ;
  • Ilsoo Yun (Dept. of Transportation System Eng., Ajou University)
  • 박성호 (아주대학교 혁신융합사업단) ;
  • 이경진 (아주대학교 D.N.A.플러스융합학과 교통공학전공) ;
  • 윤정은 (아주대학교 D.N.A.플러스융합학과 교통공학전공) ;
  • 김예진 (아주대학교 D.N.A.플러스융합학과 교통공학전공) ;
  • 윤일수 (아주대학교 교통시스템공학과)
  • Received : 2023.11.20
  • Accepted : 2023.12.15
  • Published : 2023.12.31

Abstract

The stabilization time of take-over refers to the time it takes for driving to stabilize after the take-over. Following a take-over request from an automated driving system, the driver must become aware of the road driving environment and perform manual driving, making it crucial to clearly understand the relationship between the driving environment and stabilization time of take-over. However, previous studies specifically focusing on stabilization time after take-over are rare, and research considering the driving environment is also lacking. To address this, our study conducted experiments using a driving simulator to observe take-over transitions. The results were analyzed using a liner mixed model to quantitatively identify the driving environment factors affecting the stabilization time of take-over. Additionally, coefficients for stabilization time based on each influencing factor were derived.

제어권 전환 안정화 시간(Stabilization time of take-over)은 제어권 전환 이후 운전이 안정화 될 때까지의 시간을 의미한다. 자율주행시스템(autonomated driving system)의 제어권 전환 요청(take-over request) 직후, 운전자는 도로의 주행환경을 인지하고 수동운전을 수행해야하기 때문에 주행환경과 제어권 전환 안정화 시간의 관계를 명확히 규명하는 것은 매우 중요하다. 반면, 제어권 전환 안정화 시간에 대해 특정하여 수행된 기존 연구는 드물었으며, 주행환경을 고려한 연구도 부족한 실정이다. 이 점에 기인하여 본 연구는 드라이빙 시뮬레이터를 활용한 제어권 전환 실험을 수행하고, 실험 결과를 선형혼합모형(linear mixed model)을 통해 분석하여 제어권 전환 안정화 시간에 영향을 미치는 주행환경 요소를 정량적으로 도출하였으며, 각 영향요인에 따른 제어권 전환 안정화 계수를 도출하였다.

Keywords

Acknowledgement

이 논문은 국토교통부 및 국토교통과학기술진흥원의 연구비지원(RS-2022-00142239)에 의해 수행되었습니다. 본 논문은 박성호의 박사학위논문에 게재되었던 내용을 수정·보완하여 작성하였습니다.

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