• Toward Real-world Adoption of Autonomous Driving Vehicle on Public Roadways: Human-Centered Performance Evaluation with Safety Critical Scenarios

    자율주행 차량의 실도로 주행을 위한 안전 시나리오 기반 인간중심 시스템 성능평가

    Yunyoung Kook, Kyongsu Yi

    국윤영, 이경수

    For the commercialization and standardization of autonomous vehicles, demand for rigorous safety criteria has been increased over the world. In Korea, the … + READ MORE
    For the commercialization and standardization of autonomous vehicles, demand for rigorous safety criteria has been increased over the world. In Korea, the number of extraordinary service permission for automated vehicles has risen since Hyundai Motor Company got its initial license in March 2016. Nevertheless, licensing standards and evaluation factors are still insufficient for operating on public roadways. To assure driving safety, it is significant to verify whether or not the vehicle’s decision is similar to human driving. This paper validates the safety of the autonomous vehicle by drawing scenario-based comparisons between manual driving and autonomous driving. In consideration of real traffic situations and safety priority, seven scenarios were chosen and classified into basic and advanced scenarios. All scenarios and safety factors are constructed based on existing ADAS requirements and investigated via a computer simulation and actual experiment. The input data was collected by an experimental vehicle test on the SNU FMTC test track located at Siheung. Then the offline simulation was conducted to verify the output was appropriate and comparable to the manual driving data. - COLLAPSE
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    30 June 2023
  • Fault Tolerant Control Strategy for Four Wheel Steer-by-Wire Systems

    4륜 조향을 이용한 Steer-by-Wire 시스템의 고장 허용 제어 전략

    Seonghun Noh, Baek-soon Kwon

    노성훈, 권백순

    This paper presents a fault tolerant control strategy for Steer-by-Wire (SbW) systems. Among many problems to be solved before commercialization of SbW … + READ MORE
    This paper presents a fault tolerant control strategy for Steer-by-Wire (SbW) systems. Among many problems to be solved before commercialization of SbW systems, maintaining reliability and fault tolerance in such systems are the most pressing issues. In most previous studies, dual steering motors are used to achieve actuation redundancy. However, relatively few studies have been conducted to introduce fault tolerant control strategies using rear wheel steering system. In this work, an actuator fault in front wheel steering is compensated by active rear wheel steering. The proposed fault tolerant control algorithm consists of disturbance observer and sliding mode control. The fault tolerant control performance of the proposed approach is validated via computer simulation studies with Carsim vehicle dynamics software and MATLAB/Simulink. - COLLAPSE
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    30 June 2023
  • Human Driving Data Based Simulation Tool to Develop and Evaluate Automated Driving Systems’ Lane Change Algorithm in Urban Congested Traffic

    도심 정체 상황에서의 자율주행 차선 변경 알고리즘 개발 및 평가를 위한 실도로 데이터 기반 시뮬레이션 환경 개발

    Dabin Seo, Heungseok Chae, Kyongsu Yi

    서다빈, 채흥석, 이경수

    This paper presents a simulation tool for developing and evaluating automated driving systems’ lane change algorithm in urban congested traffic. The behavior … + READ MORE
    This paper presents a simulation tool for developing and evaluating automated driving systems’ lane change algorithm in urban congested traffic. The behavior of surrounding vehicles was modeled based on driver driving data measured in urban congested traffic. Surrounding vehicles are divided into aggressive vehicles and non-aggressive vehicles. The degree of aggressiveness is determined according to the lateral position to initiate interaction with the vehicle in the next lane. In addition, the desired velocity and desired time gap of each vehicle are all randomly assigned. The simulation was conducted by reflecting the cognitive limitations and control performance of the autonomous vehicle. It was possible to confirm the change in the lane change performance according to the variation of the lane change decision algorithm. - COLLAPSE
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    30 June 2023
  • Prototype Implementation of Control Board for Vehicle V2X Communication Performance Evaluation

    자동차 V2X 통신성능 평가를 위한 제어 보드 프로토타입 구현

    Yoowon Kim, Byeongchan Jo, Hyuk Jung

    김유원, 조병찬, 정혁

    The Republic of Korea aims to complete the commercialisation of Level 4+ cooperative autonomous driving in 2027. It also plans to include … + READ MORE
    The Republic of Korea aims to complete the commercialisation of Level 4+ cooperative autonomous driving in 2027. It also plans to include V2X OBU in the K-NCAP evaluation items. Therefore, communication performance safety evaluation criteria for V2X OBU need to be established, and an OBU with necessary functions is needed to develop V2X communication performance safety evaluation technology for vehicles. In this study, we implemented a V2X OBU control board prototype that can be used to develop a V2X communication performance safety evaluation technology for Level 4+ autonomous vehicles, and confirmed that the control board prototype works normally. - COLLAPSE
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    30 June 2023
  • Case Study on the Time Zero (T0) of Event Data Recorder

    사고기록장치의 기록 시점에 대한 사례연구

    Jongjin Park, Jeongman Park, Jungwoo Park, Byungdeok In

    박종진, 박정만, 박정우, 인병덕

    On December 19, 2015, as Article 29-3 (Installation of Accident Recording Devices and Provision of Information) of Motor Vehicle Management Act came … + READ MORE
    On December 19, 2015, as Article 29-3 (Installation of Accident Recording Devices and Provision of Information) of Motor Vehicle Management Act came into force, In Korea, the EDR (Event Data Recorder) reports are often used for the analysis of various traffic accident cases such as multiple collisions, traffic insurance crimes, and sudden unintended acceleration (SUA), and the others. So many investigators have analyzed the driver’s behavior and vehicle situation by comparing the time zero in the EDR report to the actual crash time in dash-cam (or CCTV). Time zero (T0) is defined as the reference time for the record interval or time interval when recording an accident in Article 56-2, Enforcement rule of Performance and Standard for Automobile and Automotive parts. Also in the EDR report, time zero (T0) is defined as whichever of the following occurs first; 1. “wake-up” by an air-bag control system, 2. Continuously running algorithms (by monitoring of longitudinal or lateral delta-V), 3. Deployment of a non-reversible deployment restraint. We have already proposed the “Flowchart & Checklist” to adopt the EDR report for traffic accident investigation and the necessity of specialized institutions or courses to systematically educate or analyze the EDR data. Therefore, in this paper, we report to traffic accident investigators notable points and analysis methods based on some real-world traffic accidents that can be misjudged in specifying time zero (T0). - COLLAPSE
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    30 June 2023
  • Study on Map Building Performance Using OSM in Virtual Environment for Application to Self-Driving Vehicle

    가상환경에서 OSM을 활용한 자율주행 실증 맵 성능 연구

    MinHyeok Baek, Jinu Pahk, JungSeok Shim, SeongJeong Park, YongSeob Lim, GyeungHo Choi

    백민혁, 박진우, 심중석, 박성정, 임용섭, 최경호

    In recent years, automated vehicles have garnered attention in the multidisciplinary research field, promising increased safety on the road and new opportunities … + READ MORE
    In recent years, automated vehicles have garnered attention in the multidisciplinary research field, promising increased safety on the road and new opportunities for passengers. High-Definition (HD) maps have been in development for many years as they offer roadmaps with inch-perfect accuracy and high environmental fidelity, containing precise information about pedestrian crossings, traffic lights/signs, barriers, and more. Demonstrating autonomous driving requires verification of driving on actual roads, but this can be challenging, time-consuming, and costly. To overcome these obstacles, creating HD maps of real roads in a simulation and conducting virtual driving has become an alternative solution. However, existing HD maps using high-precision data are expensive and time-consuming to build, which limits their verification in various environments and on different roads. Thus, it is challenging to demonstrate autonomous driving on anything other than extremely limited roads and environments. In this paper, we propose a new and simple method for implementing HD maps that are more accessible for autonomous driving demonstrations. Our HD map combines the CARLA simulator and OpenStreetMap (OSM) data, which are both open-source, allowing for the creation of HD maps containing high-accuracy road information globally with minimal dependence. Our results show that our easily accessible HD map has an accuracy of 98.28% for longitudinal length on straight roads and 98.42% on curved roads. Moreover, the accuracy for the lateral direction for the road width represented 100% compared to the manual method reflected with the exact road data. The proposed method can contribute to the advancement of autonomous driving and enable its demonstration in diverse environments and on various roads. - COLLAPSE
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    30 June 2023
  • A Study on Improving the Automotive Parts Market and Quality Certification Parts System

    자동차부품시장 및 품질인증부품제도 개선방안연구

    Sungyong Ha

    하성용

    In this study, it was analyzed that it is necessary to clarify the quality certification parts system, to make certification codes mandatory … + READ MORE
    In this study, it was analyzed that it is necessary to clarify the quality certification parts system, to make certification codes mandatory for self-certification products that are normally distributed, and to conduct follow-up management so that prompt action and thorough management of test reports are necessary in case of defects. Big data-based data, the detailed number of parts replacement cases, parts cost by part group, share, average labor cost, calculated to analyze the detailed automobile parts industry, and automobile parts certification system and automobile parts market in major countries including Korea and Through the distribution structure analysis, improvement plans for the automobile quality certification parts system were derived. - COLLAPSE
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    30 June 2023
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