논문 상세보기
pp.119-130
PURPOSES : Accidents involving autonomous vehicle continue to occur. However, research on autonomous vehicle monitoring has been insufficient. The purpose of this study is to develop monitoring indicators from the perspective of vehicles and road infrastructure for the safe driving of autonomous vehicles. In addition, the purpose is to monitor autonomous vehicles and road environments using the monitoring indicators developed, as well as to analyze the characteristics of road sections where autonomous vehicles exhibit abnormalities.
METHODS : Data from Pangyo Zero Shuttle, an autonomous vehicle, were used in this study. Infrastructure data installed in Pangyo Zero City were used. The data were collected from June 2019 to July 2019, during the normal driving period of the zero shuttle. The five monitoring indicators were developed by combining the vehicle operation information table collected from the V2X device of the zero shuttle and the road environment monitoring detail table collected from the infrastructure data with the road section table. In addition, an analysis of road characteristics with frequent errors is performed for each monitoring indicator.
RESULTS : The three monitoring indicators from the perspective of the vehicle allowed monitoring of the sensor error, sensor communication error, and yaw rate error of the autonomous vehicle's timing and road section. In addition, the two monitoring indicators from the infrastructure perspective enabled the monitoring of events and road surface conditions on roads where autonomous vehicles drive. As a result of analyzing the road characteristics that frequently caused errors by monitoring indicators, sensor errors frequently occurred in the section waiting to enter the left-turn lane. Sensor communication errors are left-turn standby and have occurred frequently on road sections where U-turns are allowed. Finally, yaw rate error occurred frequently in sections of roads where there were no induction lines or where changes to lanes occurred frequently.
CONCLUSIONS : The five monitoring indicators developed in this study allowed the monitoring of autonomous vehicles and roads. The results of this study are expected to help the safe driving of autonomous vehicles and contribute to the detection of autonomous driving abnormalities and the provision of real-time road condition information through further analysis.
1. 서론
2. 선행연구 고찰
2.1. 개별차량 상태 모니터링 관련 연구
2.2. 자율주행차 성능/기능 모니터링 관련 연구
2.3. 선행연구와의 차별성
3. 분석개요
3.1. 자율주행차 데이터 수집
3.2. 인프라 데이터 수집
3.3. 자율주행 모니터링 지표 구분
4. 자율주행 모니터링 지표 개발
4.1. 자율주행차 센서 이상 탐지 지표
4.2. 자율주행차 센서 통신 이상 탐지 지표
4.3. 자율주행차 회전각도 정합성 지표
4.4. 도로상황 모니터링 지표
4.5. 도로노면상태 모니터링 지표
5. 자율주행 모니터링 지표 해석
5.1. 자율주행차 센서 이상 탐지 지표
5.2. 자율주행차 센서 통신 이상 탐지 지표
5.3. 자율주행차 회전각도 정합성 지표
5.4. 도로상황 모니터링 지표
5.5. 도로노면상태 모니터링 지표
6. 결론
REFERENCES
