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학술지 Co-Pilot Agent for Vehicle/Driver Cooperative and Autonomous Driving
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저자
노삼열, 박병재, 안경환, 구용본, 한우용
발행일
201510
출처
ETRI Journal, v.37 no.5, pp.1032-1043
ISSN
1225-6463
출판사
한국전자통신연구원 (ETRI)
DOI
https://dx.doi.org/10.4218/etrij.15.0114.0095
협약과제
14MC1300, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
초록
ETRI's Co-Pilot project is aimed at the development of an automated vehicle that cooperates with a driver and interacts with other vehicles on the road while obeying traffic rules without collisions. This paper presents a core block within the Co-Pilot system; the block is named "Co-Pilot agent" and consists of several main modules, such as road map generation, decision-making, and trajectory generation. The road map generation builds road map data to provide enhanced and detailed map data. The decision-making, designed to serve situation assessment and behavior planning, evaluates a collision risk of traffic situations and determines maneuvers to follow a global path as well as to avoid collisions. The trajectory generation generates a trajectory to achieve the given maneuver by the decision-making module. The system is implemented in an open-source robot operating system to provide a reusable, hardware-independent software platform; it is then tested on a closed road with other vehicles in several scenarios similar to real road environments to verify that it works properly for cooperative driving with a driver and automated driving.
키워드
Automated driving, Cooperative driving, Decision-making, Enhanced map, Trajectory generation
KSP 제안 키워드
Automated driving, Automated vehicles, Behavior planning, Collision risk, Cooperative driving, Global Path, Map generation, Open source, Road map, Robot operating system(ROS), Situation Assessment