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학술대회 Situation Assessment and Behavior Decision for Vehicle/Driver Cooperative Driving in Highway Environments
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저자
노삼열, 안경환, 한우용
발행일
201508
출처
International Conference on Automation Science and Engineering (CASE) 2015, pp.626-633
DOI
https://dx.doi.org/10.1109/CoASE.2015.7294148
협약과제
15MC2800, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
초록
This paper proposes an automated system with respect to situation assessment and behavior decision not only for cooperative driving between a driver and the system but also highly automated driving in highway environments. The proposed system includes three main parts: (1) high-level data fusion to produce a better understanding of the observed situation, (2) distributed reasoning based situation assessment to evaluate the current situation in the safety aspect and to recommend actions, and (3) behavior decision to determine collision-free and goal-directed maneuvers for vehicle/driver cooperative and highly automated driving in highway environments. The system is verified that it can work properly for cooperative and highly automated driving through in-vehicle tests in several scenarios similar to real highway environments.
KSP 제안 키워드
Cooperative driving, Current situation, High-level data fusion, In-vehicle, Situation Assessment, an automated system, collision-free, distributed reasoning, highly automated driving, vehicle tests