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학술대회 Toward Highly Automated Driving by Vehicle-to-Infrastructure Communications
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노삼열, 안경환, 한우용
International Conference on Control, Automation and Systems (ICCAS) 2015, pp.2016-2021
This paper presents a cooperative system by vehicle-to-infrastructure (V2I) communications that extends the range of environmental perception and improves the performance of situation awareness for highly automated driving. The paper consists of two steps: data fusion based situation awareness and distributed reasoning based situation assessment. The data fusion produces a V2I augmented map to provide a better understanding of driving situations by integrating road infrastructures with a high-precision map. The distributed reasoning evaluates a risky level of a current situation in terms of road infrastructures through the use of independent local experts which are distributed into lane-level local regions of the vehicle's surroundings. The recommendations for driving behaviors are determined by the combination of results from each expert. The system is tested and evaluated through in-vehicle tests on a highway test road to verify that it can determine appropriate reactions under road hazard situations, such as black ice and construction.
KSP 제안 키워드
Cooperative system, Current situation, Data fusion, Environmental perception, Hazard Situations, In-vehicle, Road hazard, Situation Assessment, Situation awareness(SA), Vehicle-To-Infrastructure (V2I) communications, distributed reasoning