지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 기석철
- 발행연도
- 2023
- 저작권
- 충북대학교 논문은 저작권에 의해 보호받습니다.
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초록· 키워드
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In the autonomous vehicle systems, there are so many risks to prove their algorithms in real-world tests. So, we concentrate of these problems, we assert to verify the scenario-based evaluation system of autonomous vehicles by making High-definition Map(HD map) with Lidar and GNSS sensors mounted on the autonomous vehicle and applying it to the Vehicle-in-the-Loop Simulation(VILS) systems. In addition, We implemented a method of verifying the above system by analyzing the convergence time of the local path planning controller in the real-world environment.
The HD map, autonomous vehicle systems and VILS systems were successfully manufactured on the C-track which located in Ochang, Chungbuk National University, and based on this, a method to experimentally prove by using autonomous driving car, Niro EV in the C-track Urban sector and Circulation sector is presented.
Based on the experimental results of this paper, a comparison study of controller convergence time in a real model and a virtual model assuming each of pedestrian and vehicle based on VILS systems confirmed that the
scenario-based performance evaluation in the VILS systems shows the real-world-based performance.
The HD map, autonomous vehicle systems and VILS systems were successfully manufactured on the C-track which located in Ochang, Chungbuk National University, and based on this, a method to experimentally prove by using autonomous driving car, Niro EV in the C-track Urban sector and Circulation sector is presented.
Based on the experimental results of this paper, a comparison study of controller convergence time in a real model and a virtual model assuming each of pedestrian and vehicle based on VILS systems confirmed that the
scenario-based performance evaluation in the VILS systems shows the real-world-based performance.
목차
I. 서 론 ························································································································11. 연구배경 ····························································································································12. 연구목적 ····························································································································33. 관련연구 ····························································································································5II. C-track 정밀도로지도 구축 ······································································71. 벡터데이터 기반 지도제작 ······················································································72. 점군데이터 기반 지도제작 ······················································································93. 최종 지도데이터 작성 및 제작 ··········································································13III. VILS 시스템 구축 ························································································171. C-track VILS 개요 ··································································································172. VILS 시스템 알고리즘 ····························································································203. 정밀도로지도 응용 VILS 시스템 사전 검증 ··············································22IV. VILS 시스템 적합성 평가 ·····································································241. 자율주행 시스템 구성 ·····························································································242. 차량 제어기 기반 지도성능평가 ········································································253. VILS 시스템에서 지역 경로계획 제어기 수렴시간 분석 ····················28V. 응용 분야 및 기대효과 ················································································37VI. 결 론 ···················································································································38
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