The Journal of the Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회논문지)

The Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회)
권호 표지
DOI QR코드

DOI QR Code

Implementation of Integrated Controller of ACC/LKS based on OSEK OS

OSEK OS 기반 ACC/LKS 통합제어기 구현

  • Received : 2013.08.21
  • Accepted : 2013.10.11
  • Published : 2013.10.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper implements an integrated vehicle chassis system of ACC(Adaptive Cruise Control) and LKS(Lane Keeping System) based on OSEK OS to vehicle operating system and analyzes its performance through experiments. In recent years active safety and advanced driver assistance system has discussed to improve safety of vehicle. Among the rest, We integrate ACC that controls longitudinal velocity of vehicle and LKS that assists a vehicle in maintaing its driving lane, then implement integrated control system in vehicle. Implemented control system uses OSEK/VDX proposed standard, which is aiming at reusability and safety of software for vehicle and removal hardware dependence of application software. Redesigned control system based on OSEK OS, which is supported by OSEK/VDX, can manage real-time task, process interrupt and manage shared resource. We show by results performed EILS(ECU-In-the-Loop Simulation) that OSEK OS-based integrated controller of ACC and LKS is equivalent conventional integrated controller of ACC and LKS.

본 논문에서는, 차량 섀시 제어시스템 중 ACC(Adaptive Cruise Control)와 LKS(Lane Keeping System)를 통합하여 차량용 OS인 OSEK OS 기반으로 구현하고 실험을 통하여 그 성능을 분석한다. 최근 자동차의 안전성을 향상시키기 위해 능동 안전 및 운전자 지원 시스템이 논의 되고 있다. 그 중 차량의 종방향에 대한 가감속 제어를 수행하는 ACC와 차량이 차선을 유지할 수 있도록 보조해주는 LKS를 통합하여 차량 내 제어시스템을 구현한다. 구현한 제어시스템은 차량용 소프트웨어의 재사용성과 안전성 및 응용 소프트웨어의 하드웨어 의존성 제거 등을 목표로 표준 제안된 OSEK/VDX를 적용한다. OSEK/VDX에서 지원하는 OSEK OS를 기반으로 재설계한 제어시스템은 실시간 태스크 관리와 인터럽트 처리 및 공유자원 관리가 가능하다. EILS(ECU-In-the-Loop Simulation) 수행 결과에 의해 OSEK OS 기반의 ACC/LKS 통합제어기와 기존 일체형 펌웨어로 구현한 ACC/LKS 통합제어기가 대등함을 입증한다.

Keywords

References

  1. J. Perez, V. Milanes, and E. Onieva, "Cascade Architecture for Lateral Control in Autonomous Vehicles," IEEE Trans. Intell. Transp. Syst., vol. 12, no. 1, pp.73-82, 2011. https://doi.org/10.1109/TITS.2010.2060722
  2. H. G. Jung, Y. H. Lee, P. J. Yoon, and J. Kim, "Forward Sensing System for LKS+ACC System,"SAE Paper 2008-01-0205, 2008.
  3. T. M. Han and J. H. Cho, "Technology Trends in Automotive Electronic Control Units," Electronics and Telecommunications Trends, ETRI, vol. 25, no. 4, pp.69-82, 2010.
  4. J. Y. Kim, J. W. Baek, K. K. Kwon, K. S. Kim, "Design of System Generator and Runtime Debugger for Efficient Development of Automotive Software," J. KIIT, vol. 9, no. 5, pp.9-16, 2011.
  5. S. M. Yang, K. J. Lee, Y. H. Ki, and H. S. Ahn, "Implementation of ECU-In-the-Loop Simulation for ESC System based on OSEK/VDX," in Proc. KSAE Annu. Conf., pp.1324-1329, 2012.
  6. S. S. Hong, J. Y. Park, and W. S. Yoo, "Technolgy Trends in Automotive OS and Middleware OSEK and AUTOSAR," J. KSPE, vol. 21, no. 10, pp.31-38, 2006.
  7. OSEK/VDX, OSEK/VDX Operation System Specification 2.2.3, 2005.
  8. J. Y. Kim, K. K. Kwon, S. I. Lee, K. S. Ahn, "Implementation of IDE for OSEK/VDX OS Extended Real-time Processing and Protection Functions," J. KIIT, vol. 11, no. 2, pp.119-126, 2013.
  9. J. H. Cho, H. K. Nam, and W. S. Lee, "Driver Behavior with Adaptive Cruise Contol," Int. J. KSAE Automotive Technology, vol. 7, no. 5, pp.603-608, 2006.
  10. O. Tuncer, L. Guvenc, F. Coskun, and E. Karsllgil, "Vision Based Lane Keeping Assistance Control Triggered by a Driver Inattention Monitor," in Proc. IEEE Conf. Syst., Man, Cybern., pp.289-297, 2010.
  11. H. Fritz, A. Gern, H. Schiemenz, and C. Bonnet, "CHAUFFEUR Assistant: a driver assistance system for commercial vehicles based on fusion of advanced ACC and lane keeping," in Proc. IEEE Intell. Vehicles Symp., pp. 495-500, 2004.
  12. W. K. Cho, K. S. Yi, and N. H. Chang, "Integrated Chassis Control for the Driving Safety," J. ICROS, vol. 16, no. 7, pp.646-654, 2010. https://doi.org/10.5302/J.ICROS.2010.16.7.646
  13. T. D. Gillespie, Fundamentals of Vehicle Dynamics, SAE, pp.177-213, 2002.
  14. R. Rajamani, Vehicle Dynamics and Control, Springer, pp.224-239, 2006.