The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Community Driving using Distance Control between Vehicles

차량 간 거리 제어를 이용한 군집 주행

  • 박진천 (남서울대학교 전자공학과) ;
  • 김민규 (남서울대학교 전자공학과) ;
  • 이문혁 (남서울대학교 전자공학과) ;
  • 한희주 (남서울대학교 전자공학과) ;
  • 이승대 (남서울대학교 전자공학과)
  • Received : 2018.06.25
  • Accepted : 2018.10.15
  • Published : 2018.10.31
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Abstract

In this paper, we implemented community driving system for auto-vehicles as a preceding research of drone's community flight. We used ultrasonic sensors in order to measure the distance between vehicles, and designed each vehicles to maintain specific distance to each other, by making the following vehicle to stop moving when the distance is closed to less than 20cm, to start moving when the distance increases to more than 30cm. We have also designed vehicle to accelerate until the distance is closed to 30cm when they are apart for more than 40cm due to contingencies during driving.

본 논문에서는 드론의 군집 비행을 위한 선행 연구를 위하여 차량 군집 시스템을 구현하였다. 초음파 센서를 이용하여 거리를 측정하였으며, 차량 간의 거리가 20cm 이하일 경우에는 정지, 30cm 이상일 경우에는 팔로우 차량이 출발함으로써 차량 간의 거리를 유지하도록 설계하였다. 주행 중, 돌발 상황으로 인하여 차량 간 거리가 40cm 이상이 될 경우에는 차량거리가 30cm 이하가 되기 전까지 팔로우 차량의 속도를 높여 거리를 줄이게 되며 30cm라는 거리를 유지하며 군집 주행을 하도록 설계하였다.

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