The Journal of The Korea Institute of Intelligent Transport Systems (한국ITS학회 논문지)

The Korea Institute of Intelligent Transport Systems (한국ITS학회)
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Evaluation of LDM (Local Dynamic Map) Service Based on a Role in Cooperative Autonomous Driving with a Road

자율협력주행을 위한 역할 기반 동적정보 서비스 평가 방법

  • Roh, Chang-Gyun (Dept. of Highway & Transportation Research, KICT) ;
  • Kim, Hyoungsoo (Dept. of Highway & Transportation Research, KICT) ;
  • Im, I-Jeong (Dept. of Highway & Transportation Research, KICT)
  • 노창균 (한국건설기술연구원 도로교통연구본부) ;
  • 김형수 (한국건설기술연구원 도로교통연구본부) ;
  • 임이정 (한국건설기술연구원 도로교통연구본부)
  • Received : 2021.12.19
  • Accepted : 2021.12.30
  • Published : 2022.02.28
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Abstract

The technology implementation method was diversified into an 'autonomous cooperative driving' method to overcome the limitations of a stand-alone autonomous vehicle with vehicle sensor-based autonomous driving. The autonomous cooperative driving method involves exchanging information between roadside infrastructure and autonomous vehicles. In this process, the concept of dynamic information (LDM), a target of cooperation, was established. But, evaluation methods and standards for dynamic information have not been established. Therefore, this study, a dynamic information evaluation method based on information on pedestrians within the moving objects. In addition, autonomous cooperative driving was demonstrated, and dynamic information was also verified through the evaluation method. The significance of this study is that it established the dynamic information evaluation methodology for autonomous cooperative driving for the first time. Based on this, this study is expected to contribute to the application of safe autonomous cooperative driving technology to the field.

안전한 자율주행을 위하여 차량 센서에만 의존하는 Stand-alone 방식의 한계를 극복하기 위한 방법으로, 노변의 인프라와 자율주행차간 정보를 교환하는 '자율협력주행' 방식의 기술 개발이 이루어지고 있다. 이 과정에서 협력의 대상이 되는 동적정보는 통신 데이터 손실 측면의 평가방법이 일반적이지만, 정보로서 역할 중심의 평가방법이 필요하다. 본 연구에서는 자율협력주행에서 동적정보 서비스 역할의 적정성을 평가하기 위하여 역할 기반 평가방법을 제안하였다. 평가 척도로 검출률, 검출 소요시간, LDM 처리시간을 제안하였고, 평가방법론을 검증하기 위하여 실제 도로에서 보행자 정보를 대상으로 실증 실험을 시행하였다. 실험 결과로는 검출률 99%, 소요시간 200ms/건, 처리시간 19ms/건을 얻었다. 향후 제안된 동적정보 서비스 평가 방법이 관련 정보제공 서비스의 평가에 활용되기를 기대한다.

Keywords

Acknowledgement

본 연구는 국토교통부/국토교통과학기술진흥원의 "도심도로 자율협력주행 안전·인프라 연구" 과제의 지원으로 수행되었습니다. (21PQOW-B152473-03).

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