• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.1228-1233
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• 2006

적응순항제어시스템은 선행차량과의 거리와 속도를 자동적으로 안전하게 유지하여 운전의 안전성과 편의성을 향상시키는 시스템이다. 본 연구에서는 적응순항제어시스템의 안전성을 향상시키기 위한 연구를 수행하였다. 적응순항제어시스템의 작동 상태 및 주변 차량 정보를 운전자에게 제공해 주기 위한 시각 및 음성정보 전달장치를 설계 및 제작하였다. 시각정보 전달장치를 통해 선행차량과의 차간거리, 속도, 가감속 상태 등을 운전자에게 전달하였고, 음성정보 전달장치를 이용하여 선행차량과의 근접거리 경보 등의 메시지를 전달하도록 하였다. 이러한 조건에서 운전자가 적응순항제어시스템을 사용하여 운전하는 경우, 시각 및 음성정보 전달장치의 유무에 따른 차량 조작과 차량 운전 성향 및 특성의 변화를 살펴봄으로써 정보전달장치를 통한 안전성 향상에 관한 영향을 연구하였다. 연구 결과, 운전자에게 정보 전달장치를 통해 정보가 제공되었을 경우, 운전자는 차량의 운전 및 적응순항제어시스템 사용에 있어 편안함을 느낄 수 있었고, 선행차량과의 차간거리를 보다 넓게 설정하여 주행 안전성을 향상시키는 것을 확인할 수 있었다. 또한 정보전달장치를 통한 정보 수집이 차량 운행에 저해 요인으로 작용하지 않음을 확인할 수 있었다. 이러한 결과는 정보전달장치를 통한 정보전달은 운전자에게 적응순항제어시스템에 대한 편의성 및 효율성, 안전성을 더욱 향상 시킬 수 있음을 보인다.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.150-155
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• 2007

운전자지원시스템과 같은 자동화 시스템은 필연적으로 시스템에 대한 운영자의 신뢰와 적응을 초래하는 데, 이는 결국 동시에 긍정적인 효과와 부정적인 효과를 가져온다. 적응순항제어시스템은 대표적인 운전자지원시스템으로서 앞 차량과의 안전 거리와 속도를 자동적으로 제어하여 운전자의 편의성과 안전성을 향상시킨다. 본 연구에서는 적응순항제어시스템에 대한 운전자의 신뢰와 방심 효과를 조사하였다. 차량 시뮬레이터를 이용하여 왕복 2차선과 4차선이 혼합된 자동차 전용도로의 가상 주행 환경을 구축하고, 다양한 주행 상황하에서 운전자의 조종 능력과 대처 능력을 파악하였다. 연구 결과, 적응순항제어시스템에 대한 운전자의 신뢰와 적응은 운전자의 성향에 관계없이 일관된 차간 거리 시간, 가감속값 등을 설정하도록 유도하였고, 결과적으로 안전도와 편의성을 향상시킴을 확인할 수 있었다. 그러나 맹목적인 신뢰와 적응은 돌발 상황에 대한 대처 능력의 저하, 주의 산만, 방심 등을 초래하였고, 결과적으로 안전도를 저하시킴도 확인할 수 있었다. 운전자지원시스템의 이러한 부정적인 효과를 방지하고, 보다 견실하게 운전자의 편의성과 안전도를 향상시킬 수 있는 방안이 요구된다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.817-823
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• 2017

In the past, research has been conducted on the development of an adaptive cruise control algorithm considering fuel efficiency, and an adaptive cruise control system considering fuel efficiency have been developed. However, research on optimizing vehicle and adaptive cruise control parameters in order to maximize performances is insufficient. In this study, the design optimization of vehicle and control parameters considering fuel efficiency, trackability, ride comfort and safe distance is performed. This paper proposes performance measures of vehicle behavior and develops an adaptive cruise control system. In addition, based on the screening of vehicle parameters that significantly influence performances, kriging surrogate models are constructed through a sequential design of experiment, and kriging surrogate model-based design optimization is performed to maximize fuel efficiency and satisfy target performances.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1920-1921
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• 2011

본 논문에서는 센서기반 이동로봇의 적응 순항 제어를 위한 선형 관측기 기반의 출력 궤환 제어 방법을 제안한다. 제안된 제어 방법에서는 선도로봇의 속도를 모르는 상태에서 거리센서를 통해 선도 로봇과의 거리를 측정하고 속도와 가속도를 추정하기 위하여 선형 관측기를 이용한다. 마지막으로, 컴퓨터 모의실험과 실제 적용실험을 통해 본 논문에서 제안한 제어기의 성능을 검증하고자 한다.

• Electronics and Telecommunications Trends
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• v.22 no.5
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• pp.35-45
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• 2007

전방감지용 밀리미터파 레이더는 밀리미터파를 이용하여 자동차 등에 부착하여 송신파와 수신파 사이의 도플러 주파수 편이를 이용하여 선행차량 또는 전방의 장애물과의 거리와 상대속도를 판별하는 장치로서 적응형 순항제어 시스템(adaptive cruise control system) 등에 이용되는 핵심 기술이다. 적응형 순항제어 시스템이란 레이더 센서를 통하여 전방 선행 차량, 장애물의 속도 및 거리를 측정하여 차량의 충돌 경고, 주행 상황에 따른 자동적인 감속 및 가속, 정속 등 안전주행을 가능하도록 하는 기술이다. 본 기술 동향 분석보고서는 전방감지용 레이더 센서에 관한 기술 동향을 살펴보기 위하여 미국, EU, 일본, 한국의 전방감지용 레이더 센서에 관한 특허를 1991년부터 2005년까지의 특허출원을 중심으로 연도별 추이와 국가별 특허출원 동향, 출원인별 특허출원 동향 등을 분석하여 전방감지용 레이더의 세계 기술 추이에 대하여 알아보았다.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.2
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• pp.32-38
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• 2006

A vehicle adaptive cruise control strategy based on human drivers' driving characteristics has been investigated. Human drivers driving characteristics have been analyzed using vehicle test data obtained from 125 participants. The control algorithm has been designed to incorporate the driving characteristics of the human drivers and to achieve natural vehicle behavior of the controlled vehicle that would reduce the workload of the human driver. Vehicle following characteristics of the cruise controlled vehicle have been compared to real-world driving radar sensor data of human drivers using a validated vehicle simulator. and compare nominal cruise control and adaptive cruise control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.1 s.232
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• pp.139-144
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• 2005

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion. have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.6
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• pp.82-88
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• 2006

The study investigated how an adaptive cruise control system induced behavioral adaptation in drivers using a full-scale driving simulator. Forty drivers with different driving styles participated in the study to compare headway-time, vehicle lateral position variation, and head and eye movement when driving with and without the adaptive cruise control system. Results showed that system induced positive behavioral adaptation by drawing consistency in driving speed and headway-time regardless of the driving styles. However, the results also showed that the drivers' reliance on the system induced negative adaptation including reduced lane keeping ability and reduced attention during driving. As a strategy to prevent negative adaptation, the study proposed information service to drivers with the adaptive cruise control system status and driving environment, and investigated effectiveness of the service. Twelve drivers participated in the experiment to compare headway-time, vehicle lateral position variation and subjective ratings when driving with and without the information service. Results showed that the information service assisted the drivers to maintain safer and more comfortable headway-time without impairing drivers' steering ability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.473-482
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• 2015

Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.7
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• pp.1146-1151
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• 2003

In this paper, results of an analysis of driving behavior characteristics and a driver-adaptive control algorithm for adaptive cruise control systems have been described. The analysis has been performed based on real-world driving data. The vehicle longitudinal control algorithm developed in our previous research has been extended based on the analysis to incorporate the driving characteristics of the human drivers into the control algorithm and to achieve natural vehicle behavior of the adaptive cruise controlled vehicle that would feel comfortable to the human driver. A driving characteristic parameters estimation algorithm has been developed. The driving characteristics parameters of a human driver have been estimated during manual driving using the recursive least-square algorithm and then the estimated ones have been used in the controller adaptation. The vehicle following characteristics of the adaptive cruise control vehicles with and without the driving behavior parameter estimation algorithm have been compared to those of the manual driving. It has been shown that the vehicle following behavior of the controlled vehicle with the adaptive control algorithm is quite close to that of the human controlled vehicles. Therefore, it can be expected that the more natural and more comfortable vehicle behavior would be achieved by the use of the driver adaptive cruise control algorithm.