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Risk Assessment for Improved Vehicle Safety using Front Vehicle Dynamic States through Vehicular Communication : 차량간 통신을 이용한 지능형 자동차의 전방차량 위험판단 기법
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 이경수 | - |
dc.contributor.author | 신동훈 | - |
dc.date.accessioned | 2017-10-27T16:35:25Z | - |
dc.date.available | 2017-10-27T16:35:25Z | - |
dc.date.issued | 2017-08 | - |
dc.identifier.other | 000000146014 | - |
dc.identifier.uri | https://hdl.handle.net/10371/136732 | - |
dc.description | 학위논문 (박사)-- 서울대학교 대학원 공과대학 기계항공공학부, 2017. 8. 이경수. | - |
dc.description.abstract | In recent years, advanced driver assistance systems or highly automated driving systems are expected to enhance road traffic safety, transport efficiency, and driver comfort. Practical applications have become possible due to recent advances in vehicle local sensors and inter vehicle communications. These advances have opened up many possibilities for active safety systems to be more intelligent and robust. The further enhancement of these technologies can be utilized as a risk assessment system of automated drive.
This dissertation presents a risk assessment for improved vehicle safety using Front Vehicle Dynamic States through vehicle-to-vehicle wireless communication. A vehicle-to-vehicle wireless communication (V2V communication) has been implemented and fused with a radar sensor to obtain the prediction of remote vehicles motion. Based on the predicted behavior of remote vehicles, a collision risk and a human reaction time are determined for a better driver acceptance and active safety control intervention. A human-centered risk assessment using the V2V communication has been incorporated into a collision avoidance algorithm to monitor threat vehicles ahead and to find the best intervention point. The performance of the proposed algorithm has been investigated via computer simulations and vehicle tests for application to urban and highway driving situation. It has been shown from both simulations and vehicle tests that the proposed integrated risk assessment algorithm with the V2V communication can be beneficial to active safety systems in decision of controller intervention moment and in control of automated drive for the guaranteed safety. | - |
dc.description.tableofcontents | Chapter 1 Introduction 1
1.1 Background and Motivations 1 1.2 Previous Researches 5 1.3 Thesis Objectives 9 1.4 Thesis Outline 11 Chapter 2 Vehicular Communication 12 2.1. Literature Review 14 2.1.1 An Empirical Model for V2V communication 14 2.1.2 Position based Sampling and Distance based Interpolation 17 2.2. Communication Delay and Packet Loss Ratio 21 2.2.1 Compensation of V2V Communication Delay 21 Chapter 3 Human Factor Considerations 27 3.1. Driver Acceptance 30 3.1.1 Driver inattention and distraction 31 3.1.2 Mode Confusion 31 3.1.3 Motion Sickness 32 3.2. Sight Distance 33 3.2.1 Stopping Sight Distance 35 3.2.2 Decision Sight Distance 35 Chapter 4 Human-Centered Risk Assessment using Vehicular Wireless Communication 37 4.1. Human-Centered Design 41 4.2. Convergence 43 4.2.1. Sensor-Based Solutions 44 4.2.2. The Benefits to Convergence 45 4.2.3. V2V/Radar Information Fusion 45 4.3. Related Work 46 4.3.1. Radar Sensing Characteristics 47 4.3.2. Probabilistic Threat Assessment 50 4.3.3. Human-Centered Vehicle Control 52 4.3.4. High-Level Information Fusion 54 4.3.5. Target Vehicle State Estimation Performance 58 4.4 Remote Vehicle States Prediction 64 4.5. Collision Risk Analysis 67 4.6. Predicted Collision Distance 70 4.7. Active Safety Intervention Moment Decision 72 Chapter 5 Performance Evaluations 77 5.1. Simulations: MPC based Automated Vehicle Control 78 5.1.1. Effects of V2V Communication on the Controller 78 5.2. Simulations : Human-Centered Risk Assessment 84 5.2.1. Scenarios 84 5.2.2. Effects of V2V Communication: Host vehicle perception only 86 5.2.3. Effects of V2V Communication: Controlled host vehicle 90 5.3. Vehicle Tests 94 5.3.1. Test Vehicle Configuration and Scenario 94 5.3.2. Implementation and Evaluation 96 Chapter 6 Conclusion 99 Bibliography 100 국문초록 110 | - |
dc.format | application/pdf | - |
dc.format.extent | 2448090 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | Threat assessment | - |
dc.subject | autonomous vehicle | - |
dc.subject | automated drive | - |
dc.subject | human-machine interactions | - |
dc.subject | active safety | - |
dc.subject | vehicular communication | - |
dc.subject | cooperative driver assistance systems | - |
dc.subject | vehicle-to-vehicle communication | - |
dc.subject | intelligent vehicle | - |
dc.subject.ddc | 621 | - |
dc.title | Risk Assessment for Improved Vehicle Safety using Front Vehicle Dynamic States through Vehicular Communication | - |
dc.title.alternative | 차량간 통신을 이용한 지능형 자동차의 전방차량 위험판단 기법 | - |
dc.type | Thesis | - |
dc.description.degree | Doctor | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2017-08 | - |
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