차량 안정화 도달시간을 이용한 최적의 제어권 전환 요청 시간 결정

임승재(Seung Jae Lim),명노해(Rohae Myung) 대한인간공학회 2021 大韓人間工學會誌 Vol.40 No.6

Objective: The aim of this study is to show that by calculating the optimal take-over request lead time (TORlt) using the stabilization time, the stabilization time could be fully utilized in research on take-over and reflect the personal driving tendency that variables in the previous study could not perform. Background: In conditional automated driving, the driver is placed in an out-of-the-loop situation. In order to overcome this problem, it is necessary to take-over request, but there is no official definition of optimal TORlt. In previous studies, they suggested various optimal TORlts, but there is the common limitation that they did not reflect personal driving tendencies. The tendency of personal driving is well observed in longitudinal/lateral control during manual driving, and it is necessary to analyze the stabilization after take-over to see if the driving performance has reached the manual driving level. Method: A total of 46 subjects participated in the study. This study described a take-over situation due to the sudden appearance of obstacles during automated driving using an OpenDS simulator. After the take-over, the driver performed manual driving until it was determined that the vehicle had stabilized on its own. The driving performance related to vehicle stabilization was measured as the standard deviation of speed and steering wheel angle (SWA). Using these, individual stabilization standards and the stabilization time were measured. Four TORlts (3s, 7s, 10s, 15s) were used as independent variables, and one-factor within-subject ANOVA analysis and Fisher"s LSD post-hoc analysis were performed using longitudinal/lateral stabilization time and Dual stabilization time as dependent variables. Results: In lateral stabilization and dual stabilization, there was a significant difference in stabilization time according to the change in TORlts, which was classified into two groups: 3s and more than 7s. And the stabilization time decreased as TORlt increased from 3s to 10s. But when TORlt increased from 10s to 15s, the stabilization time increased again, which was in a U-shape. Conclusion: The optimal TORlt calculated using the stabilization time reflecting individual stabilization standards is about 10 seconds, which is similar to previous studies. Application: This means that the stabilization time can sufficiently replace the role of variables used in the previous take-over studies. In addition, since individual stabilization standards were applied and analyzed, there is a sufficient advantage in that it can reflect personal driving tendencies.

연비 해석을 위한 운전자 모델 개발

이상민(Sangmin Lee),박태호(Taeho Park),손주희(Joohee Son),원강희(Kanghee Won),이형철(Hyeongcheol Lee) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11

This paper developed driver model for the simulation of driving tendencies. Existing research about the driver model, commonly known as the operation of fuel economy trends and tendencies, there were other problems that tend. Therefore, this study focused on the tendency to mimic actual changes in fuel economy by driving tendency. In the future, Driver model developed in this paper is intended to take advantage of considering driving tendencies in the study of adaptive hybrid power distribution algorithm. The new driver model was designed with speed tracking type and distant retained type. Speed tracking type follows reference speed only in a certain range. Distant retained type additionally imitates the driving characteristic that maintains a safe distance from ahead of the car. Driving pattern was made with aggressivity, sensitivity, incompetence of the six grades. Aggressivity is the amount of pedals to manipulate the speed error. Sensitivity is the switching frequency that AP-mode changes to coasting mode and BP-mode. Finally, through co-simulation with cruise vehicle model and simulink based driver model, this paper confirmed that the difference in fuel consumption according to driving tendencies is similar to actual driver of a typical fuel economy trends.

운전성향 정량화 알고리즘

손주희(Joohee Son),박태호(Taeho Park),원강희(Kanghee Won),이형철(Hyeongcheol Lee) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5

ECMS is the optimal power distribution method of the HEV and this algorithm calculates equivalence factor that is the average efficiency about the conversion of electric energy into fuel energy or fuel energy into electric energy at the whole of fixed drive cycle. This paper provides the basic study that proposes the novel A-ECMS algorithm focused on the weakness improvement about the existing power distribution and the driver tendency. For this study the quantification of the driver tendency is needed. Thus, the index that represented the driver tendency is defined, and the driver tendency is quantified. In addition, the driver model that mimic various driver is developed, using Matlab/Simulink . Also to classify the different driver tendency, typical driving patterns are defined. The proposed algorithm is verified by simulation that is accomplished HEV model developed by AVL Cruise and HCU algorithm based on ECMS. Using accelerator, decelerator and vehicle speed signal result from application of different driving patterns to the driver model, Index is obtained by developed driver tendency quantification algorithm.

우울이 접근과 회피 경향에 미치는 영향: 운전과제를 통한 인지적 통제 연구

김소정,감기택,이종선 한국임상심리학회 2019 Korean Journal of Clinical Psychology Vol.38 No.1

The present study aimed to investigate the role that approach and avoidance tendencies play in motor control using a computer simulated driving task. We recruited one hundred and forty-nine undergraduates and assigned them to either the depression group (n=26) or non-depression group (n=123). Participants were instructed to use a joy-stick to move a virtual car as quickly as possible to a target point without crossing a stop-sign or crashing into a wall. We recorded their continuous actions on a joy-stick. Results showed that those who belonged to the depression group made fewer errors during the driving task and stopped at a longer distance from a target point in both the stop-sign and wall conditions, when compared to the non-depression group, indicating impaired cognitive control. The clinical implications of these findings and the limitations of this study are discussed.

EFFECT OF DRIVING TENDENCIES ON DRIVING CHARACTERISTICS IN CUT-IN AND EMERGENCY BRAKING SITUATIONS

양지현,이승준,임세준 한국자동차공학회 2022 International journal of automotive technology Vol.23 No.2

The correlation between the driving tendencies and driving characteristics in dangerous driving situations was investigated. A human-in-the-loop experiments were conducted with a driving simulator; in the two simulated driving situations, the vehicle ahead did an emergency break, and another vehicle cut in, thereby forcing the participant to evade. A total of 52 drivers participated in the experiment. In the cut-in situation, aggressive drivers had a higher maximum longitudinal acceleration (MLOA), maximum brake pedal force (MBF) and maximum lateral acceleration (MLAA) than mild drivers; mild drivers changed the lane with a wider turning angle at the maximum steering wheel angle (MSA). Regarding the driving environment, the high-speed scenario showed a higher MBF, while the low-speed scenario showed a greater MSA. The interaction between the driving tendencies and driving environment led to significantly different MBFs and MLAAs. In the emergency braking situation, aggressive drivers showed a higher MLOA, MBF, and MLAA than mild drivers. Regarding the driving environment, the high-speed scenario exhibited a higher MBF, while the low-speed scenario showed a greater MSA. The experiment results confirm that the driving characteristics depend on the driving tendencies and driving environment. This correlation should be exploited to develop a driving mode based on the actual tendencies of the driver.

Study on the Take-over Performance of Level 3 Autonomous Vehicles Based on Subjective Driving Tendency Questionnaires and Machine Learning Methods

Hyunsuk Kim,Woojin Kim,Jungsook Kim,Seung-Jun Lee,Daesub Yoon,Oh-Cheon Kwon,Cheong Hee Park Electronics and Telecommunications Research Instit 2023 ETRI Journal Vol.45 No.1

Level 3 autonomous vehicles require conditional autonomous driving in which autonomous and manual driving are alternately performed; whether the driver can resume manual driving within a limited time should be examined. This study investigates whether the demographics and subjective driving tendencies of drivers affect the take-over performance. We measured and analyzed the reengagement and stabilization time after a take-over request from the autonomous driving system to manual driving using a vehicle simulator that supports the driver's take-over mechanism. We discovered that the driver's reengagement and stabilization time correlated with the speeding and wild driving tendency as well as driving workload questionnaires. To verify the efficiency of subjective questionnaire information, we tested whether the driver with slow or fast reengagement and stabilization time can be detected based on machine learning techniques and obtained results. We expect to apply these results to training programs for autonomous vehicles' users and personalized human-vehicle interfaces for future autonomous vehicles.

실시간 차량 정보 기반의 운전자 주행 성향 분석 알고리즘 개발

이정우(Jungwoo Lee),박선홍(Sunhong Park),임동준(DongJune Lim),노형주(Hyungjoo Noh) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11

This paper introduces driving tendence analysis algorithm to evaluate driving tendence using vehicle information only in real environment. Recently, many approaches provide driver driving information such as vehicle status, minimum/maximum speed, total driving distance, the number of acceleration/deceleration, etc.. However, there is no method to consider relation between traffic regulation and driving ability. To do this, we attempt to reinterpret the score sheet of road driving test and develop a driving tendence analysis sheet. The effectiveness of our proposed algorithm is verified through field test in real car.

A Divided Two-Lane Cellular Automaton Model of Traffic Flow Considering Driving Tendency

Longhai Yang,Xiqiao Zhang,Wenchao Ji 대한토목학회 2018 KSCE JOURNAL OF CIVIL ENGINEERING Vol.22 No.12

Different types of drivers usually take on different driving tendency on urban road, based on the diversity of driving tendency, a new two-lane cellular automaton model was proposed under condition of periodical boundary. The mean speed, flow volume and lane-changing frequency under different lane-changing and deceleration rules were simulated. In the process of computational simulation, the fundamental diagrams of traffic flow under different rules were obtained by changing traffic flow density. Simulation results show that the proposed new rules can improve traffic flow volume and suppress traffic jam to a certain degree. Finally, the critical points were discussed to show the impact of lane-changing on traffic flow.

A Data Fusion Model for Millimeter-Wave Radar and Vision Sensor in Advanced Driving Assistance System

Liu Yang,Liu Yan 한국자동차공학회 2021 International journal of automotive technology Vol.22 No.6

The Advanced Driving Assistance System has been widely applied on various kinds of vehicles, since it can provide timely protection and burden relief to the passengers and drivers. Multiple different sensors are adopted to realize specific functions, while millimeter-wave radar and vision sensor are one of the most common sensor combinations. The scheme of sensor data fusion for this combination becomes necessary to contribute with more accurate and complementary detection results. A data fusion model designed for the pair of radar and vision is proposed with a three-level hierarchical structure, which includes screening of original sensor data, sensor data correlation, and target track forecast. The concrete fusion scheme applied on each layer is presented in details. The results of simulation and real circumstances test validate and prove the presented sensor data fusion model is efficient.

48V 마일드 HEV의 운전 성향을 고려한 동력 분배 알고리즘을 위한 연구

지용혁(Yonghyeok Ji),김지환(Jihwan Kim),이형철(Hyeongcheol Lee) 한국자동차공학회 2019 한국자동차공학회 학술대회 및 전시회 Vol.2019 No.11

Fuel economy can be affected by the driving tendency of a driver, in other words, how a driver drives a vehicle. In this study, to develop the power distribution algorithm considering the driving tendency of 48V mild HEV, we estimated a driver model parameter using RLS (Recursive Least Square) algorithm and investigated how an ECMS (Equivalent Consumption Minimization Strategy) equivalent factor for charge sustaining changed by driver model parameter in the MILS environment.