Á¤º¸°úÇÐȸ ÄÄÇ»ÆÃÀÇ ½ÇÁ¦ ³í¹®Áö (KIISE Transactions on Computing Practices)
Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
¾ÈÀüÇÑ Autoware ÀÚÀ²ÁÖÇàÀ» À§ÇÑ È¥ÇÕ ÄÁÆ®·Ñ·¯ ¸ðµ¨ |
¿µ¹®Á¦¸ñ(English Title) |
A Combined Controller Model for Safe Autonomous Driving on Autoware |
ÀúÀÚ(Author) |
ÀüÇØÁÖ
ÇÑÁ¾¿ì
¹Ú¼ºÇö
ÀÌâ°Ç
Haejoo Jeon
Jongwoo Han
Seonghyeon Park
Chang-Gun Lee
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¿ø¹®¼ö·Ïó(Citation) |
VOL 28 NO. 02 PP. 0122 ~ 0127 (2022. 02) |
Çѱ۳»¿ë (Korean Abstract) |
ÀÚÀ²ÁÖÇà°ú °°ÀÌ »ç¶÷ÀÇ »ý¸í°ú Á÷°áµÈ ºÐ¾ß¿¡ »ç¿ëµÇ´Â ŽºÅ©ÀÇ °æ¿ì, ŽºÅ©°¡ Á¤ÇØÁø ½Ã°£ ³»¿¡ ¼öÇàµÇÁö ¾ÊÀ¸¸é Å« »ç°í·Î À̾îÁú ¼ö ÀÖ´Ù´Â À§Ç輺ÀÌ Á¸ÀçÇÑ´Ù. ÀÌ·¸°Ô ŽºÅ©°¡ ½ÇÇà¿¡ ½ÇÆÐÇßÀ» °æ¿ì¸¦ ´ëºñÇÑ °áÇÔ °¨³» ±â¹ý Áß ¹é¾÷ ŽºÅ©¸¦ ´ë½Å ½ÇÇàÇÏ´Â ¹æ¹ýÀÌ ¿¬±¸µÇ¾î ¿Â ¹Ù ÀÖ´Ù. º» ³í¹®¿¡¼´Â ¼·Î ´Ù¸¥ Ư¼ºÀ» °¡Áö´Â µÎ °¡ÁöÀÇ Å½ºÅ©¸¦ ÇöÀç Â÷·®ÀÇ ÁÖÇà »óȲ¿¡ ¸ÂÃß¾î ÀûÀýÇÏ°Ô ½ÇÇàÇÏ°í, ÃÖ¼ÒÇÑÀÇ ¾ÈÀüÀ» À§ÇØ À¯»ç½Ã ±ä±Þ Á¤ÁöÇϴ ȥÇÕ ÄÁÆ®·Ñ·¯ ¸ðµ¨À» Á¦¾ÈÇÑ´Ù. Á¤È®Çϳª ºÒ¾ÈÁ¤ÇÑ ÁÖ Å½ºÅ©°¡ Á¦´ë·Î µ¿ÀÛÇÏÁö ¾ÊÀ» °æ¿ì¿¡ ¾ÈÁ¤ÀûÀ̳ª Ãà¼ÒµÈ ±â´ÉÀ» °¡Áø ¹é¾÷ ŽºÅ©¸¦ ¼öÇàÇϸç, ¹é¾÷ ŽºÅ©¸¶Àú Á¤»óÀûÀ¸·Î ÀÛµ¿ÇÏÁö ¸øÇÏ´Â ÁÖÇà »óȲ¿¡¼´Â ±ä±Þ Á¤ÁöÇϵµ·Ï ¸ðµâÀ» ±¸ÇöÇÏ¿´´Ù. ±×¸®°í Á¦¾ÈÇÏ´Â ¹æ¹ýÀ» ÅëÇØ ÀÚÀ² ÁÖÇà ¿ÀǼҽº Ç÷§Æû Autoware¿¡¼ Á¦¾ÈÇÏ´Â ¹æ¹ýÀ» ÅëÇØ ±âÁ¸ÀÇ ¹æ¹ýº¸´Ù ´õ ¾ÈÁ¤ÀûÀ¸·Î ÁÖÇàÀÌ °¡´ÉÇØÁ³À½À» º¸ÀδÙ. |
¿µ¹®³»¿ë (English Abstract) |
For critical tasks, such as autonomous driving, there is a risk that if the job is not be done within a predefined time, it could lead to a significant disaster. In this case, a fault tolerance technique, executing a backup task, has been studied for this failure case. This paper proposes a combined controller model that switches two tasks with different characteristics according to the current driving situation and stops driving in case of emergency to guarantee minimum safety. We implement a backup task for the experiment and execute the backup if the primary task does not work correctly. Further, the module is implemented to stop driving when even the backup task is not functioning normally. We also show that driving is more stable with our model on the open-source platform Autoware. |
Å°¿öµå(Keyword) |
½Ç½Ã°£ ½Ã½ºÅÛ
°áÇÔ °¨³» ±â¹ý
NDT Matching
Â÷¼± À¯Áö º¸Á¶ ½Ã½ºÅÛ
real-time system
fault tolerance
NDT Matching
LKAS
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