3D 자동차 시뮬레이터 기반 상호작용형 ADAS 개발 및 검증 프레임워크
Interactive ADAS development and verification framework based on 3D car simulator
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초록
자율 주행 차량은 주변 환경의 정보를 수집하는 센서, 측정된 데이터를 판단하는 제어 모듈로 구성된 첨단 운전자 지원 시스템(ADAS)을 기반하고 있다. 최근에 자율주행 기술에 대한 관심이 증가함에 따라 ADAS 입문 개발자들 및 학습자들을 위한 손쉬운 개발프레임워크가 필요하다. 그러나, 기존 개발 및 검증 방식은 고성능 자동차 시뮬레이터를 기반하기 때문에 검증 방법의 복잡성 및 고비용 등의 단점이 있다. 또한, 대부분의 방식은 시뮬레이터로부터 ADAS에서 필요로 하는 센싱 데이터를 직접 제공하지 않으므로 검증 신뢰성의 한계가 있다. 본 논문에서는 기존 방식들의 문제점들을 극복하는 3D 자동차 시뮬레이터를 활용한 상호작용형 ADAS 개발 및 검증 프레임워크를 제시한다. 영상인지 기반의 인공지능을 적용한 ADAS를3D 자동차 시뮬레이터에서의 가상센서로 구현하고, 실제 시나리오에 자율주행 검증을 진행하였다.
Abstract
The autonomous vehicle is based on an advanced driver assistance system (ADAS) consisting of a sensor that collectsinformation about the surrounding environment and a control module that determines the measured data. As interest inautonomous navigation technology grows recently, an easy development framework for ADAS beginners and learners isneeded. However, existing development and verification methods are based on high performance vehicle simulator, whichhas drawbacks such as complexity of verification method and high cost. Also, most of the schemes do not provide thesensing data required by the ADAS directly from the simulator, which limits verification reliability. In this paper, wepresent an interactive ADAS development and verification framework using a 3D vehicle simulator that overcomes theproblems of existing methods. ADAS with image recognition based artificial intelligence was implemented as a virtualsensor in a 3D car simulator, and autonomous driving verification was performed in real scenarios.
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