비정상 주행상황 대응을 위한 자율주행차량 제어 기술
Control Strategies for Autonomous Vehicle in Response to Abnormal Driving Situations
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초록
본 논문은 교통소외지역의 이동권 보장을 위한 자율주행 서비스를 위해 정의된 운행 설계영역(ODD: Operational Design Domain)을 이탈하는 비정상 주행상황에 대한 대응 제어 시스템개발에 대한 것이다. 도시 외곽 및 농어촌 지역의 교통 서비스의 지속성 확보를 위해 자율주행기반 수요응답형 모빌리티 서비스의 원활한 운영을 위해 비정형 도로 환경에서 안정적인 서비스를 제공하는 기술이 필요하다. 교통소외지역의 불규칙한 주행 환경과 예측 불가능한 상황 발생으로 인한 ODD 이탈 가능성에 대응해야 한다. 따라서 본 연구에서는 비정상 주행상황을 판단하고, 비정상 주행상황에 따른 최적의 주행 전략을 결정하여 이를 수행하기 위한 제어기를 개발하였다. 개발된 제어기는 실도로 테스트를 통해 그 성능을 검증하였으며, 교통소외지역의 서비스 안정성향상과 지속 가능한 모빌리티 서비스 제공에 기여할 수 있을 것으로 기대된다.
Abstract
This paper discusses the development of a control system that responds to abnormal driving situations that involve deviations from the predefined Operational Design Domain (ODD) in autonomous driving services aimed at ensuring mobility access in underserved areas. To maintain the continuity of transportation services in suburban and rural regions, technology capable of providing stable services in unstructured road environments is necessary for the seamless operation of autonomous demand-responsive mobility services. These underserved areas often exhibit irregular driving conditions and unpredictable situations that may lead to ODD departures. Therefore, this study identifies abnormal driving situations and identifies optimal maneuvers for each, developing a control system to implement these maneuvers. The performance of the developed control system was validated through real-road testing, and it is expected to enhance the stability of services in underserved areas, contributing to the provision of sustainable mobility solutions.
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