양산 차량 기반의 자율주행 기능 해제 상황에 관한 연구
A Study on the Disengagement of Autonomous Mode for Mass-Produced Vehicle
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초록
자율주행차는 자율주행시스템이 차량의 제어권을 가지고 있고, 센서를 이용하여 자율주행의 기능을 구현하는 점에서 사람 운전자와 차이가 있다. 이러한 자율주행 차량과 사람이 운전하는 차량이 혼재되어 도로를 주행함에 따라, 도로교통 분야에서 많은 변화가 나타날 것으로예상된다. 특히, 자율주행차는 자율주행 시스템에 의해 주행하므로, 자율주행 시스템이 인지하지 못하여 기능 해제가 발생하는 구간에 대한 검토가 필요하다. 이러한 관점에서 본 연구에서는 자율주행 기능을 활성화시켜 기존 도로를 주행하도록 하였으며, 특정 도로 시설물을 통과하는 상황에서 기능 해제가 발생하는 상황을 분석하였다. 대상 도로 시설물은 단속류와 연속류에 설치된 시설을 대상으로 선정하였으며, 실제 자율주행 기능을 보유한 차량을 이용하여주행 테스트를 진행하였다. 분석 결과, 차선 마킹 훼손 또는 단절 구간, 자율차의 차로 유도가불명확한 구간에서 해제가 발생하였으며, 제한 속도가 변경되는 구간에서 속도 감속 실패로인한 자율주행 기능의 해제 상황도 발생하였다. 또한, 기능 해제가 발생하는 상황을 예방하기위한 시사점을 제시하였다. 본 연구의 결과는 자율주행차의 안전한 주행을 위한 기술 개발 연구에 활용될 수 있을 것으로 기대한다.
Abstract
Autonomous vehicles(AVs) differ from human-driven vehicles(HVs) in that the AV controls itself, and uses sensors to implement driving functions. As AVs and HVs are driven on the road at the same time, many changes will occur in the traffic flow. In particular, since AVs are controlled by a self-driving system, it is necessary to review any sections where disengagement occurs because the self-driving system is not detecting them. For this study, the autonomous driving function was activated on existing roads, and analyzed in situations when the function was deactivated when passing through road facilities. Target road facilities were selected for interrupted and uninterrupted flow. As a result, deactivation occurred in sections where lane markings were damaged or disconnected, and in sections where AV lane guidance was unclear. In addition, deactivation of the autonomous driving function occurred due to failure to slow down in sections where the speed limit has changed. The results of this study are expected to be used in research on technology development for safe AVs driving.
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