자율주행 자동차의 판단 기술 동향 및 발전 방향
Trends and Future of Decision Making for Autonomous Car
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초록
스마트 모빌리티 플랫폼의 기술 발전과 함께 Taas(Transportation as a Service), MaaS(Mobility as a Service) 등 응용 서비스가 활성화되고 있다. 차세대 스마트 모빌리티 중 자율주행 자동차는 인지, 판단, 제어 기술의 발전을 통해 최근 미국자동차공학회(SAE) SAE J3016 기준 3단계 수준의 고속도로 자율주행 시스템 양산을 앞두고 있다. 고도화된 자율주행 시스템을 위해 인지, 판단, 제어 각 분야에서 다양한 기법을 활용한 기술 개발이 이루어지고 있으며, 본 논문에서 중점으로 다룬 자율주행 자동차의 판단 기술은 인지 기능의 결과를 활용하여 자율주행 자동차가 앞으로 어떤 주행 전략을 만들어야 할지 판단하고 제어 기능 쪽으로 알맞은 주행 경로를 전달하는 역할을 한다. 본 논문에서는 자율주행 판단 시스템을 구성하기 위한 다양한 기반 기술들을 소개하고, 기반 기술들을 적용한 판단 기술 연구 동향을 세 가지로 분류하여 소개한다. 마지막으로 자율주행 판단 기술의 고도화를 위한 안전, 최적화 기법, 클라우드-엣지 시스템 측면에서의 개발 방향에 대해 제안하며, 정부, 대학 및 교육 기관, 국가 기관, 산업계 등 다양한 측면에서의 인력 양성 전략을 제안하며 논문을 마무리한다.
Abstract
With the technological development of smart mobility platforms, application services such as TaaS(Transportation as a Service) and MaaS(Mobility as a Service) are operating. Among these smart mobility, autonomous car is recently set to mass-produce Level 3 autonomous driving systems through the development of perception, decision, and control technologies. In this paper, we introduce various core technologies such as graph search, curve, sampling, optimization, and machine learning that can be applied to autonomous driving decision module, and introduce research trends by classifying into three categories. Also, we propose the direction of development of autonomous driving decision technology in terms of safety, optimization, and cloud-edge systems. Finally, this paper concludes by proposing manpower training strategies in various aspects such as government, educational institutions, national institutions, and industry.
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