KR101672317B1 - Method for simulating traffic flow for driving simulator - Google Patents
Method for simulating traffic flow for driving simulator Download PDFInfo
- Publication number
- KR101672317B1 KR101672317B1 KR1020160022492A KR20160022492A KR101672317B1 KR 101672317 B1 KR101672317 B1 KR 101672317B1 KR 1020160022492 A KR1020160022492 A KR 1020160022492A KR 20160022492 A KR20160022492 A KR 20160022492A KR 101672317 B1 KR101672317 B1 KR 101672317B1
- Authority
- KR
- South Korea
- Prior art keywords
- vehicle
- simulation
- distance
- mode
- determined
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The vehicle flow simulation method for a vehicle simulator according to the present invention includes the steps of: (a) determining whether Δx (headway distance from a preceding vehicle) of a simulation vehicle is less than a preset abx (minimum target follow-up distance) (b) running in a braking mode in which the simulation vehicle is decelerated to a predetermined maximum deceleration when it is determined that? x is less than or equal to abx; and (c) when? x is determined to exceed abx, Determining whether or not the estimated vehicle speed is equal to or less than a predetermined sdx (maximum target follow-up distance); and (d) if Δx is determined to exceed sdx, (E) when the value of x is less than or equal to sdx, A step of driving the simulation vehicle in a traveling mode selected from a following flow mode in which the vehicle speed is controlled so as to avoid collision with the forward vehicle and the approach mode and the following flow mode in accordance with Δv, .
Description
The present invention relates to a vehicle flow simulating method for a vehicle simulator, and more particularly, to a vehicle simulator capable of simulating a more realistic traffic situation when simulating a traffic situation by arbitrarily generating a flow of a nearby vehicle when the vehicle running simulation is executed. And more particularly, to a method of simulating vehicle flow.
In general, there is a risk of an accident or an accident when an uneducated person is driving an actual vehicle driving practice on the road. In recent years, a vehicle simulator which can safely and easily practice driving indoors has been widely used.
Accordingly, various training programs for training unskilled driving trainees are provided, and many vehicle simulators capable of simulating the driving environment of a vehicle as much as possible without actually hitting the vehicle are proposed. Such a vehicle simulator is provided with a display unit for displaying a front screen and a background screen at the time of operation, and a cabin for the driver to control the operation by sitting.
It is necessary to simulate the actual driving environment as much as possible when the front and background images are simulated when driving the vehicle. Therefore, it is necessary to generate and apply the traffic flow of other vehicles in the driving simulation.
However, the conventional traffic flow generation of the nearby vehicles partially reproduces the traffic situation by randomly generating the vehicle flow on the road and the vehicle behavior in the intersection. In reality, when the driving vehicle follows the vehicle or when the driving lane is changed, the forward vehicle or the rearward vehicle is influenced by the running of the vehicle, and the vehicle flow is subject to such a change. Therefore, in the related art, there is a problem that the change of the vehicle flow can not be reflected, so that there is a limitation in simulating the actual driving environment.
Also, when there is a change in the local vehicle flow as described above (microscopic), there is a change in the macroscopic vehicle flow, but the conventional vehicle simulator does not reflect such a change.
The present invention is conceived to solve the problems of the conventional vehicle simulator as described above. It is an object of the present invention to provide a vehicle simulator, which simulates a change in the running state of the vehicle, Which can simulate a vehicle driving simulator close to an actual driving environment.
In order to achieve the above object, there is provided a vehicle flow simulation method for a vehicle simulator according to the present invention, which comprises the steps of: (a) executing a simulation of a vehicle, Distance) or less; (b) driving the simulation vehicle in a braking mode in which the simulation vehicle is decelerated to a predetermined maximum deceleration speed when it is determined in step (a) that the Δx is equal to or less than the abx; (c) determining whether Δx is equal to or less than a preset sdx (maximum target follow-up distance) when it is determined in step (a) that Δx exceeds the abx; (d) if it is determined in step (c) that the Δx is greater than the sdx, the simulation vehicle is set to a Free Flow (Autonomous mode) or an Approaching mode in which a predetermined optimal safety distance is maintained; And (e) if it is determined in step (c) that the Δx is equal to or smaller than the sdx, the simulation vehicle may be controlled in accordance with the Δv so that the collision between the free flow mode and the approach mode, And driving the vehicle in a running mode selected from a following mode for adjusting an inter-vehicle distance from the vehicle.
Wherein the step (d) and the step (e) further comprise the steps of: comparing the abx, the sdx, the sdv indicating an action point at which the driver reacts at a long distance recognizing the speed difference while approaching the forward slowing vehicle, A cldv indicating an action point (a further deceleration point due to the brake actuation) at a close distance recognizing that the vehicle is traveling faster than the preceding vehicle, and a cldv indicating an action point responding at a close distance recognizing that the driver is traveling slower than the forward vehicle ahead The opv representing the position of the vehicle is indicated by a line, with Δv being the X-axis and Δx being the Y-axis, respectively, on the coordinates of the psycho-physical car-following model as shown in FIG. The driving mode of the simulation vehicle can be determined according to the coordinate value.
Wherein the step (d) further comprises the steps of: (d-1) determining whether the Δv value among the coordinate values of the simulation vehicle on the coordinates of the vehicle following model is equal to or greater than the sdv and the Δx value is less than a predetermined Δxmax ); And (d-2) if it is determined in step (d-1) that the Δv value is equal to or greater than the sdv and the Δx value is equal to or less than the Δxmax, the simulation vehicle is driven in the approach mode (D-3) when the Δv value is less than the sdv and the Δx value is greater than the Δxmax in the step (d-1), the simulation vehicle is driven in the free flow mode Step < / RTI >
(E-1) determining whether the Δv value among the coordinate values of the simulation vehicle is equal to or greater than the cldv on the coordinates of the vehicle following model; (e-2) (E-3) determining that the value of? V is less than the value of cldv in the step (e-1), if the value of? V is determined to be equal to or greater than the value of cldv (E-4) determining whether the Δv value is equal to or greater than the opdv, and (e-4) if the Δv value is greater than or equal to the opdv in the (e-3) And (e-5) driving the simulation vehicle in the free flow mode when it is determined in the step (e-3) that the value of? V is less than the opdv.
The vehicle flow simulation method for a vehicle simulator according to the present invention is characterized in that, when the simulation vehicle is subjected to a vehicle deformation situation, (f) a utility function (U) for a change to the vehicle of the simulation vehicle is calculated using the following equation step;
&Quot; (1) "
(Where a is a predetermined first constant expressed as a positive real number, b is a predetermined second constant expressed as a positive real number, c is a predetermined third constant expressed as a positive real number, d is a positive Wherein Sr is a value obtained by subtracting the speed of the rearward vehicle located behind the simulation vehicle on the changed lane on the basis of the speed of the simulated vehicle, G1 is the distance between the simulated vehicle and the rear vehicle)
(g) calculating a change probability P LC of the simulation vehicle from the utility function calculated in the step (f) using the following equation (2);
&Quot; (2) "
(h) generating a random number (Nr) between 0 and 1; (i) comparing the lane change probability calculated in step (g) with the random number generated in step (h); (j) if the random number is determined to be less than the lane change probability in the step (i), changing the simulation vehicle to a lane.
(K) if the random number is determined to be equal to or greater than the lane change probability in the step (i), the vehicle simulation method for a vehicle simulator for a vehicle simulator may further comprise the steps of (a) to And a step of driving the vehicle in succession.
The vehicle flow simulation method for a vehicle simulator according to the present invention may repeat the steps after the step (k) and after the step (h).
The vehicle flow simulation method for a vehicle simulator for a vehicle simulator according to the present invention is characterized in that the simulated vehicle is calculated based on the difference between the headway distance DELTA x of the simulation vehicle and the preceding vehicle and the speed difference DELTA v between the simulation vehicle and the preceding vehicle Braking mode, Free Flow mode, Approaching mode, and Following mode, it is possible to drive the simulation vehicle similarly to the traveling form of the actual driving vehicle.
Further, the vehicle flow simulation method for a vehicle simulator according to the present invention is characterized in that, in a situation in which the simulation vehicle makes a change to the car, the distance (Dr) remaining until the change completion point by the car of the simulation vehicle, the speed difference Sr between the simulation vehicle and the rear vehicle, And the distance G1 between the simulation vehicle and the rear vehicle, so that the simulation vehicle can be changed to a vehicle similar to the traveling form of the actual traveling vehicle.
Therefore, when there is a change in the local vehicle flow on the simulation road (microscopic), a change in the macroscopic vehicle flow is caused, thereby simulating the actual driving environment.
1 is a control flowchart for explaining a car follow-up method of a simulation vehicle in a vehicle flow simulation method for a vehicle simulator according to an embodiment of the present invention.
FIG. 2 shows a psycho-physical car-following model applied to the vehicle tracking method of the simulation vehicle shown in FIG.
Fig. 3 shows an example of a change situation of a simulated vehicle which may appear during a vehicle flow simulation of the vehicle simulator.
FIG. 4 is a control flowchart for explaining a method of changing a simulation vehicle by a vehicle flow simulation method for a vehicle simulator according to an embodiment of the present invention, in a change state of the simulation vehicle shown in FIG. 3;
Hereinafter, a vehicle flow simulation method for a vehicle simulator according to the present invention will be described in detail with reference to the drawings.
1 is a control flowchart for explaining a vehicle follow-up method of a simulation vehicle in a vehicle flow simulation method for a vehicle simulator according to an embodiment of the present invention, FIG. 3 shows an example of a change situation of a vehicle of a simulation vehicle that may appear during a vehicle flow simulation of a vehicle simulator, and FIG. 4 shows a change- FIG. 10 is a control flowchart for explaining a method of changing a simulation vehicle by a vehicle flow simulation method for a vehicle simulator according to an embodiment of the present invention, in a situation where the simulation vehicle is changed to a vehicle.
As shown in FIGS. 1 to 4, the vehicle flow simulation method for a vehicle simulator according to the embodiment of the present invention is a method for simulating a vehicle simulation in a vehicle-following situation of a target simulation vehicle, So that the road conditions on the simulation can be simulated close to the running environment of the actual road.
First, a vehicle tracking method of a vehicle flow simulation method for a vehicle simulator according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG.
The vehicle follow-up method of the vehicle flow simulating method for a vehicle simulator according to an embodiment of the present invention is a method of estimating an inter-vehicle distance (DELTA x) between a simulation vehicle and a preceding vehicle, And a speed difference (DELTA v) between the speed of the simulation vehicle and the speed of the preceding vehicle indicating the difference between the speed of the preceding vehicle and the speed of the preceding vehicle, the vehicle can be driven in the traveling mode selected from the Braking mode, Free Flow mode, Approaching mode, have.
The vehicle tracking method of the vehicle flow simulation method for a vehicle simulator, when the vehicle simulation is executed, first compares the inter-vehicle distance DELTA x with the preceding vehicle of the simulated vehicle with a predetermined minimum target following distance abx (S10). Here, the minimum target follow-up distance abx may be set to an appropriate distance reflecting the vehicle running pattern in the real world.
If it is determined that the inter-vehicle distance DELTA x to the preceding vehicle is equal to or less than the minimum target following distance abx, the simulation vehicle is driven in the Braking mode (S20). If the vehicle distance of the simulation vehicle is maintained as it is when the inter-vehicle distance DELTA x to the preceding vehicle is equal to or smaller than the minimum target follow-up distance abx, a situation may occur in which the simulation vehicle collides with the preceding vehicle. Therefore, in Braking mode, the simulation vehicle is decelerated at a predetermined maximum deceleration speed. Here, the maximum deceleration can be set to an appropriate deceleration reflecting the vehicle running pattern in the real world.
On the other hand, when it is determined that the inter-vehicle distance DELTA x to the preceding vehicle of the simulation vehicle exceeds the minimum target follow-up distance abx, the inter-vehicle distance DELTA x to the preceding vehicle is set to a predetermined maximum target following distance sdx, (S30). Here, the maximum target follow-up distance sdx may be set to an appropriate distance reflecting the vehicle running pattern in the real world.
After the comparison of the inter-vehicle distance DELTA x with the preceding vehicle and the maximum target follow-up distance sdx, the simulation vehicle is set to the free flow mode using the determination result and the psycho-physical car-following model shown in Fig. , Approach mode, or following mode.
The vehicle follow-up model shown in FIG. 2 represents a driver's actual reaction according to the relative speed and relative distance with the preceding vehicle as a conscious response and a unconscious reaction of a specific pattern. Here, the conscious reaction of the driver is the reaction when the driver's vehicle approaches the slow-moving forward vehicle, and the unconscious reaction indicates the case other than the conscious reaction. This vehicle follow-up model can be classified into braking, free flow, and approach according to the threshold determined according to the relative speed and relative distance with the preceding vehicle when the driver follows the preceding vehicle. Approaching, Following. Here, the free flow is the driving mode of the driver when the distance from the preceding vehicle is sufficient, the approach is the driving mode of the driver when the distance from the preceding vehicle is proper, It is a driver 's driving pattern in a situation where a collision may occur when the distance from the vehicle is careless.
As shown in Fig. 2, in the vehicle following model, the vehicle speed difference? V with respect to the preceding vehicle is set as the X axis and the inter-vehicle distance? X with the preceding vehicle as the Y axis, ), The maximum target follow-up distance (sdx), sdv, cldv, and opdv, respectively. Here, sdv represents the action point at which the driver is approaching the slow-moving vehicle and reacts at a distance that recognizes the speed difference. cldv represents an action point (additional deceleration point due to brake actuation) at a close distance that the driver recognizes is driving faster than the preceding vehicle. opdv represents an action point that responds at a close distance, recognizing that the driver is traveling slower than the forward vehicle ahead. In addition, ax shown in Fig. 2 is the target inter-vehicle distance between the front and rear vehicles in the congestion situation.
1 and 2, a vehicle flow simulation method for a vehicle simulator according to an embodiment of the present invention compares a headway distance? X with a preceding vehicle to a maximum target follow-up distance sdx (S30) When it is determined that the inter-vehicle distance [Delta] x exceeds the maximum target follow-up distance sdx, the value of the speed difference [Delta] v with the preceding vehicle in the coordinate values of the simulation vehicle on the vehicle following model coordinates in Fig. 2 is sdv or more, It is determined whether the inter-vehicle distance DELTA x to the vehicle is equal to or less than the maximum inter-vehicle distance DELTA xmax with the predetermined forward vehicle (S40). Here, the maximum inter-vehicle distance DELTA xmax with the preceding vehicle can be set to an appropriate distance reflecting the vehicle running pattern in the real world.
At this time, when it is determined that the value of the speed difference? V with respect to the preceding vehicle is sdv or more and the value of the inter-vehicle distance? X with the preceding vehicle is equal to or less than the maximum inter-vehicle distance? Xmax with the preceding vehicle, (S50). In the approach mode, the inter-vehicle distance (DELTA x) between the preceding vehicle and the preceding vehicle and the speed difference DELTA v between the preceding vehicle and the preceding vehicle are controlled within the approach range of the vehicle following model shown in FIG. On the other hand, when it is determined that the value of the speed difference (Δv) from the preceding vehicle is less than sdv and the value of the inter-vehicle distance (Δx) from the preceding vehicle exceeds the maximum inter-vehicle distance (Δxmax) Mode (S60). In the free flow mode, the difference between the headway distance (Δx) of the simulation vehicle and the speed difference (Δv) between the vehicle and the preceding vehicle is controlled within the range of the free flow area of the vehicle tracking model.
On the other hand, if it is determined that the value of the headway distance? X from the preceding vehicle is equal to or less than the maximum target follow-up distance sdx as a result of comparison between the value of the headway distance? X to the preceding vehicle and the maximum target following distance sdx, In step S70, it is determined whether the speed difference? V between the coordinate values of the simulation vehicle and the preceding vehicle is equal to or greater than cldv. At this time, if it is determined that the value of the speed difference? V with the forward vehicle is equal to or greater than cldv, the simulation vehicle is driven in the approach mode (S50).
When the value of the speed difference (DELTA v) with the preceding vehicle is compared with the value of the speed difference (DELTA v) between the preceding vehicle and the preceding vehicle when the value of cldv is compared with the value of the speed difference DELTA v with the preceding vehicle, quot; opdv " (S80). If it is determined that the speed difference? V with the preceding vehicle is equal to or greater than opdv, the simulation vehicle is driven in the following mode (S90). If it is determined that the speed difference? V with the preceding vehicle is less than opdv, The simulation vehicle is driven in the free flow mode (S60). In the following mode, the inter-vehicle distance (Δx) to the preceding vehicle and the speed difference (Δv) between the preceding vehicle and the preceding vehicle are adjusted within the following range of the vehicle follow-up model.
As described above, the vehicle following method of the vehicle flow simulating method for a vehicle simulator according to the present embodiment is characterized in that, in a situation in which the simulation vehicle follows the preceding vehicle, the inter-vehicle distance DELTA x between the simulated vehicle and the preceding vehicle By controlling the simulation vehicle in the running mode selected from among the braking mode, free flow mode, approach mode, and following mode according to the speed difference DELTA v, the simulation vehicle can be driven to run similar to the running mode of the actual running vehicle. Therefore, when there is a change in the local vehicle flow on the road in the simulation, the change in the macroscopic vehicle flow can be simulated so as to follow the actual driving environment.
Hereinafter, a method of changing a vehicle by the vehicle flow simulation method for a vehicle simulator according to an embodiment of the present invention will be described.
3, when the
3 and 4, the lane changing method includes a step S100 of calculating a change probability P LC by a utility function U and a difference in a simulation vehicle, a step of generating a random number (Nr, Random Number) (S300) of comparing the change probability P LC of the simulation vehicle with the random number Nr and a step S300 of comparing the change probability P LC of the simulation vehicle with the random number Nr based on the comparison result between the change probability P LC of the simulation vehicle and the random number Nr. And controlling the vehicle 10 (S400) (S500).
The utility function U is a numerical representation of the degree of profit of the
&Quot; (1) "
Where a is a predetermined first constant expressed as a positive real number, b is a predetermined second constant expressed as a positive real number, c is a predetermined third constant expressed as a positive real number, d is a positive real number Lt; / RTI > This utility function (U) can be derived from the following equation (1).
≪ Equation (1) >
Here, α and β are coefficients obtained by appropriately estimating and collecting reference data on the running of the vehicle, and x is an appropriately set input value with respect to the running of the vehicle.
In Equation (1), constants such as a, b, c, and d can be represented by various amounts of real numbers according to the values of alpha, beta, and x set in Equation (1 '). The utility function U becomes smaller as the distance Dr remaining to the point of completion of change by the car of the
The change probability P LC of the simulation vehicle can be calculated from the calculated utility function U by using the following equation (2).
&Quot; (2) "
For example, in an experimental example using experimental data, a utility function (U) as shown in Equation 1 is obtained, in which a is 1.90292, b is 0.02816, c is 0.10012, and d is 0.00376. When the speed difference Sr between the
<Table 1>
As shown in Table 1, it can be seen that as the distance Dr remaining until the change completion point is shortened by the difference of the
After calculating the change probability P LC by the difference between the utility function U and the simulation vehicle in the same manner as described above in the vehicle flow simulation method for the vehicle simulator for a vehicle simulator according to the present embodiment (S100), the random number Nr ) Generating step S200. The random number (Nr) is generated with an appropriate real number value between 0 and 1.
After generation of the random number Nr, the calculated change in the simulation vehicle P LC and the random number Nr are compared (S300). At this time, when it is determined that the random number Nr is less than the change probability P LC of the simulation vehicle, the
As described above, the method of changing the vehicle flow simulation method for a vehicle simulator according to the present embodiment is a method for changing the distance remaining until the change completion point by the vehicle of the
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will appreciate that numerous modifications and variations can be made in the present invention without departing from the spirit and scope of the appended claims.
10: simulation vehicle 20: rear vehicle
[Delta] x: Distance between the vehicle ahead of the simulation vehicle
Δv: speed difference between the simulation vehicle and the preceding vehicle
abx: Minimum target follow-up distance of the simulation vehicle
sdx: maximum target follow-up distance of the simulation vehicle
Δxmax: maximum vehicle-to-vehicle distance from the preceding vehicle of the simulation vehicle
P LC : Probability of change of simulation vehicle
Sr: speed difference between simulated vehicle and rear vehicle
Gl: Distance between simulation vehicle and rear vehicle
Dr: Remaining distance to the change completion point by simulation car
Nr: random number
Claims (7)
(b) driving the simulation vehicle in a braking mode in which the simulation vehicle is decelerated to a predetermined maximum deceleration speed when it is determined in step (a) that the Δx is equal to or less than the abx;
(c) determining whether Δx is equal to or less than a preset sdx (maximum target follow-up distance) when it is determined in step (a) that Δx exceeds the abx;
(d) if it is determined in step (c) that the Δx is greater than the sdx, the simulation vehicle is set to a Free Flow (Autonomous mode) or an Approaching mode in which a predetermined optimal safety distance is maintained;
(e) if it is determined in the step (c) that the Δx is equal to or smaller than the sdx, the simulation vehicle is controlled in accordance with the Δv so that the collision between the free flow mode and the approach mode, (Following mode) for adjusting a distance between the vehicle and the vehicle;
(f) calculating the utility function (U) for the change to the lane of the simulation vehicle using the following equation (1) when the simulation vehicle is in a change state by the lane;
&Quot; (1) "
(Where a is a predetermined first constant expressed as a positive real number, b is a predetermined second constant expressed as a positive real number, c is a predetermined third constant expressed as a positive real number, d is a positive Wherein Sr is a value obtained by subtracting the speed of the rearward vehicle located behind the simulation vehicle on the changed lane on the basis of the speed of the simulated vehicle, G1 is the distance between the simulated vehicle and the rear vehicle)
(g) calculating a change probability P LC of the simulation vehicle from the utility function calculated in the step (f) using the following equation (2);
&Quot; (2) "
(h) generating a random number (Nr) between 0 and 1;
(i) comparing the lane change probability calculated in step (g) with the random number generated in step (h); And
(j) changing the simulation vehicle to a vehicle if it is determined in the step (i) that the random number is less than the variation probability of the vehicle.
(k) if the random number is determined to be equal to or greater than the lane change probability in the step (i), performing the steps (a) through (e) Wherein the vehicle simulator is a vehicle simulator.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150101189 | 2015-07-16 | ||
| KR20150101189 | 2015-07-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR101672317B1 true KR101672317B1 (en) | 2016-11-04 |
Family
ID=57530242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020160022492A KR101672317B1 (en) | 2015-07-16 | 2016-02-25 | Method for simulating traffic flow for driving simulator |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR101672317B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220063603A (en) * | 2020-11-10 | 2022-05-17 | (주)이노시뮬레이션 | Simulation device for reflecting driver tendency and operating method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100798815B1 (en) * | 2007-04-20 | 2008-01-28 | (주)지오매틱코리아 | Utilizing method of adaptive range of the integrated vehicle movement system for automatic driving |
| KR20090107110A (en) | 2008-04-08 | 2009-10-13 | 구태윤 | Human Machine Interface Assessment Method Using a Driving Simulator |
| KR20130091907A (en) * | 2012-02-09 | 2013-08-20 | 한국전자통신연구원 | Apparatus and method for autonomous driving |
-
2016
- 2016-02-25 KR KR1020160022492A patent/KR101672317B1/en active Search and Examination
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100798815B1 (en) * | 2007-04-20 | 2008-01-28 | (주)지오매틱코리아 | Utilizing method of adaptive range of the integrated vehicle movement system for automatic driving |
| KR20090107110A (en) | 2008-04-08 | 2009-10-13 | 구태윤 | Human Machine Interface Assessment Method Using a Driving Simulator |
| KR20130091907A (en) * | 2012-02-09 | 2013-08-20 | 한국전자통신연구원 | Apparatus and method for autonomous driving |
Non-Patent Citations (1)
| Title |
|---|
| 장정아 외 1인, "실시가 차량정보를 이용한 안전권고속도 산정방안에 관한 연구", 대한토목공학회 논문집, 제30권 제5D호, pp.443~451(2010.9)* * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220063603A (en) * | 2020-11-10 | 2022-05-17 | (주)이노시뮬레이션 | Simulation device for reflecting driver tendency and operating method thereof |
| KR102462087B1 (en) | 2020-11-10 | 2022-11-03 | (주) 이노시뮬레이션 | Simulation device for reflecting driver tendency and operating method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109195850B (en) | Method for generating control data for rule-based driver assistance | |
| CN108692734B (en) | Path planning method and device | |
| CN109002595B (en) | Double-lane cellular automaton micro traffic simulation method for simulating dynamic lane change behavior | |
| US20190042679A1 (en) | Method for virtual tests for an autonomous vehicle | |
| US7487074B2 (en) | Road traffic simulation apparatus | |
| US11462099B2 (en) | Control system and control method for interaction-based long-term determination of trajectories for motor vehicles | |
| JP2019194071A5 (en) | ||
| CN107168303A (en) | A kind of automatic Pilot method and device of automobile | |
| KR102007247B1 (en) | Smart cruise control system and control method therefor | |
| Belbachir et al. | Simulation-driven validation of advanced driving-assistance systems | |
| CN111301419A (en) | Reinforcement learning based method for SAE4 level automated lane change | |
| CN110686906B (en) | Automatic driving test method and device for vehicle | |
| US20190072961A1 (en) | Autonomous driving adjustment method, apparatus, and system | |
| CN111795832A (en) | Intelligent driving vehicle testing method, device and equipment | |
| WO2021054051A1 (en) | Electronic control device | |
| CN114987498B (en) | Anthropomorphic trajectory planning method and device for automatic driving vehicle, vehicle and medium | |
| CN111413973A (en) | Lane change decision method and device for vehicle, electronic equipment and storage medium | |
| CN111856969A (en) | Automatic driving simulation test method and device | |
| EP4043309A1 (en) | Vehicle control method, device, controller and intelligent vehicle | |
| JP2009181187A (en) | Behavioral model creation device and program | |
| KR101672317B1 (en) | Method for simulating traffic flow for driving simulator | |
| US20240160806A1 (en) | Virtual test environment for a driving assistance system with road users modelled on game theory | |
| KR20230150350A (en) | Methods for testing driver assistance systems in vehicles | |
| CN112542061B (en) | Lane borrowing and overtaking control method, device and system based on Internet of vehicles and storage medium | |
| US20230394896A1 (en) | Method and a system for testing a driver assistance system for a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A201 | Request for examination |