Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지

Development of an Autonomous Vehicle: A1

자율주행자동차 개발: A1

  • Chu, Keon-Yup (Department of Automotive Engineering, Hanyang University) ;
  • Han, Jae-Hyun (Department of Automotive Engineering, Hanyang University) ;
  • Lee, Min-Chae (Department of Automotive Engineering, Hanyang University) ;
  • Kim, Dong-Chul (Department of Automotive Engineering, Hanyang University) ;
  • Jo, Ki-Chun (Department of Automotive Engineering, Hanyang University) ;
  • Oh, Dong-Eon (Department of Automotive Engineering, Hanyang University) ;
  • Yoon, E-Nae (Department of Automotive Engineering, Hanyang University) ;
  • Gwak, Myeong-Gi (Department of Automotive Engineering, Hanyang University) ;
  • Han, Kwang-Jin (Department of Automotive Engineering, Hanyang University) ;
  • Lee, Dong-Hwi (Department of Automotive Engineering, Hanyang University) ;
  • Choe, Byung-Do (Department of Automotive Engineering, Hanyang University) ;
  • Kim, Yang-Soo (Department of Automotive Engineering, Hanyang University) ;
  • Lee, Kang-Yoon (Department of Automotive Engineering, Hanyang University) ;
  • Huh, Kun-Soo (Department of Automotive Engineering, Hanyang University) ;
  • SunWoo, Myoung-Ho (Department of Automotive Engineering, Hanyang University)
  • 주건엽 (한양대학교 자동차공학과) ;
  • 한재현 (한양대학교 자동차공학과) ;
  • 이민채 (한양대학교 자동차공학과) ;
  • 김동철 (한양대학교 자동차공학과) ;
  • 조기춘 (한양대학교 자동차공학과) ;
  • 오동언 (한양대학교 자동차공학과) ;
  • 윤이내 (한양대학교 자동차공학과) ;
  • 곽명기 (한양대학교 자동차공학과) ;
  • 한광진 (한양대학교 자동차공학과) ;
  • 이동휘 (한양대학교 자동차공학과) ;
  • 최병도 (한양대학교 자동차공학과) ;
  • 김양수 (한양대학교 자동차공학과) ;
  • 이강윤 (한양대학교 자동차공학과) ;
  • 허건수 (한양대학교 자동차공학과) ;
  • 선우명호 (한양대학교 자동차공학과)
  • Received : 2011.01.05
  • Accepted : 2011.03.04
  • Published : 2011.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

This article describes the Autonomous Vehicle #1 (A1), which won the 2010 Autonomous Vehicle Competition (AVC) organized by Hyundai Kia automotive group. The A1 was developed for high speed and stable driving without human intervention. The autonomous system of A1 was developed based on in-vehicle networks, electronic control units, and embedded software. Novel environment perception and navigation algorithm were evaluated and validated through the AVC. In this paper, we presented the system and software architecture of A1.

Keywords

References

  1. R. Bishop, Intelligent Vehicle Technology and Trends, Artech House, Norwood, 2005.
  2. M. Buehler, K. Iagnemma and S. Singh, The DARPA Grand Challenge : The Great Robot Race, Springer, Berlin, 2007.
  3. M. Buehler, K. Iagnemma and S. Singh, The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, Springer, Berlin, 2010.
  4. K. Jang, I. Park, J. Han, M. Sunwoo and E. Lee, "A Design Framework of FlexRay Network Parameter Optimization," Annual Conference Proceedings, KSAE, KSAE09-A0018, 2009.
  5. E. Yoon, J. Han, K. Lee and M. Sunwoo, "Synchronization between Control Algorithm and FlexRay in FlexRay-based LKS and Its Effect on Control Performance," Annual Conference Proceedings, KSAE, KSAE10-A0023, 2010.
  6. K. Jo, K. Chu and M. Sunwoo, "A Simulation Study of Vehicle Localization Based on the Integration of GPS and Vehicle Model Adaptation," Annual Conference Proceedings, KSAE, KSAE 09-A0010, 2009.
  7. K. Jo, K. Chu, K. Lee and M. Sunwoo, "Integration of Multiple Vehicle Models with an IMM Filter for Vehicle Localization," IEEE Intelligent Vehicles Symposium, 2010.
  8. D. Kim, J. Han, M. Lee and M. Sunwoo, "Detection and Tracking of Moving Objects with a Laser Scanner on a Grid Map for an Autonomous Vehicle," Annual Conference Proceedings, KSAE, KSAE09-A0012, 2009.
  9. D. Oh, M. Lee and M. Sunwoo, "Lane Detection and Tracking Using Morphology and Multiple ROI," Spring Conference Proceedings, KSAE, KSAE10-B0176, 2010.
  10. H. Jung, Y. Lee, H. Kang and J. Kim, "Sensor Fusion-based Lane Detection for LKS+ACC System," Int. J. Automotive Technology, Vol.10, No.2, pp.219-228. 2009. https://doi.org/10.1007/s12239-009-0026-0
  11. J. Hwang, K. Huh, H. Na, H. Jung, H. Kang and P. Yoon, "Development of a Model Based Predictive Controller for Lane Keeping Assistance System," Transactions of KSAE, Vol.17, No.3, pp.54-61, 2009.