| 제목 |
자율주행자동차용 멀티 센서 고장 검출 및 보상 제어에 관한 연구 |
| 분야 |
전기ㆍ전자ㆍ통신 |
| 언어 |
Korean |
| 저자 |
정승환(한국폴리텍대학) |
| Key Words |
Autonomous vehicle(자율주행자동차), Fault tolerance control(고장 허용 제어), Sensor failsafe(센서 고장 안전), Sensor fault(센서 고장), Fault detection(고장 검출), Fault compensation(고장 보상) |
| 초록 |
Autonomous vehicles require multiple sensors to measure various driving environments. Sensor fault and performance degradation are major factors that weaken the perception performance of autonomous vehicles. Sensor fusion refers to the process of merging data from a wide variety of sensors to accurately create the presence or absence of an object and its trajectory. The process of detecting a sensor fault in sensor fusion processing and compensating for a sensor with weakened performance becomes a major factor in determining the perceived performance of an autonomous vehicle. In this study, we proposed a sensor fault detection and compensation control strategy, which is a scattergram concept. Further, this paper presents a whole process and algorithm including fault detection, fault isolation, fault identification and fault compensation applied in the simulation environment. The test results show that the proposed control algorithm and strategy are reliable in the sensor fault tolerant process of autonomous vehicles.
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| 원문(PDF) |
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