Earticle

국토교통부는 2019년 12월에 세계 최초로 레벨 3 자율주행 차량에 대한 안전기준을 제정하 였으며, 제어권전환을 포함한 부분 자율주행시스템의 안전과 관련된 기준들을 명시하였다. 하 지만, 제정된 “부분 자율주행시스템의 안전기준”에서는 구체적인 운전 환경 등이 명시되어 있 지 않다. 따라서, 자율주행자동차의 안전한 주행을 위해서는 실제로 자율주행자동차가 주행하 게 될 다양한 운전 환경이 제어권전환에 미치는 영향을 분석할 필요가 있다. 본 연구에서는 주행 시뮬레이터를 이용하여 교통상황(서비스수준 D, E, F)과 기하구조(직선 및 곡선부) 및 기 상 상황(주야 및 강우)이 제어권전환 시간과 안정화시간에 어떠한 영향을 미치는 지 알아보았 다. 실험 절차는 사전교육, 연습주행, 시험주행의 순서로 진행되었으며 시험주행은 교통량 및 기하구조 실험과 기상 상황 실험으로 나누어서 진행되었다. 실험 결과, 교통상황과 기상 상황 은 제어권전환 시간 및 제어권전환 안정화시간에 통계적으로 유의한 영향을 미치지 않았으며, 곡선반경만이 제어권전환 안정화시간에 통계적으로 유의한 영향을 미치는 것으로 분석되었다.

The Ministry of Land, Infrastructure and Transport established safety standards for Level 3 autonomous vehicles for the first time in the world in December 2019, and specified the safety standards for conditional autonomous driving systems. Accordingly, it is necessary to analyze the influence of various driving environments on take-over. In this study, using a driving simulator, we investigated how traffic conditions and weather conditions affect take-over time and stabilization time. The experimental procedure was conducted in the order of preliminary training, practice driving, and test driving, and the test driving was conducted by dividing into a traffic density and geometry experiment and a weather environment experiment. As a result of the experiment, it was analyzed that the traffic volume and weather environment did not affect the take-over time and take-over stabilization time, and only the curve radius affects take-over stabilization time.

This paper presents an interim result of a study on virtual LiDAR sensor modeling for autonomous driving simulators. Based on a basic knowledge on the characteristics of pulsed light beams, which may be dependent on the color and material of the object to be reflected, a simple model of equation for the intensity is used for modeling the reflected power of beams of LiDAR. Experiments using a real LiDAR and a virtual one to distinguish colors reveals that the accessibility to colors of the objects is essential for modeling of LiDAR sensors in autonomous driving simulators.

PURPOSES : Traffic safety facilities are used to prevent traffic accidents before they occur by providing drivers with information on traffic situations and the geometric design of roads. However, some facilities not defined in guidelines do not meet installation criteria, yet are being installed and used in order to increase efficiency in traffic flow and prevent traffic accidents in a specific expressway zone. In this study, we have evaluated the effect of delineation system which are not defined in the guideline criteria. METHODS : Different virtual scenarios were created for roads using expressway median barrier chevron signs, with a driving simulator used to evaluate the installation and operational effect of such signs. Ten experiments were performed with left- and right-curved roads at curve radius intervals of 500 m, from 500 m to 2,500 m. RESULTS : For sections with a curve radius of more than 1,500 m, drivers had a clear tendency toward stable driving regardless of delineation system. When a chevron sign is installed on a protection fence in the road curving left, an expanded installation is recommended up to the section with a curve radius of 1,000 m. According to the analysis results for the RHB (Relative High Beta spectrum), driving concentration also improved up to a curve radius of 1,000 m. CONCLUSIONS :The experiment result indicates the extent of biasing within a lane and the manipulation amount of steering handle, were analyzed and found to be affected by curve radius and road alignment regardless of delineation system.

국내 육상교통망의 중추적인 역할을 하는 고속도로는 7×9 형태로 양적, 질적 성장을 거듭하고 있다. 점차 복잡해지는 고속도로 기하구조에 대응하고자 차로유도선을 설치하여 운전자들의 보다 원활한 차로 변경을 유도하고 있으나 해당 시설의 설치기준이 부재하고, 그 효과 검증 또한 제한적으로 시행되고 있는 실정이다. 본 연구는 도로주행 시뮬레이터를 활용하여 주행안전성 측면에서 차로유도선의 효과를 재조명하고, 적정 연장 설치기준을 수립하는데 주된 초점을 맞추고 있다. 이를 위해, 피험자의 선호도를 조사하고, 가상의 주행환경에서 운전자의 차로 변경 행태를 분석하였다. 또한, 피험자가 차로변경 시 느끼는 편안함 정도를 계량화하기 위해 뇌파분석을 실시하였고, 도출된 결과에 대한 통계적 검증을 수행하였다. 본 연구는 차로유도선 설치기준 수립 시 기반자료로 활용될 것으로 기대한다.

Expressway network which plays an important role on land transportation system, have been developing quantitatively and qualitatively with 7×9 structure. To cope with complex geometric condition, guidance lane marking has been installed to induce safer lane-changing maneuver. However, there is no standard on guidance lane marking and its effectiveness is also verified with limited scope. The major purpose of this research is to clarify its effectiveness in terms of driving safety aspect using virtual driving simulator and to suggest standard on the proper length. To carry this out, preference data from subjects was collected and lane-changing pattern within virtual driving environment was investigated. In addition, in order to quantify the level of comfort, Electroencephalogram data was collected and validated using statistical test. Finally, it is expected that this research can be used to establish standard on guidance lane marking.

Driving simulators provide engineers with a power tool in the development and modification stages of vehicle models. One of the most important factors to realistic simulations is the fidelity obtained by a motion bed and a real-time visual image generation algorithm. Virtual reality technology has been widely used to enhance the fidelity of vehicle simulators. This paper develops the virtual environment for such visual system as head-mounted display for a vehicle driving simulator. Virtual vehicle and environment models are constructed using the object-oriented analysis and design approach. Based on the object model, a three-dimensional graphic model is completed with CAD tools such as Rhino and Pro/ENGINEER. For real-time image generation, the optimized IRIS Performer 3D graphics library is embedded with the multi-thread methodology. The developed software for a virtual driving simulator offers an effective interface to virtual reality devices.

Objective: To investigate the effect of driving-simulator based training for the persons with brain injury. Method: Twenty-seven brain injury patients and 19 healthy volunteers were included in this study. Driving simulator program was composed of an aptitude test (which have 4 items) and simulated road driving. The brain injury patients had 4 sessions of driving simulator training with assessment performed during the first and the last session. Healthy volunteers underwent only one driving simulator session for assessment. To evaluate subjective satisfaction in terms of training effect and the sense for the real, a survey was administered after the training. Results: In brain injury patients, there were significant improvements in both aptitude test and simulated road driving test after training (p＜0.01). There were no significant differences between the scores of patients taken at the last session and the scores of healthy volunteers, while the scores of patients taken at the first session were significantly lower than those of healthy volunteers. The patients group reported positively in terms of training effect (81.5%) and the sense for the real (62.9%). Conclusion: A driving-simulator based training was effective for brain injury patients to regain driving skill.

This paper proposes a virtual eco-driving simulator for providing efficient driving style training for drivers and non-drivers. The proposed system aims at improving fuel efficiency and reducing the wear of consumables based on visual and auditory feedback. For driver and non-driver participants in the experiment, we measured fuel economies and levels of consumable wear according to 3 types of feedback (no feedback, visual feedback, visual and auditory feedback). The experimental results confirm that drivers and non-drivers were able to achieve higher fuel economy and reduce consumable wear when they received feedback from the proposed system compared to driving without feedback.

The aim of this study was to evaluate driving performance of normal subjects for controlling the steering wheel by using foot operated steering devices in the driving simulator. Many people with complete bilateral loss or loss of use of upper limbs but with normal lower limbs are frequently left without use and/ or control of their hands, arms, or the upper extremities of their bodies. As a result, persons disabled in this manner have problems in operation an automobile because they cannot grasp and manipulate a conventional steering wheel. Therefore, if foot operated steering devices are used for controlling the vehicle on in people with disabilities, the disabled people could improve their community mobility by driving a car safely. Ten normal subjects were involved in this research to evaluate steering performance by using three types of steering devices(conventional steering wheel, pedal type foot steering, circular type foot steering) in driving simulator. STISim Drive 3 program was used for testing the driving performance in two road scenarios: straight road and curved road at low and high speed of vehicle (40 km/h and 80 km/h). This study used two-way ANOVA to compare the influences of two factors(type of foot steering device and road scenario) in the three dependent variables of steering performance(standard deviation of lateral position, the lateral position of vehicle and the number of line crossing). The average values of the three dependent variables(standard deviation of lateral position, lateral position and the number of line crossing) of driving performance were significantly smaller for conventional steering wheel or pedal type foot steering than circular type foot steering.

가상 운전 시뮬레이터는 실제 도로주행에서 발생할 수 있는 안전사고나 돌발상황 등의 문제점을 보완할 수 있을 뿐만 아니라, 가상환경을 다양하게 구성하여 여러 가지 상황에서의 운전능력을 테스트할수 있는 장점이 있다. 본 연구에서는 65세이상의 고령자를 대상으로 가상운전시뮬레이터를 이용하여 운전자(17명)집단과 비운전자(16명)집단으로 구분하고, OT Rehab＿2.evt 시나리오(시내 주행)에서의 운전수행능력을 비교하였다. 두 집단 간에 과속, 중앙선 침범, 차선 이탈 사고 횟수가 통계적으로 유의한 차이를 보였으며(p<.01), 운전경험이 있는 집단에서 적은위험 및 사고 횟수를 기록하였다. 반면 주행속도, 정지 반응시간, 차선이탈, 신호위반, 충돌사고에서는차이를 보이지 않았다. 운전자의 경우 차선이탈과중앙선 침범에서 각각 58.8%, 23.6%로 사고 위험이높게 나타났으며, 비운전자의 경우 차선이탈로 인한사고(74.9%), 차선이탈(87.4%), 중앙선 침범(81.1%), 과속(43.6%)의 사고 위험이 높게 나타났다. 두 집단 모두 느린 주행 속도와 정지 반응시간, 차선이탈항목에서 차이를 보이지 않아, 운전 경험에 상관없이 노화로 인한 심리적 변화와 도로 주행 시 필요한 공간지각능력, 거리지각능력의 저하에 관한 향후 연구가필요할 것이다.

The aim of this study was to investigate the driving performance of elderly people using a virtual driving simulator. Subjects consisted of 33 people aged 65 or older who agree to participate, depending on whether the driving experience was classified as a 'driver' groups and 'non driver' groups. STISIM Driving Simulator was used in the OT Rehab_2.evt scenario (city driving) to assess driving performance. In the evaluation results of the two groups using a simulator, 'Speed violation', 'Center line crossings', 'Off road accidents' item exhibited a statistically significant difference(p<.01). 'Driving speed', 'Brake reaction time', 'Road edge excursions', 'Traffic light tickets', 'Collisions' was not different. Driver group showed the risk of accidents in 'Road edge excursions' (58.8%) and 'Center line crossings'(23.6%) items. In the case of non driver group, 'Off road accidents'(74.9%), 'Road edge excursions'(87.4%), 'Center line crossings'(81.1%), 'Speed violation'(43.6%) items showed a high risk of accidents. A common problem that appears to drivers and non drivers will need to prepare a solution through continuous attention and research for older drivers will increase in the future.

Recently, the various driving simulator have been used widely to analyze the handling performance of vehicle and to verify the motion control algorithm of vehicle. In this study, a virtual driving simulator based on the 20-DOF vehicle model is realized to estimate the handling performance and stability of a 4WS (Four-wheel-steering) and/or 4n(Four-wheel-driving) vehicle. Especially the DC motor controlled 4WS actuator is modelled in order to reflect the effect of the responsiveness of actuator on the handling performance and stability. And the realized simulator can be applied to develope a real time simulation system for designing and testing the real vehicles.

연구목적:본 연구의 목적은 대학생을 대상으로 운전면허소지자 학생과 비면허소지자의 실제 운전을 실시하기 전 가상 운전 시뮬레이터훈련이 인지 능력에 미치는 영향에 대해서 알아보고자 한다. 연구방법:측정 도구 가상운전시뮬레이터(drivingsimulator)를 이용한 인지평가 항목 반응평가, 판단력 평가,예측력평가, 적성평가, 청각평가, 깊이감평가 총 6개 항목을 통해 20명을 대상으로 실험을 실시하였고 실험군은 주 세 번의 세션으로 3주 동안 훈련을 실시하였다. 연구결과:1. 반응평가와 예측력평가에 대한 훈련 결과에서 가상운전시뮬레이터 훈련군이 운전면허소지자군보다 반응속도와 예측력이 향상되었다. 2. 관섭과제와 관섭과제2에 대한 훈련 결과에서 가상운전시뮬레이터 훈련군이 운전면허소지자군보다 관섭하는 과제에 대한 대처능력이 향상되었다. 3. 깊이감평가에 대한 훈련 결과에서 가상운전시뮬레이터 훈련군이 운전면허소지자군 보다 깊이감에 대한 반응이 향상되었다. 결론:본 연구에 결과를 종합해보면 비면허소지자의 가상운전시뮬레이터 훈련이 반응평가, 예측력, 장애물이 없는 관섭과제능력, 장애물이 있는 관섭과제능력, 깊이감능력이 향상되는 것으로 나타났다.따라서 비면허소지장애인에게 가상운전시뮬레이터 훈련이 도움이 될 것으로 사료되며, 또한 고령자와 장애인들에게 운전재활 프로그램으로 가상운전시뮬레이터 훈련 적용을 통해 인지능력과 반응속도, 예측력 등이 향상 될 것으로 보인다

Objective : The purpose of this study, prior to college students, to implement the actual operation of the non-license holders driving license holders, and students, the effects of virtual driving simulator training on the cognitive ability. Methods : Use Evaluation of item response whether using driving simulator of the measurement tool(drivingsimulator), evaluation of the judgment, the evaluation of the predictive power, due diligence, evaluation of hearing, the item total of six of the evaluation of the sense of depth before experiments were conducted targeting 20 people selected students working family, to start the test, the test groups, 3 sessions three times a week I have conducted training of week. Results : 1. The results of training for response assessment, a virtual driving simulator training group,the reaction rate was improved than the licensed driver group. 2. The results of training of interference challenge 2, a virtual driving simulator training group, ability to cope challenges interference than the licensed driver group was improved. 3. The results of training for the evaluation of the sense of depth, virtual driving simulator training group, reacted improved sense of depth than the licensed driver group. Conclusion : Taken together the results of this study, is that the ability interference challenge ability, the sense of depth that interference challenge ability not virtual driving simulator training of non-l icense holders evaluation of the reaction, predictive power, obstacles, obstacles can beimproved I get it. Also, I suspect through the application of virtual driving simulator training, as the reaction rate and cognitive ability, predictive power is improved driving rehabilitation program to patients with central nervous system disorders.