자동 차선 변경 시스템의 측후방 차량 충돌 위험도 판단

Abstract

In this paper, we propose a risk assessment to be applied to an autonomous lane change system using an index and a safe condition based on a constant acceleration model. Index is composed with a ratio of relative distance to safety margin. In addition, an algorithm for determining whether or not the object vehicle cooperates with an ego vehicle is proposed. To judge cooperation of an object vehicle, a relative acceleraion between ego and object, and an addtional conditiaon are used. The proposed method was validated via CarSim and MATLAB/Simulink.