신호등이 설치된 교차로 구역에서의 자율주행 시스템 구현

Abstract

In this paper, we studied an autonomous vehicle driving system at an intersection equipped with traffic lights. We proposed deep learning based traffic light recognition algorithm, crossing/stop decision algorithm, path generation, and path following method. In addition, we implemented the proposed systems into a real vehicle environment. The main contribution of this paper is a crossing/stop decision algorithm to determine whether a test vehicle will pass through an intersection or stop in accordance with the recognized traffic light condition. This algorithm was designed based on vehicle speed and the distance between the position of the stop line and the vehicle. Ioniq PHEV, a vehicle equipped with sensors for autonomous driving, was used in order to evaluate the performance of the proposed system. The test vehicle drove through the intersection at the proving ground located in Ochang Campus, Chungbuk National University. The experimental results showed that the test vehicle successfully passed through the intersection in accordance with the traffic light status with a maximum speed of 30 kph on a straight course and a maximum speed of 10 kph on a 90° corner course.