Abstract
Today, a lot of research on autonomous driving technology is being conducted, and various vehicles with autonomous driving functions, such as ACC (adaptive cruise control) are being released. The autonomous vehicle recognizes obstacles ahead by the fusion of data from various sensors, such as lidar and radar sensors, including camera sensors. As the number of vehicles equipped with such autonomous driving functions increases, securing safety and reliability is a big issue. Recently, Mobileye proposed the RSS (responsibility-sensitive safety) model, which is a white box mathematical model, to secure the safety of autonomous vehicles and clarify responsibility in the case of an accident. In this paper, a method of applying the RSS model to a variable focus function camera that can cover the recognition range of a lidar sensor and a radar sensor with a single camera sensor is considered. The variables of the RSS model suitable for the variable focus function camera were defined, the variable values were determined, and the safe distances for each velocity were derived by applying the determined variable values. In addition, as a result of considering the time required to obtain the data, and the time required to change the focal length of the camera, it was confirmed that the response time obtained using the derived safe distance was a valid result.
Highlights
Today, many studies on autonomous driving are being conducted, and vehicles with autonomous driving functions are rapidly becoming common [1]
To is overcome limitations of using heterogeneous in autonomous vehicles, camera a camerathe that can change the angle of view andsensors can replace the existing radar the need for a variable focus function camera has emerged
This represents the minimum requirements that all autoncamera sensor, by it will be possible to ensure the safety of autonomous vehicles
Summary
Many studies on autonomous driving are being conducted, and vehicles with autonomous driving functions are rapidly becoming common [1]. According to the WHO (World Health Organization), traffic accidents killed more than one million people in. The safety of autonomous vehicles is becoming more important, and efforts to improve reliability and prevent traffic accidents are essential [3]. Mobileye proposed the RSS (responsibility-sensitive safety) model to prevent the accidents of autonomous vehicles [6]. The RSS model is a mathematical model for determining whether an autonomous vehicle is at fault in an accident and for ensuring safety. The RSS model defines a safe distance for as many as possible while driving and defines a dangerous situation. The. RSS model includes about 99% of accident scenarios presented by the NHTSA Highway Traffic Safety Administration), and tests were conducted on 37 accidents, and the test results were confirmed to be suitable [7]
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