능동 안전을 위한 저속근거리 충돌 회피 알고리즘 개발

This paper suggest low-speed & close-range collision avoidance algorithm for active safety system of intelligent vehicle. Suggested collision avoidance system consists of laser sensor that detects distance of front vehicle, ultrasonic sensor that detects close-range obstacle, integrated ECU that judges of collision state with FlexRay networking system. In the integrated ECU, collision avoidance system judges with collision avoidance algorithm using the front and own vehicle velocity. In the collision avoidance algorithm, collision level is divided with four states such as safety, warning, danger and collision. In the danger state, collision avoidance algorithm reflects of driver will for collision warning.