차량 시뮬레이터를 응용한 원격 무인주행차량

In this paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance through a tele-operation system is suggested. But, autonomous system is one of the most difficult research topics from the point of view of several constrains on mobility, speed of vehicle and lack of environmental information. In these day, however, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. This tendency is toward to the unmanned vehicle or the tele-operated vehicle ultimately. The master system has host computer and simulator and slave system is electronic vehicle system. The slave vehicle system consists of three parts. First, laser sensor system for keeping the safety zone from other front vehicles, ultra sonic sensor system for keeping the side ranges from the lane. Second, acceleration system and brake control system for longitudinal motion control. Third, steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate unmanned vehicle. Driving simulator has a 6 degree-of-freedom motion-base and 3 channel fixed-based simulator. They are fully interactive, highly realistic and based on personal computer can be updated easily. Driving simulator is constituted by the 6-axes Stewart platform for motion base. This paper focuses on the integration of remote controlled unmanned vehicle and driving simulator. The vehicle mainly controlled lateral direction and longitudinal direction with actuators for controlling vehicle movement and sensors for closed-loop system we build intelligent system.