세종열린정책대화 216. 5 자율주행 (Automated Driving) 의길 - Road & Roadmap - 216. 5. 3 문영준소장한국교통연구원교통기술연구소 ISO/TC24 WG17 Convenor
대화의길 1. 차량의자율주행 2. 자율주행꿈과도전의역사 3. 자율주행기술 4. 자율주행의길 5. 국가미래성장동력의길
차량의자율주행 차량의자율주행가능한가? 자율주행 (Automated Driving) 관련국제협약 비엔나도로교통협약 Vienna convention on Road Signs and Signals (1968) 제네바도로교통협약 Geneva Convention on Road Traffic (1949) Article 8.1. Every moving vehicle or combination of vehicles shall have a driver. - 모든이동하는차량또는연결차량에는운전자가있어야한다. Article 13.1. Every driver of a vehicle shall in all circumstances have his vehicle under control so as to be able to exercise due and proper care and to be at all times in a position to perform all manoeuvres required of him. He shall, when adjusting the speed of his vehicle, pay constant regard to the circumstances, in particular the lie of the land, the state of the road, the condition and load of his vehicle, the weather conditions and the density of traffic, so as to be able to stop his vehicle within his range of forward vision and short of any foreseeable obstruction. He shall slow down and if necessary stop whenever circumstances so require, and particularly when visibility is not good. - 모든차량의운전자는어떠한상황에서도적절한주의를기울여운행에필요한조작을할수있는상태에있도록항상차량을자신의통제하에두어야한다. Article 8.1. Every vehicle or combination of vehicles proceeding as a unit shall have a driver - 일단위로서운행되고있는차량또는연결차량에는각기운전자가있어야한다. 5. Drivers shall at all times be able to control their vehicles or guide their animals. When approaching other road users, they shall take such precautions as may be required for the safety of the latter. - 운전자는항상차량을조종할수있고또는동물을안내할수있어야한다. 타도로사용자에접근할때에는, 운전자는당해타도로사용자의안전을위하여필요한주의를하여야한다. 3
차량의자율주행 차량의자율주행가능한가? 비엔나도로교통협약 Vienna Convention on Road Signs and Signals (1968) 개정 부분적인자율주행자동차의운행을허가하는내용의보완규정신설 운전자가차량을제어할수있는상태에있음을요건화 ( ECE/TRANS/WP.1/145) 214. 3. 협약수정안제출, 214. 9. 개정안채택, 216. 3. 효력발생 Article 8,. 5bis. Vehicle systems which influence the way vehicles are driven shall be deemed to be in conformity with paragraph 5 of this Article and with paragraph 1 of Article 13, when they are in conformity with the conditions of construction, fitting and utilization according to international legal instruments concerning wheeled vehicles, equipment and parts which can be fitted and/or be used on wheeled vehicles* - 차량의운행유형에영향을주는시스템이차량및차륜차량에적합하고이용가능한부품에관해국제적기준에따른설계, 장착및이용조건과합치되는경우에는해당시스템이본조 5 항및 13 조 1 항에합치되는것으로간주된다 Vehicle systems which influence the way vehicles are driven and are not in conformity with the aforementioned conditions of construction, fitting and utilization, shall be deemed to be in conformity with paragraph 5 of this Article and with paragraph 1 of Article 13, when such systems can be overridden or switched off by the driver. - 차량의운행유형에영향을주는시스템이국제적기준에따른설계, 장착및이용조건과합치되지않지만그시스템이운전자에의해제어되거나차단될수있는경우에는본조 5 항및 13 조 1 항에합치되는것으로간주된다 4
차량의자율주행 차량의자율주행가능한가? 제네바도로교통협약 Geneva Convention on Road Traffic (1949) 개정 215. 3. 협약수정안제출 215.1. 회기에서 WP1에수정안제안보고, 개정절차진행중 Article 8, 6. Vehicle systems which influence the way vehicles are driven shall be deemed to be in conformity with paragraph 5 of this Article and with Article 1, when they are in conformity with the conditions of construction, fitting and utilization according to international legal instruments concerning wheeled vehicles, equipment and parts which can be fitted and/or be used on wheeled vehicles* - 차량의운행유형에영향을주는시스템이차량및차륜차량에적합하고이용가능한부품에관해국제적기준에따른설계, 장착및이용조건과합치되는경우에는해당시스템이본조 5 항및 1 항에합치되는것으로간주된다 Vehicle systems which influence the way vehicles are driven and are not in conformity with the aforementioned conditions of construction, fitting and utilization, shall be deemed to be in conformity with paragraph 5 of this Article and with Article 1, when such systems can be overridden or switched off by the driver. - 차량의운행유형에영향을주는시스템이국제적기준에따른설계, 장착및이용조건과합치되지않지만그시스템이운전자에의해제어되거나차단될수있는경우에는본조 5 항및 1 항에합치되는것으로간주된다 5
차량의자율주행 운전자의자동차도로주행행위는끊임없는학습과피드백과정 사물센서인간자동차 눈 / 뇌 Control Element ( 다리 / 손 ) Controlled Element ( 브레이크 / 핸들 ) 차량속도 운전환경모니터링 눈 교통류이동 차량흐름 6
차량의자율주행 차량의자율주행과정 기계적인로봇기능 센서 판단기 ( 차선, 속도, 경로 ) 사물 카메라레이다라이다 정밀지도 Control Element 자동차 Controlled Element ( 브레이크 / 페달 ) 측위 차량속도 V2X 통신 운전환경모니터링 센서 교통류이동 차량흐름 7
차량의자율주행 현실의문제 KBS 태양의후예 자동주행모드에서의키스씬 Autonomous-driving Functions 자동주행기능 > Adaptive (Smart) Cruise Control (ACC) + > Lane Keeping Assistance System (LKAS) 일부도로구간과제한된시간자동주행가능 - 자율주행 1 단계 > 운전자책임전환항상대기 Source:_https://www.google.co.kr/search?q=LKAS&biw=1368&bih=818&tbm=isch&tbo=u&source=univ&sa=X&ved=ahUKEwjkiuC4xd7MAhVLEpQK HcgwCW8QsAQIHw#tbm=isch&q=%EC%84%9C%EB%8C%8%EC%98%81+%EC%9C%A4%EB%AA%85%EC%A3%BC&imgrc=XifGYFX1mvxWTM%3A Source: https://www.youtube.com/watch?v=xu6ign4yfv4 & Source: https://www.youtube.com/watch?v=6gkre1bwvg 8
차량의자율주행 Source: https://www.youtube.com/watch?v=xu6ign4yfv4 & Source: https://www.youtube.com/watch?v=6gkre1bwvg 9
차량의자율주행 Source: https://www.youtube.com/watch?v=xu6ign4yfv4 & Source: https://www.youtube.com/watch?v=6gkre1bwvg 1
자율주행꿈과도전의역사 1939 General Motors Futurama exhibit 1949 RCA technical explorations begin 195s GM/RCA collaborative research, GM Firebird II concept car 1964 GM Futurama II exhibit 1964-8 Research by Fenton at OSU 196s Tsugawa wire following in Japan 197s Tsugawa vision guidance in Japan 1986 California PATH and PROMETHEUS programs start 198s Dickmanns vision guidance in Germany 1994 PROMETHEUS demo in Paris 1994-98 National AHS Consortium (Demo 97) 23 PATH automated bus and truck demos (24-27 DARPA Challenges) 11
자율주행꿈과도전의역사 Source: https://www.youtube.com/watch?v=ftoupdu1-bo 12
자율주행기술 자율주행추진목적 Safety 안전성향상 Injury and accident-free driving Technologies for an intelligent and forward-thinking vehicle Traffic Management 교통운영효율성향상 Relaxed driving even in dense traffic Reduced traffic jams and waiting times at intersections and lights Demographics 고령화사회준비 Allow a variety of age ranges to be mobile Reduced driver burden Networked Society 네트워크사회기반 Time on the road becomes more productive Vehicle as part of the driver s connected life Clean Technology 친환경사회준비 Improve fuel economy Synchronizes traffic flow 13
자율주행기술 자율주행의기술단계 자율주행 (Automated Driving) 용어혼재로개념전달오해 Autonomous-diving 자동주행기능 : 자율주행 1, 2 단계 Self-driving 단독주행 : 자율주행 3, 4 단계 Driverless 무인주행? 자율주행 5 단계 자율주행기술수준규정 ( 미국및독일 ) Level Level 1 Level 2 Level 3 Level 4 Level 5 SAE No Driver Assistance Partial Conditional High Full NHTSA No Function Specific Combined Function Limited Self- Driving Full Self-Driving BASt Driver Only Assisted Partly Automated Highly Automated Fully Automated (not addressed) 14
자율주행기술 Sources : AUVSI 214, San Francisco, by National Highway Traffic Safety Administration (NHTSA), USDOT 15
자율주행기술 BOSCH Sources : AUVSI 214, San Francisco 16
자율주행기술 BMW Sources : AUVSI 214, San Francisco 17
자율주행기술 GM Sources : AUVSI 214, San Francisco 18
자율주행기술 Valeo Sources : AUVSI 214, San Francisco 19
자율주행의길 자율주행을위한차량과도로인프라관계 Level 2 는차량기술과도로인프라의일부지원으로실용화가능 Intelligent Transport Systems (ITS) 인프라활용 Level 3 & 4 실용화는도로인프라의연계및운영 / 관리 / 제어필요 Level 3: Cooperative ITS (C-ITS) 인프라필요 Level 4: Automated Vehicle & Highway Systems (AVHS) 차량스스로도로인프라정보를인식하면 Level 3 실현가능 Google Car : 차량에부착된각종레이더센서및관련정보화장비약 2 억원 Level Level 1 Level 2 Level 3 Level 4 Level 5 SAE No Driver Assistance NHTSA Vehicle & Road No Function Specific Partial Combined Function Vehicle Vehicle Vehicle & Road Assisted (ITS) Conditional Limited Self- Driving Vehicle & Road Cooperated (C-ITS) High Full Full Self-Driving Vehicle & Road Integrated (AVHS)? 2
자율주행의길 22년레벨 3 수준의자율주행차시장본격화예상 Ø 해외 Ø 국내 ADAS availability and expected future systems(hmc) HMC Yes Yes 215+ 22+ CACC & LGA =HDA(215+) 21
자율주행의길 자율주행진화방향 Revolution path 혹은 Evolutionary path 자율주행차기술실용화의시기에따라다양한기능을갖춘자동차등장 Source: TTI, Paths of Automated and Connected Vehicle Deployment:, 215.9. 22
자율주행의길 L3 & L4 로진화하기위한도로인프라요구사항 Physical Infrastructure 도로체계기하구조등물리적인인프라개선 Digital Infrastructure V2X 기반도로센서융합 고정밀측위기반전자지도구현 Traffic Management & Control 교통류이론 (Traffic Flow Theory) 혁신 원격도로교통관리시스템구축 Sources : AUVSI 214, San Francisco 23
자율주행의길 L3 : C-ITS 도로인프라 Connected Vehicle & Infrastructure: V2I & V2V Sources : AUVSI 214, San Francisco 24
자율주행의길 L4 : AVHS 도로인프라 인공지능형도로운영 / 관리 / 제어 : 알파도? 베타로드? Sources : AUVSI 214, San Francisco 25
자율주행의길 Ø Vehicle to Infra (V2I) ü 자율주행기능 (L2/L3) 정보 ACC/CACC, LKAS 등기능속성, 차량상태, 센서 / 통신 / 전장기능상태진단 ü 차량주행정보 속도, 가감속, 조향각, 측위, 상대위치, 자율주행합류 / 이탈요청등 Ø Infra to Vehicle (I2V) ü Digital Infrastructure 정보 도로정밀지도, 도로기하구조및노면상태, 도로표지판, 신호주기 / 현시정보 ü 교통운영및제어정보 자율주행구간 / 차로지정여부및설정변수 ( 속도, 차두시간등 ) Traffic Mix ( 자율주행차 vs. 일반차 ), 교통량-밀도-속도변화 Ø Vehicle to Vehicle (V2V) ü 자율주행여부 L2 혹은 L3 자율주행여부및자율주행 Parameter 값 ü 차량주행거동역학 (Kinematics) 속도, 가감속, 조향각, 측위, 상대위치, Actuator 및 Braking Control 정보 26
자율주행의길 Ø Level 4 AVHS 로가는길 ü Physical Infrastructure 도로기하구조혁신 < 예 : 서울 - 세종고속도로 (?)> ü Digital infrastructure 도로인프라와차량의디지털정보화 Super Microscopic & Huge Data Cyber Security 및 Privacy 보장 ü What for? 교통류최적화로도로용량극대화 : 3,6vphpl, 7,2vphpl Accident and Fatality Zero 탄소배출최소화 새로운교통 Business Models 및산업등장 27
자율주행의길 한국 : 산업부로드맵 Source: 문종덕 PD, KEIT, AVHS 포럼창립세미나 (215. 2. 25) 28
자율주행의길 국토교통부자율주행 R&D 과제로드맵 214.8.12 구분 자율주행단계 요소기술 Level ( 현재 ) 비자동화자동차 센싱, 운영, 관제, 법제도 ~214 215 216 217 218 219 22 221 222 223 스마트하이웨이사업단 (7 년 )) Level 1 자동화기능지원자동차 스마트자율군집주행도로기술 (5 년 ) Level 2 운전자감시자율주행자동차 Level 3 조건부완전자율주행자동차 스마트자율주행도로기술 (5 년, 타부처공동기획, 예타 ) 자율주행도로분야 ( 첨단도로환경과 ) 정밀측위, 정밀지도 교차로신호제어 교통류해석, 예측 위성항법기반교통정밀측위기술 1 단계 (8 년 ) 위성항법기반교통정밀측위기술 2 단계 ( 전국단위운영, 터널음영, 정밀지도, 5 년 ) 도심교차로혼잡해소를위한 V2X 기반 4 세대신호시스템개발 (5 년 ) 차량 -ICT 융복합교통시뮬레이션기술개발 (4 년 ) 계속과제 신규과제 자율교행교차로및도로기술 (5 년 ) 교통시뮬레이션기술개발 ( 원천기술, 4 년 ) C-ITS 시범사업실증, 사업화 C-ITS 본사업 ( 단기계획 ) C-ITS 본사업 ( 중기계획 ) (3년 ) 자율주행안전분야 ( 자동차정책과 ) 첨단차량안전성평가 첨단안전자동차안전성평가기술 (8 년 ) 자율주행차량안전성평가및인증기술개발 (6 년 ) 29
자율주행의길 미국 ITS Joint Program Office Automated vehicle 과 Connected vehicle 의장기적실행계획수립 미국교통부 (DOT) 지원 3
자율주행의길 독일 Source: Adrian Zlocki (FKA) - http://www.automatedvehiclessymposium.org/callforposters/research-activities 구분제 단계제 1 단계제 2 단계제 3 단계제 4 단계 HNTSA No Function Specific Combined Function Limited Self-Driving Full Self-Driving BASt Driver Only Assisted Partly Automated Highly Automated Fully Automated BOSCH ACC / Lane Keeping Support (212) Integrated Cruise Assisted (216) Highway Assist (218) Highway Pilot (22) Auto Pilot (225년후반 ) BMW No Actuated System Longitudinal or Lateral Control Longitudinal and Lateral Control (Driver Monitor) Longitudinal and Lateral Control Longitudinal and Lateral Control by System 31
자율주행의길 일본의다부처공동기획및다협력연구개발추진 Government wide Initiatives NPA: National Police Agency, MIC: Ministry of Internal Affairs and Communications, METI: Ministry of Economy, Trade and Industry, MLIT : Ministry of Land, Infrastructure, Transport and Tourism Public-Private ITS Initiatives and Roadmap Cooperation IT Strategic HQ has established objectives /roadmap Definition of automation levels Clarification of the timing of market deployment Automated Driving System Research Project under SIP Council for Science, Technology & Innovation initiated the project Under SIP. R&D budget (FY 214): 2.45 Bil. yen (: US $24.5 Million) 구분제 단계제 1 단계제 2 단계제 3 단계제 4 단계 HNTSA No Function Specific Combined Function Limited Self-Driving Full Self-Driving 일본 MLIT 기술단계 및 실용화전략 More Complex Fully Automated 정보제공단계 Single Function Advanced System System Driving - - 21년중반 22년초반 22년중후반 Source: MLIT, Automated Driving Activities in Japan by Takumi Yamamoto, 214. 7 32
자율주행의길 v Cooperative ITS (C-ITS) Project by MoLIT Metropolitan Area MoLIT: Ministry of Land, Infrastructure and Transport 33
자율주행의길 국토교통부자율협력주행 R&D 스마트자율협력주행도로기술 (Level 2, 5 년 ) 목표 Integrated Cruise Assist Highway ( 부분적인종 횡방향자동주행지원도로체계기술구현 ) 차량및도로센서와 V2X 융합 과제구성 고정밀측위기반 LDM C3I 기반 CTMS Test & Evaluation LDM : Local Dynamic Map C3I : Command, Control, Communication, and Intelligence ( 항공관제급자율주행도로관제기능 ) CTMS : Cloud Traffic Management System ( 자율주행을위한차세대 FTMS) 34
자율주행의길 국토교통부 4 세대신호제어시스템 R&D 4 세대신호제어시스템기술 (Level 3&4, 1 년 ) RSE 목표 Connected Vehicle Adaptive Signal Control System (CoVASS) ( 신호교차로자율교행기술구현 ) V2I V2X-i 교차로디지털인프라 과제구성 CoVASS 운영제어알고리즘 CoVASS 신호제어장치 3m 15~2m Test & Evaluation 35
자율주행의길 4 세대신호제어시스템 (CoVASS) 목표 Source : YouTube Zurich, Because Change Happenz (27) 36
자율주행의길 자율주행기술적용시기및대상 37
국가미래성장동력의길 범부처협력 : 스마트카전략기획단 38
국가미래성장동력의길 역할분담 국토부 - 시험운행허가제도마련 - 임시운행허용 - 시험운행보험상품개발 - 자율주행자동차윤리및안전기준마련 - 자동차보험. 리콜. 검사제도마련 - 제네바도로협약개정 - K-CITY 구축 - GPS 위치정보기술개발 - 정밀수치지형도제작 - 자율주행시험운행전용노선구축 인공지능형 AVHS 운영제어기술 일반도로주행실증지구지정 미래부 - 자율주행근거리운행시범서비스 - 차량간통신주파수분배 해킹예방기술 산업부 -부품기술개발및기능안전확보지원 -자율주행핵심기술개발지원 -경진대회및체험행사개최 39
국가미래성장동력의길 한국교통연구원교통기술연구소역할 구분제 1 단계제 2 단계제 3 단계제 4 단계제 5 단계 HNTSA Function Specific Combined Function Limited Self- Driving Full Self-Driving? Smart Mobility ( 교통물류 R&D) 선택적능동제어통합능동제어제한적자율주행완전자율주행 3-Dimensional Transport 자동차기술 ACC 종방향제어 CASS 기반종횡방향제어 스마트카 & 도로기술융합 스마트카 & 도로기술융합 Personal Air Vehicle (PAV), etc. 도로인프라기술 ITS 지원 ITS 인프라융합 (214) C-ITS 인프라 (218) AVHS 인프라 (225) 3차원도로인프라운영및제어 (24 이후 ) KOTI 교통기술연구소기술 R&D 및실용화주도 4
국가미래성장동력의길 3-Dimensional Transport 준비 From Yesterday To Tomorrow Slow Society Wide Ranges Human Oriented City Fast Society Compact Areas ICT Oriented Circular City Figures : VENUS Project, 27, USA Total Closure City 41
국가미래성장동력의길 3-Dimensional Transport 준비 3D Transport Vehicles & Infrastructure Personal Air Vehicle, VTOL, Heli-Auto(Chopper), etc. Spatial Roadway in Mega Cities 42
국가미래성장동력의길 Source : 한국교통연구원 (211), YouTube: 3D Transport (216) 43
사람 환경 교통의조화속에미래의삶을풍요롭게바꾸는 한국교통연구원