The present invention relates to a device for the improved passage of an autonomous vehicle at a non-signal intersection and a method thereof, which can utilize the responsibility-sensitive safety theory and the partial observability markov decision process at a non-signal intersection to enable an efficient passage. To this end, the device of the present invention may comprise: a state initialization unit of initializing the learning state of the partial observability markov decision process (POMDP) algorithm; an optimal action deducing unit of applying the responsibility-sensitive safety (RSS) algorithm to the POMDP model for the optimization of the driving of an autonomous vehicle to deduce the optimal action; an action executing unit of executing the optimal action deduced by the optimal action deducing unit; a state observation unit of receiving data observed in the vision sensor and the radar sensor of the autonomous vehicle to observe the driving state; and a compensation determination unit of correcting the action of the autonomous vehicle based on the RSS algorithm for the autonomous vehicle and the adaptive model predictive control system for the vehicle driven by human according to the recognition of safety, unsafety, failure, and the target compensation.

    본 발명은 비신호 교차로에서 책임민감성 안전이론과 부분적 관측 마르코프 결정 절차를 활용하여 효율적 통행이 가능하도록 한 비신호 교차로에서 자율주행차량의 개선된 통행을 위한 장치 및 방법에 관한 것으로, 부분관찰 마르코프 의사결정(Partial Observability Markov decision process ; POMDP) 알고리즘의 학습 상태를 초기화하는 상태 초기화부;자율주행차량 운행 최적화를 위한 POMDP 모델에 책임 민감성 안전 알고리즘(Responsibility-Sensitive Safty; RSS)을 적용하여 최적 행동을 도출하는 최적 행동 도출부;최적 행동 도출부에서 도출된 최적 행동을 실행하는 행동 실행부;자율주행차량의 비전 센서, 레이더 센서에서 관찰된 데이터를 제공받아 주행 상태를 관찰하는 상태 관찰부;안전, 비안전, 실패, 목표 보상 인지에 따라 자율주행 차량용 RSS 알고리즘과 인간 운전 차량용 적응형 모델 예측 제어 시스템(Adaptive Model Predictive Control System)에 기반한 자율주행 차량 행동 수정을 하는 보상 결정부;를 포함하는 것이다.


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    Title :

    System and Method for Improving Traffic for Autonomous Vehicles at Non Signalized Intersections


    Additional title:

    비신호 교차로에서 자율주행차량의 개선된 통행을 위한 장치 및 방법


    Contributors:

    Publication date :

    2022-07-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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