ScholarWorks@성균관대학교

초록

In this study, based on Vehicle to Vehicle (V2V) communication and Light Detection and Ranging (LiDAR), a platooning system was designed and implemented to develop cooperative driving technology between autonomous trucks. To this end, the RA6M5 board and Robot Operating System (ROS) architecture were combined to realize the vehicle's real-time control system. The key of this study is to compare and evaluate the distance maintenance performance of the cooperative control method using both V2V communication and LiDAR sensor data and the independent control method that relies only on LiDAR sensor data. As a result of the experiment, it was confirmed that the control method combining V2V communication showed much more stable performance of maintaining the distance between vehicles, especially in dynamic situations such as deceleration and emergency stop. This suggests that V2V communication is a key factor in ensuring the stability and safety of the platooning system.

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