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chapter 1. ÃÑ·Ð
1-1. ÀÚÀ²ÁÖÇàÂ÷·®ÀÇ Á¤ÀÇ
1. ÀÚÀ² ¹× ÀÚÀ²ÁÖÇàÂ÷·®ÀÇ Á¤ÀÇ
2. SAE J3016, µµ·Î ÀÚµ¿Â÷¿ë ¿îÀü ÀÚµ¿È ½Ã½ºÅÛ °ü·Ã ¿ë¾îÀÇ ºÐ·ù ¹× Á¤ÀÇ
1-2. ÀÚÀ²ÁÖÇàÂ÷·®ÀÇ ¿ª»ç
chapter 2. Çϵå¿þ¾î-¼¾¼
2-1. ¼¾¼ °³¿ä
1. ¼öµ¿ ¼¾¼¿Í ´Éµ¿ ¼¾¼
2. ¼¾¼µé¿¡ Àû¿ëµÈ ÁÖÆļö ½ºÆåÆ®·³
3. ¼¾¼ À¶ÇÕ °ü·Ã, ÁÖ¿ä °í·Á»çÇ×
4. ¹«¼± °íÁÖÆÄ(RF) Åë½Å ½Ã½ºÅÛÀÇ ±âº» °³³ä
5. ÀÚÀ²ÁÖÇàÂ÷·®ÀÇ ½Ã½ºÅÛ °èÃþ ±¸Á¶ ¿ä¾à
2-2. ·¹ÀÌ´õ(RADAR)
1. °³¿ä
2. ·¹ÀÌ´õÀÇ ÀÛµ¿¿ø¸®
3. FMCW ¹æ½Ä¿¡¼ °Å¸®, ¼Óµµ, ºÐÇØ´É
4. ¾ÈÅ׳ª ½Ã½ºÅÛ(Antenna system)
5. ´ÙÁß ºö/´ÙÁß ·¹ÀÎÁö(multi-beam/multi-range) ·¹ÀÌ´õ
6. ·¹ÀÌ´õÀÇ Àå´ÜÁ¡°ú ·¹ÀÌ´õ ±â¼úÀÇ ¹Ì·¡
2-3. ÃÊÀ½ÆÄ ¼¾¼(SONA)
1. ÃÊÀ½ÆÄ ¼¾¼ÀÇ ¹°¸®Àû Ư¼º
2. ÃÊÀ½ÆÄ ¼¾¼ÀÇ Àå´ÜÁ¡
3. ÀÚµ¿Â÷ »ê¾÷¿¡¼ ÃÊÀ½ÆÄ ¼¾¼ÀÇ ÀÌ¿ë
2-4. ¶óÀÌ´Ù(LiDAR)
1. °³¿ä
2. ¶óÀÌ´Ù(LiDAR)ÀÇ ÀÛµ¿¿ø¸®
3. ¶óÀÌ´Ù(LiDAR)ÀÇ Á¾·ù ¹× ÀÛµ¿¿ø¸®
2-5. µðÁöÅÐ ºñµð¿À Ä«¸Þ¶ó
1. ½ÇÈ»ó(RGB) Ä«¸Þ¶óÀÇ ±¸Á¶ ¹× ÀÛµ¿¿ø¸®
2. ¾ÖÇø®ÄÉÀ̼Ç(Applications)
3. ½ºÅ×·¹¿À Ä«¸Þ¶ó(Stereo Camera)-°ã´« Ä«¸Þ¶ó
4. ¾ß°£ Åõ½Ã Ä«¸Þ¶ó(Night Vision camera)
5. Â÷·® ½Ç³» °¨½Ã
2-6. e-È£¶óÀÌÁð(e-Horizon)
1. Àü¿ª Ç×¹ý À§¼º ½Ã½ºÅÛ(GNSS)
2. À§¼º±â¹Ý(SBAS)À§Ä¡ º¸Á¤½Ã½ºÅÛ
3. DGPS¿Í RTK
4. Á¤¹Ð ´Üµ¶ ÃøÀ§(PPP: Precision Point Positioning)
5. Â÷·® ³»ºñ°ÔÀÌ¼Ç ½Ã½ºÅÛ
2-7. °ü¼º ÃøÁ¤ÀåÄ¡(IMU)¿Í ÁÖÇà°Å¸® ÃøÁ¤°è
1. °ü¼º ÃøÁ¤ÀåÄ¡(IMU: Inertial Measurement Unit)
2. ÁÖÇà°Å¸®°è(Wheel Odometry)
3. Àü¿ªÀ§¼ºÇ×¹ý ½Ã½ºÅÛ(GNSS)°ú °ü¼ºÇ×¹ý ½Ã½ºÅÛ(INS)ÀÇ À¶ÇÕ
2-8. ¼¾¼ ¿ä¾à
chapter 3. ½Ã½ºÅÛ ¾ÆÅ°ÅØóSystem Architecture
3-1. ÄÄÇ»Æà Ç÷§Æû-Çϵå¿þ¾î
1. ÁÖ¿ä °í·Á»çÇ×
2. ÁÖ¿ä ½Ã½ºÅÛ ¹ÝµµÃ¼(main system semi-conductors)
3. ½ÇÁ¦ ÄÄÇ»Æà Ç÷§ÆûÀÇ ¿¹
3-2. ¹Ìµé¿þ¾î °èÃþ
1. ·Îº¿ ¿î¿µÃ¼Á¦(ROS)
2. ÀÚµ¿Â÷ µ¥ÀÌÅÍ ¹× ½Ã°£ Æ®¸®°Å ÇÁ·¹ÀÓ¿öÅ©(EBAssist ADTF)
3. ÀÚµ¿Â÷ °³¹æÇü ½Ã½ºÅÛ ¾ÆÅ°ÅØó-AUTOSAR
3-3. ÀÀ¿ë ÇÁ·Î±×·¥ °èÃþ
3-4. ¾×Ãß¿¡ÀÌÅÍ ÀÎÅÍÆäÀ̽º
1. °³¿ä
2. ¿ÍÀÌ¾î ±¸µ¿¹æ½Ä ±â¼ú(Drive by wire)
chapter 4. Â÷·®¿ë ÀΰøÁö´ÉArtificial Intelligence for Vehicles
4-1. ÀΰøÁö´É
1. ÀΰøÁö´ÉÀÇ Á¤ÀÇ(Definition of Artificial Intelligence)
2. ±â°èÇнÀ(machine learning)
3. ½ÉÃþÇнÀ(Deep Learning)
4. Àǹ̷ÐÀû Ãß»óÈ ÇнÀ°ú Á¾´Ü °£ ÇнÀ
5. ¿ä¾à
4-2. ÇÏÀ̺긮µå ÀΰøÁö´É ½Ã½ºÅÛ
1. ½ÉÃþÇнÀ ½Å°æ¸Á ÀΰøÁö´É(AI) ±â¼úÀÇ ¹®Á¦Á¡
2. ÇÏÀ̺긮µå ÀΰøÁö´É ½Ã½ºÅÛ(hybrid AI system)
4-3. ±âŸ ±â¹ý
1. ±â°èÇнÀ °ü·Ã ±â¹ý
2. À¯Àü ¾Ë°í¸®Áò- °ÈÇнÀ ±â¹ý
3. »ç·Ê ±â¹Ý Ãß·Ð(case-based reasoning)
4. ³í¸®Àû Ãß·Ð(logical reasoning)
5. ´ÙÁß ¿¡ÀÌÀüÆ® ½Ã½ºÅÛ(multi-Agent system)
6. PAC(Probably approximately correct) ÇнÀ
chapter 5. ÁÖÇàȯ°æ°ú Â÷·®ÀÇ »óÈ£ÀÛ¿ë
5-1. °³¿ä
5-2. ÀÎÁö
1. ICP ¾Ë°í¸®Áò°ú SLAM(µ¿½ÃÀû À§Ä¡ÃßÁ¤ ¹× ÁöµµÀÛ¼º)
2. À§Ä¡ ÃßÁ¤(·ÎÄöóÀÌÁ¦À̼Ç)
5-3. Áöµµ ÀÛ¼º
1. Áöµµ µ¥ÀÌÅÍ ±¸Ãà ¹× ÃàÀû ¹æ¹ý
2. °íÁ¤¹Ð µðÁöÅÐ ÁöµµÀÇ 5°èÃþ
3. °íÁ¤¹ÐÁöµµ Á¤º¸ È°¿ë
4. ÀÚÀ²ÁÖÇàÂ÷·®ÀÇ ÁöµµÀÛ¼º
5. Á¤¹Ð(HD)-Áöµµ¸¦ ÀÌ¿ëÇÏÁö ¾Ê´Â Á¢±Ù¹æ¹ýÀÇ ½Ãµµ(¿¹)
5-4. °³Ã¼ °¨Áö
1. °³Ã¼ °¨Áö °³¿ä
2. Ư¡ ÃßÃâ(feature extraction)
3. ºÐ·ù(Classification)
5-5. ¼¾¼-µ¥ÀÌÅÍ À¶ÇÕ
1. ¼¾¼À¶ÇÕ Á¢±Ù¹æ½Ä
2. ÁÖÇà Àå¸éÀÇ Ç¥Çö(Representation of the driving scene)
3. ÀΰøÁö´É(AI) ±â¹Ý ¼¾¼-µ¥ÀÌÅÍ À¶ÇÕ
4. ¼¾¼ µ¥ÀÌÅÍ À¶ÇÕÀÇ ½ÇÁ¦ ¿¹
chapter 6. ÁÖÇàȯ°æ¿¡¼ Â÷·®ÀÇ ÀÇ»ç°áÁ¤ ¹× Á¦¾î
6-1. °èȹ-±ËÀû°èȹ
1. °èȹÀÇ Á¤ÀÇ¿Í ºÐ·ù
2. ±ËÀû °èȹ(Trajectory planning)ÀÇ ÀϹÝÀû Ư¼º
3. ºÎÁ¶Á¾»ç(Co-pilot project) ¾Ë°í¸®Áò - HAVEit ÇÁ·ÎÁ§Æ®
6-2. ÁÖÇà±ËÀû°ú ÁÖÇà¼ÓµµÀÇ °è»ê
1. Á¾¹æÇâ(Â÷·®ÀÇ Àü/ÈÄ ¹æÇâ) Á¦¾î(Longitudinal control)9
2. Ⱦ(°¡·Î)¹æÇâ Á¦¾î(Lateral control)
6-3. ¸ð¼Ç Á¦¾î ¹éÅÍ »ý¼º°ú Â÷·®Á¦¾î
1. ¸ð¼Ç Á¦¾î º¤ÅÍÀÇ »ý¼º(Production of motion control vector)
2. Â÷·® Á¦¾î(Vehicle control)
chapter 7. Â÷¼¼´ë Áö´ÉÇü ±³Åë ü°è¿Í Â÷·®-»ç¹° °£ Åë½Å
7-1. Â÷¼¼´ë Áö´ÉÇü ±³Åë ü°è
1. Â÷¼¼´ë Áö´ÉÇü ±³Åëü°èÀÇ Á¤ÀÇ ¹× ±¸¼º ¿ä¼Ò
2. V2X(Vehicle to Everything: Â÷·®°ú »ç¹° °£) Åë½Å
3. V2X(Vehicle to everything: Â÷·®-»ç¹° °£ Åë½Å) Ç¥ÁØ
4. DSRC¿Í C-V2X ±â¼úÀÇ ºñ±³ ¹× Àü¸Á
5. V2X »ç¿ë »ç·Ê(V2X use cases)
7-2. ¹é-¿£µå ½Ã½ºÅÛ
1. ¹é-¿£µå ½Ã½ºÅÛÀÇ Çʿ伺
2. ¹é-¿£µå ½Ã½ºÅÛÀÇ ÁÖ¿ä ±â´É
chapter 8. Â÷·®ÀÇ ±â´ÉÀû ¾ÈÀü, »çÀ̹ö º¸¾È ¹× °³ÀÎÁ¤º¸ º¸È£
8-1. Â÷·®ÀÇ ±â´ÉÀû ¾ÈÀü
1. ±â´ÉÀû ¾ÈÀü °³¿ä
2. ISO 26262(Road vehicles - Functional safety: µµ·ÎÂ÷·®-±â´ÉÀû ¾ÈÀü)
8-2. »çÀ̹ö º¸¾È
1. °ø°Ý º¤ÅÍ¿Í °ø°Ý Ç¥¸é(attack vectors & attacks)
2. Â÷·®ÀÇ ¼ö¸í Àüü ±â°£¿¡ °ÉÄ£ »çÀ̹ö º¸¾È À§Çè °ü¸®
3. Â÷·® »çÀ̹ö º¸¾È ±â¼ú ±ÇÀå »çÇ×
4. Çϵå¿þ¾î¿Í ¼ÒÇÁÆ®¿þ¾î º¸¾È
5. ³×Æ®¿öÅ© Åë½Å º¸¾È(Secure network communication)
8-3. ÀÚÀ²ÁÖÇàÂ÷·®°ú °³ÀÎÁ¤º¸ º¸È£
1. °³ÀÎÁ¤º¸¿¡ °üÇÑ ¹ý·üÀû Á¤ÀÇ
2. ÀÚÀ²ÁÖÇàÂ÷·®°ú °³ÀÎÁ¤º¸ÀÇ »ó°ü°ü°è
3. Â÷·®À» ÅëÇÑ °³ÀÎÁ¤º¸ ´©¼³°ú »ç»ýÈ° ħÇØ
chapter 9. Àû¿ë »ç·Ê¿Í ¹Ì·¡ Àü¸Á
9-1. Àû¿ë »ç·Ê
1. ¿î¼Û ±³Åë ¿µ¿ª
2. ¿î¼Û ºÎ¹® ÀÌ¿ÜÀÇ »ç¿ë »ç·Ê
9-2. ÀÚÀ²ÁÖÇà±â¼ú ·Îµå¸Ê
1. µ¶ÀÏ ÀÚµ¿Â÷ »ê¾÷°èÀÇ ±â¼ú ·Îµå¸Ê
2. ƯÇ㸦 ±â¹ÝÀ¸·Î ÇÑ Çõ½ÅÀû °Á¡
3. ¹Ì±¹¿¡¼ÀÇ ¼³¹®Á¶»ç¿¡ µû¸¥ ·Îµå¸Ê
9-3. ÀÚÀ²ÁÖÇàÂ÷·®ÀÇ Àå´ÜÁ¡ ¹× °úÁ¦
1. ÀáÀçÀû ÀåÁ¡ ¹× Àå¾Ö¹°
2. ¹ÌÇØ°á °úÁ¦
3. ¿¡Çʷα×
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