자율 주행 차량 인지, 판단 제어

Autonomous Vehicles Perception, Decision Making Control

천동현
(DongHyeon Cheon1)
1Department of Electronics Engineering, Kyeongpook National University

Abstract: Research on autonomous driving cars, which operate without human intervention by applying control technology to
vehicles, is actively underway, focusing on commercialization and popularization. In the case of autonomous vehicles, if errors are
caused through attacks via security vulnerabilities, it can directly harm drivers or pedestrians, making the study of security
vulnerabilities and security technologies a critical part of the commercialization and popularization of autonomous vehicles. This
paper describes the current technology level and operating principles of autonomous driving cars, examines security threat elements
to autonomous vehicles and explains the types of protections that can safeguard drivers or pedestrians from these security threats.

Keywords: Autonomous Vehicles, Perception, Decision Making, Control

I. Introdutction the driving environment information collected through

Based on the advancements in IoT technology, our quality of life is
increasingly being enhanced. Autonomous driving cars, developed by
applying IT technology to vehicles, operate without human
intervention, thus increasing convenience for drivers. The market for
autonomous vehicles is expanding annually due to advantages such as
the reduction in traffic accidents, increased accessibility to driving, the
ability to perform various tasks inside the vehicle while it is in
operation, and smooth mobility due to autonomous traffic flow
analysis. Consequently, the number of vehicles capable of
autonomous driving continues to grow.
With the emergence of autonomous vehicles, manufacturers and
software companies are entering the autonomous vehicle market to
research technologies that can protect drivers and pedestrians from
security threats that may arise while using autonomous vehicles.
Additionally, in the event of an accident involving an autonomous
vehicle, the importance of technology in the cognitive/judgment
control area is being emphasized in the popularization of autonomous
vehicles, not only because of the physical damage but also due to the
direct harm it can pose to drivers and pedestrians. This content
examines the basic concept of autonomous vehicles, the ongoing
development trends, and challenges in autonomous vehicle
technology, and explains the problems occurring in this area.
The structure of this content is organized into Ch. 2: The Concept of
Autonomous Vehicles, Ch. 3: Technology Trends and Challenges in
Autonomous Vehicles, and Ch. 4: Problems Arising from Trends,
concluding with a summary.
perception technology. The harmony between perception and
decision-making technologies determines the completeness of
autonomous driving. Control technology, based on perception
and decision-making, decides on engine operation, driving
direction, and other steering variables according to specific
driving situations, focusing on accident prevention and safety.
2.1 Perception Technology
In autonomous vehicles, perception functions like human
eyes, receiving various information about the surrounding
environment through cameras, radar, LiDAR, and other ADAS
sensors attached to the vehicle. Perception technology is
crucial for autonomous vehicles. For example, during a test
run of an Uber autonomous vehicle in Arizona in 2018, a
person crossing the road was mistaken for another car, leading
to a fatal accident. This shows how errors in perception
technology can directly harm people and cause fatalities.
Unlike humans, who can intuitively distinguish types of
obstacles, ADAS sensors struggle with natural problems like
blind spots and backlighting, making it difficult to
differentiate between living and non-living things. Research to
reduce these sensor errors is ongoing, with precision maps
being developed to identify terrain and landmarks within a 10-
20 cm error range, offering benefits like reduced errors,
enhanced AI learning capabilities, reduced data volume for
real-time analysis, improved environmental friendliness,
battery efficiency management, and provision of static and
dynamic information. Accurate perception technology is
essential for the commercialization and popularization of
autonomous vehicles.
2.2 Decision-making/Control Technology

II. Autonomous Vehicles Definition Decision-making in autonomous driving involves

The basic principles of autonomous driving are based on
perception, decision-making, and control. Perception
technology enables autonomous vehicles to understand their
surrounding environment, including traffic conditions and
driving environments, using GPS, cameras, radar, etc., to
recognize and collect current driving environment
information. Decision-making technology involves making the
most appropriate decisions for autonomous vehicles based on
evaluating the situation after estimating the vehicle's
position and acquiring information about the surrounding
environment through perception technology. Autonomous
vehicles can determine the optimal route to the destination,
create driving routes, and perform actions like lane changes
or overtaking based on road information from precision
maps. Information collected is processed through sensor
fusion to create object parameters for action decisions. The
control function decides on braking, direction, and steering,
 based on decisions made in the decision-making phase,
marking a significant advancement in vehicle operation.
III. Technology Trends in Autonomous Vehicles
Autonomous vehicles are equipped with various sensors
and communicate through external networks for vehicle-to-
vehicle and vehicle-to-infrastructure communication,
enabling smooth autonomous driving. However, this allows
attackers to launch attacks that can cause physical harm or
direct damage to humans.
vehicle technology and explores the security threats emerging in
autonomous vehicles, as well as the trends in security technologies being
researched and developed for safe autonomous driving. As reviewed in the
paper, security threats to autonomous vehicles continue to arise, and research
into security technologies to counter these threats is ongoing. Given that
minor errors in autonomous vehicles can cause not only physical damage
but also severe harm to humans, continuous security technology
research/application and empirical testing are necessary for the
commercialization and popularization of autonomous vehicles.

3.1. GPS (Global Positioning System)

GPS plays a crucial role in estimating the vehicle's REFERENCES

position in autonomous driving. The increase in the number [1] Scott Drew Pendleton “UPerception, Planning, Control, and Coordination
of satellites in the public domain has made GPS data more
for Autonomous Vehicles“, National University of Singapore
accessible, but attackers can manipulate GPS data to
misguide the system, potentially compromising the safety [2] Myerongsoo Kim “A Study on the Activation and Introduction of
of drivers and pedestrians. GPS spoofing and jamming
Autonoumous Vehicles“
attacks, where incorrect signals/data are transmitted, can
lead to unintended situations by reprogramming the GPS [3] Soonhong Kwon, “자율 주행 자동차 보안 위협 및 기술 동향”
receiver to pick up stronger signals, altering the vehicle's
intended position to one desired by attackers.

3.2 IMU (Inertial Measurement Unit)

Combining gyroscopes and accelerometers, IMUs

provide speed, acceleration, and direction data for vehicles.
IMUs can compensate for GPS errors, monitoring and
diagnosing the vehicle's position, direction, and
surrounding environment. However, spoofing and jamming
attacks can disable the IMU, leading to critical situations,
such as failing to recognize slopes while driving, resulting
in unexpected accidents with nearby vehicles.

3.3. LiDAR (Light Detection And Ranging)

LiDAR creates a 3D map of the environment and

obstacles by firing laser beams and measuring their
reflection times, playing a central role in autonomous
driving. However, attackers can mislead autonomous
vehicles by sending signals at the same frequency to the
scanner, causing the vehicle to slow down or stop.

3.4. Cameras

Cameras are used for lane detection, traffic signal

recognition, headlight detection, and obstacle detection.
Attackers can partially disable cameras by manipulating the
lighting from oncoming vehicles, causing misidentification
or failure to detect objects, posing safety risks to drivers
and pedestrians. Therefore, security technologies and
solutions for recognition errors are needed.

IV. Conclusion
. The autonomous vehicle market is expanding annually due to advantages
such as the reduction in traffic accidents, increased accessibility to driving,
and the ability to perform various tasks while the vehicle is in operation. Not
only automotive manufacturers but also ICT companies are conducting
research and development for the commercialization and popularization of
autonomous vehicles.
This paper examines the ongoing development trends in autonomous