A Study on the Applicable Dynamic Platooning in Urban Road Environment

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☚⪲ 䢮ἓ㠦㍲㦮 㩗㣿 Ṗ⓻䞲

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ῆ㰧㭒䟟㠦

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ὖ䞲

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[email protected], [email protected], [email protected]

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A Study on the Applicable Dynamic Platooning

in Urban Road Environment

Su-Min Choi*, Soo-Yong Park**, Yong-Tae Shin* *Dept. of Computer Science, Soong-Sil University **Dept. of Convergence Software, Soong-Sil University

殚 檃檃 㾲⁒ 㧦㥾㭒䟟㹾⨟㦮 ₆㑶 Ṳ⹲㧊 䢫╖♮Ⳋ㍲ 㧊⯒ ₆⹮㦒⪲ 㤊㩚㧦, 㧎䝚⧒ ❇ ┺㟧䞲 ὖ㩦㠦 ㍲ 䣾ὒ⯒ ₆╖䞶 㑮 㧞⓪ ῆ㰧㭒䟟㠦 ╖䞲 ὖ㕂☚ 㩦㹾 ⏨㞚㰖ἶ 㧞┺. 䡚㨂 ἶ㏣☚⪲㠦㍲Ⱒ 㩗㣿 Ṗ⓻䞲 ῆ㰧㭒䟟 ₆㑶㧊 ㌗㣿䢪 ♮Ⳋ㍲ ᾦ㹾⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲ 䢮ἓ㠦㍲☚ 㧊⯒ 㩗㣿䞮₆ 㥚䟊 㡂⩂ 㧦☯㹾 㠛㼊㠦㍲ 㔲㓺䎲㦚 Ṳ⹲ 㭧㧊┺. 䞮㰖Ⱒ ₆㫊 ῆ㰧㭒䟟 ⹿㔳㦖 ῆ㰧㧊 䟊㼊♶ ἓ㤆 㹾 ⨟㧊 ┺㔲 ῆ㰧㦚 䡫㎇䞮ἶ ┺⯎ ῆ㰧㠦 Ṗ㧛䞮⓪ ὒ㩫㠦㍲ ⹲㌳䞮⓪ 㔲Ṛ㧊⋮ ゚㣿㩗㧎 䁷Ⳋ㠦㍲ ☚⪲ 㻮Ⰲ⨟ὒ 㔲Ṛ ┾㿫㧊⧒⓪ ⽎⧮ ῆ㰧㭒䟟㦮 ⳿䚲㠦 ⹎䂮㰖 ⴑ䞲┺. ➆⧒㍲ ⽎ ⏒ⶎ㦖 㹾⨟ Ṛ 㠦 㭒ἶ⹱⓪ Ⲫ㔲㰖⯒ Ṳ㍶䞮㡂 ῆ㰧㭒䟟 㞢ἶⰂ㯮㦚 ㌞⫃Ợ ㍺Ἒ䟊 ☚㔲 ☚⪲ 䢮ἓ㠦㍲☚ 㩗㣿 Ṗ ⓻䞲 ☯㩗 ῆ㰧㭒䟟㠦 ╖䟊 㩲㞞䞮㡖┺. 1. 昢嵦 䡚㨂 ἶ㏣☚⪲㠦㍲Ⱒ 㩲䞲㩗㦒⪲ 㩗㣿♮⓪ ῆ㰧㭒 䟟㦚 ᾦ㹾⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲₢㰖 䢫╖㔲䋺₆ 㥚䟊 ⽊㢚♮㠊㟒 䞶 ⿖⿚㧊 Ⱔ┺. ₆㫊 ῆ㰧㭒䟟 ⹿㔳㠦㍲ ⓪ ῆ㰧㧊 䟊㼊♮⓪ ἓ㤆㠦 Ⰲ▪ 㹾⨟㦚 㨂㍶㿲䞮㡂 ῆ㰧㦚 㨂䡫㎇ 䞮Ệ⋮ ┺⯎ ῆ㰧㠦 䞿⮮ 㣪㼃㦚 䞮㡂 ῆ㰧㠦 Ṗ㧛䞶 㑮 㧞┺. 㧊⩂䞲 ὒ㩫㦒⪲ 㧎䟊 ῆ㰧 㭒䟟㦚 䞮⓪ ◆ 㔲Ṛ㧊 㰖㡆♮ἶ ☚⪲ ㌂㣿 䁷Ⳋ㠦㍲ ☚ ゚䣾㥾㩗㧊⸖⪲ ☚⪲ ㌂㣿 㻮Ⰲ⨟㦚 㾲╖䢪䞲┺⓪ ⽎⧮ ῆ㰧㭒䟟 ⳿䚲㠦 ⹎䂮㰖 ⴑ䞲┺. ➆⧒㍲ ⽎ ⏒ⶎ㦖 ῆ㰧 䟊㩲 㔲 ☚⪲ 㻮Ⰲ⨟ὒ 㔲 Ṛ ┾㿫㦮 䣾㥾㎇㦚 ⏨㧊ἶ ☚⪲㠦㍲ ⹲㌳䞮⓪ ⶎ㩲 ㌗䢿㠦 ╖䟊 㔶㏣䞮Ợ ╖㦧䞶 㑮 㧞☚⪳ Ⰲ▪ 㹾⨟㠦 ㍲ 䤚⽊ Ⰲ▪㠦 ╖䞲 ⳿⪳㦚 㿪Ṗ䞮㡖┺. 㧊⓪ ἶ㏣ ☚⪲㈦Ⱒ 㞚┞⧒ ᾦ㹾⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲ 䢮ἓ㠦㍲ ☚ 㥶㡆䞮Ợ ῆ㰧㦮 ⿚Ⰲ ⹥ 㨂䡫㎇㧊 Ṗ⓻䞮☚⪳ 㭒 䟟 㭧㠦 㹾⨟ Ṛ㠦 㭒ἶ⹱⓪ Ⲫ㔲㰖㦮 䚲㭖㧎 SAE J2735 Message Protocol 㦚 Ṳ㍶䞮㡂 ῆ㰧㭒䟟 䐋㔶 㞢 ἶⰂ㯮㦚 ㌞⫃Ợ ㍺Ἒ䞮⓪ ⹿㞞㠦 ╖䟊 㡆ῂ⯒ 㰚䟟 䞮㡖┺. 2. 分崮 櫶割 ⽎ 㧻㠦㍲⓪ 㩲㞞䞮⓪ 㡆ῂ㦮 ₆⹮㧊 ♮⓪ ῆ㰧㭒 䟟ὒ 㹾⨟ Ṛ 䐋㔶 Ⲫ㔲㰖㧎 SAE J2735 Message Protocol 㠦 ╖䟊 ㍲㑶䞲┺. ͣ͑͟͢ 剶滗渂窏͑ ῆ㰧㭒䟟(Platooning)㦖 ⚦ ╖ 㧊㌗㦮 㹾⨟㧊 䞮⋮ ⪲ 㡆ἆ♲ ⪲✲ 䔎⩞㧎㦚 ῂ㎇䞮㡂 㤊䟟䞮⓪ ₆㑶 ⪲ 㧦㥾㭒䟟 ₆㑶ὒ 䞾℮ 㹾⨟ 㡆ἆ ₆㑶㧊 ⽋䞿㩗 㦒⪲ 㩗㣿♲ 㭒䟟 ⹿⻫㧊┺. ῆ㰧㭒䟟 㔲 ṗṗ㦮 㹾⨟✺㦖 䞮⋮㦮 ㎎䔎⪲ 㡆ἆ♮㠊 ㍲⪲ Ṗ₢㤊 Ệ Ⰲ⯒ 㥶㰖䞲 㺚 Ⱎ䂮 ₆㹾㢖 ṯ㦖 䟟⪂⪲ 㧊☯䞮Ợ ♲┺, ῆ㰧㭒䟟㦮 ㍶⚦㠦 㥚䂮䞲 㹾⨟㦖 Ⰲ▪ 㡃䞶 㦚 㑮䟟䞮Ⳇ, ⛺➆⯊⓪ 㹾⨟✺㦖 Ⰲ▪ 㹾⨟㦮 ἓ⪲ ⯒ ⁎╖⪲ ➆⧒ 㭒䟟䞲┺. 㧒⹮ ⳾✲⪲ 㭒䟟䞮⓪ 㹾⨟✺㧊 Ⱔ㦚 ➢ ⽊┺ ῆ 㰧 ⳾✲⪲ 㭒䟟䞮⓪ 㹾⨟㧊 Ⱔ㦚㑮⪳ ☚⪲⯒ 䣾㥾 㩗㦒⪲ ㌂㣿䞶 㑮 㧞┺. ⡦䞲 㤊㏷㧊⋮ ⳿㩗㰖 ☚ 㹿 㔲Ṛ㦚 ┾㿫㔲䌂 㑮 㧞㦒Ⳇ, 㧦㥾㭒䟟₆㑶㦚 ₆ ⹮㦒⪲ 䞮⸖⪲ 㤊㩚㧦✺㧊 㭒䟟 㭧 㩚䢪, 㡂Ṗ ㌳ 䢲 ❇ ┺⯎ 㠛ⶊṖ Ṗ⓻䟊㪢┺.

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ͣͣ͑͟΄ͲͶ͑ͻͣͨͤͦ͑;ΖΤΤΒΘΖ͑΁ΣΠΥΠΔΠΝ͑ ͑

WAVE(Wireless Access in Vehicular Environment) 䐋 㔶 ₆⹮㦮 㠊䝢Ⰲ䅖㧊㎮㠦㍲ ㌂㣿♮⓪ ◆㧊䎆 㣪㏢㢖 ◆㧊䎆 䝚⩞㧚㦒⪲ ῂ㎇♲ Ⲫ㔲㰖㎡㦮 䚲㭖㧊┺[1]. 㧊⓪ WAVE 䐋㔶 ₆⹮㦒⪲ 㩫㦮♮㠊 㧞㰖Ⱒ ┺⯎ ⶊ ㍶ 䐋㔶 ₆㑶㠦㍲☚ ㌂㣿㧊 Ṗ⓻䞮☚⪳ 㩫㦮♮㠊 㧞 ┺. ͑ 3. 壟洇汾 剶滗渂窏汊 氊穢 彚柢滆 稊嵢皦瑢 昪凊 愕 柢喞庲欪 ☚㔲 ☚⪲ 䢮ἓ㠦㍲☚ 㩗㣿 Ṗ⓻䞲 ☯㩗㧎 ῆ㰧㭒 䟟㦚 㥚䟊 ₆㫊㦮 Ⲫ㔲㰖 ῂ㫆㠦㍲ 䞮⋮㦮 䞚✲⯒ ▪ 㿪Ṗ䞮㡂 䤚⹿ 㹾⨟㠦㍲ Ⰲ▪ 㹾⨟㠦Ợ ῆ㰧㦮 ┺㦢 Ⰲ▪Ṗ ♶ 㑮 㧞Ợ 㤆㍶㑲㥚⯒ 㩫䞮⓪ ◆ 䞚㣪䞲 ㌗ 䌲 㩫⽊✺㦚 Ⲫ㔲㰖㠦 ╊㞚 ⽊⌊Ợ ♲┺. (⁎Ⱂ 1) 䤚⽊ Ⰲ▪ ㍶㩫㦚 㥚䞲 Ⲫ㔲㰖 䝚⩞㧚 㿪Ṗ 㤊㩚㧦Ṗ 㧊⹎ 䡫㎇♮㠊 㧞⓪ ῆ㰧㠦 Ṗ㧛䞮⩺ἶ 䞶 ➢ ῆ㰧 Ⰲ▪㠦Ợ 䞿⮮ 㣪㼃㦚 䞮Ợ ♮ἶ Ⰲ▪Ṗ 䞿⮮⯒ 㔏㧎䞮Ⳋ ῆ㰧 䞿⮮Ṗ 㢚⬢♲┺. ⁎ 䤚㠦 㤊 㩚㧦Ṗ ῆ㰧 䟊㼊 㔲㠦 㹾₆ Ⰲ▪Ṗ Ṗ⓻䞲㰖㠦 ╖䞲 ㌗䌲⯒ ἆ㩫䞲┺. ㍶䌳㦖 㹾⨟㦮 ㎒䎆 䗮㔲㞚㠦㍲ 㓺 䋂Ⰶ 䐋䟊 ῆ㰧㠦 䞿⮮䞶 ➢㈦Ⱒ 㞚┞⧒ 㤊㩚㧦Ṗ 㰗 㩧 ㍺㩫㦮 ㌗䌲⯒ ⼖ἓ䞶 㑮 㧞┺. 㧊 ㌗䌲 㩫⽊⓪ ⁎Ⱂ 1 㠦㍲ ◆㧊䎆 㣪㏢ (A)㠦 0 ⡦⓪ 1 㦮 䡫䌲⪲ 㩖㧻♮Ⳇ 0 㦖 䤚⽊ Ⰲ▪ ⿞Ṗ⓻, 1 㦖 䤚⽊ Ⰲ▪ Ṗ⓻ 㦚 㦮⹎䞲┺. ῆ㰧㦚 Ṗ㧛♮㠊 㧞⓪ 䤚䟟 㹾⨟ 㭧㠦㍲ 㡂⩂ ╖㦮 㹾⨟㧊 䤚⽊ Ⰲ▪ Ṗ⓻ ㌗䌲㧒 ἓ㤆Ṗ 㫊㨂䞲┺. 㧊 ⩂䞲 ἓ㤆㠦⓪ Ⰲ▪ 㹾⨟㠦㍲ 䤚䟟 㹾⨟✺㠦Ợ 㩚㏷ ⹱㦖 Ⲫ㔲㰖㦮 䤚⽊ Ⰲ▪ ◆㧊䎆 㣪㏢⯒ 䢫㧎䞮ἶ 䟊 ╏ 㹾⨟✺㦮 㹾⨟ ㌗䌲 㩫⽊⯒ ₆⹮㦒⪲ 䤚⽊ Ⰲ▪ 㹾⨟✺㦮 㤆㍶㑲㥚⯒ 㩫䞲┺. 䤚⽊ Ⰲ▪ 㹾⨟㦮 㤆㍶㑲㥚⯒ 㩫䟊 ⏩Ợ ♮Ⳋ ᾦ 㹾⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲ 䢮ἓ㠦㍲☚ ῆ㰧㭒䟟㧊 Ṗ⓻ 䟊㰚┺. ᾦ䐋 㔶䢎 ❇㦮 㡂⩂ Ṗ㰖 ⼖㑮⪲ 㧎䟊 ῆ㰧 㦮 㭧Ṛ㧊 ⿚Ⰲ♮▪⧒☚ 㤆㍶㑲㥚 㩫⽊⯒ 䐋䟊 㥶☯ 㩗㦒⪲ Ⰲ▪⯒ 㨂㍶㿲䞮㡂 ῆ㰧㦚 㥶㰖䞲┺ 㩲㞞䞲 Ⲫ㔲㰖 䝚⪲䏶䆲㦚 ₆⹮㦒⪲ 䞲 ῆ㰧㭒䟟 㔲⋮Ⰲ㡺⓪ (⁎Ⱂ 2)㢖 ṯ┺. (⁎Ⱂ 2) ῆ㰧㭒䟟 㔲⋮Ⰲ㡺 ⁎Ⱂ 2 㠦㍲ ‘(a)㩫㌗ 㭒䟟 㔲’㦮 ἓ㤆 ₆㫊 ῆ㰧㭒 䟟 ⹿㔳㠦㍲ 㭒䟟 㭧 㡂⩂ Ṗ㰖 ⼖㑮⪲ 㧎䟊 ῆ㰧㭒 䟟 䟊㼊♮⓪ ὒ㩫㦚 ⽊㡂㭖┺. Ⰲ▪ 㹾⨟㧊 ῆ㰧 ⳾ ✲㠦㍲ 㧒⹮ ⳾✲⪲ ⼖ἓ䞮Ⳋ ῆ㰧㦚 㧊⬾ἶ 㧞⓪ ⳾ ✶ 䤚䟟 㹾⨟✺₢㰖☚ 㧒⹮ ⳾✲⪲ ⼖ἓ♮ἶ 㧊⪲ 㧎 䟊 ῆ㰧㦖 䟊㼊♲┺. ῆ㰧㦚 Ἒ㏣䟊㍲ 㥶㰖䞮ἶ 㹾⨟ 㧊 㧞㠊☚ Ⰲ▪ 㹾⨟㧊 ⟶⋮⓪ 㑲Ṛ 䟊㼊♮⓪ ộ㧊┺. ┺㔲 ῆ㰧㦚 䡫㎇䞮⩺Ⳋ ⁎ 䤚䟟 㹾⨟ 㭧㠦㍲ ⑚ῆ ṖṖ ῆ㰧 Ⰲ▪⪲ ㍺㩫㦚 䟊㟒 䞲┺. ┺⯎ 䤚䟟 㹾⨟ ✺☚ ῆ㰧㠦 Ṗ㧛䞮⩺Ⳋ Ⰲ▪ 㹾⨟㠦Ợ 䞿⮮ 㣪㼃㦚 ⽊⌊ἶ Ⰲ▪ 㹾⨟㠦㍲ 㔏㧎㦚 ⹱㞚㍲ Ṗ㧛㦚 㢚⬢䞲 ┺. 㧊㢖 ṯ㦖 ὒ㩫㦖 ῆ㰧㠦 Ṗ㧛䞮₎ 㤦䞮⓪ 㹾⨟ 㧊 㧞㦚 ➢Ⱎ┺ ⹮⽋♲┺. ᾦ㹾⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲ 䢮ἓ㠦㍲⓪ 㔺㔲Ṛ㦒⪲ ⼖䞮⓪ ᾦ䐋㔶䢎 ⡦⓪ 㩫⽊⯒ 㩚㏷ ⹱㞚㟒 䞮₆ ➢ⶎ 㠦 ῆ㰧 㨂䡫㎇ ὒ㩫㦒⪲ 㧎䞲 㔲Ṛ 㰖㡆㧊 ⹲㌳䞮㰖 㞠㞚㟒 䞲┺. ⁎Ⱂ 2 㠦㍲ ‘(b)ῆ㰧 Ⰲ▪ ⼖ἓ 㔲’㦮 ἓ㤆 䤚⽊ Ⰲ ▪ 㹾⨟㦚 㿪Ṗ䞮㡂 ῆ㰧㦚 㥶㰖䞮⓪ ὒ㩫㦚 ⽊㡂㭖

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┺. 㧒⹮ 㹾⨟㧊 㻮㦢 ῆ㰧㠦 Ṗ㧛䞶 ➢ 䤚⽊ Ⰲ▪ Ṗ⓻ ㌗䌲⯒ ㍺㩫䞮㡂 0 ⡦⓪ 1 㦮 䡫䌲⪲ Ⰲ▪ 㹾⨟ 㠦Ợ 㩚㏷䞲┺. ῆ㰧 ⌊㦮 䤚⽊ Ⰲ▪ Ṗ⓻ 㹾⨟㧊 ┺ 㑮㧒 ἓ㤆 Ⰲ▪ 㹾⨟㠦㍲ ṗṗ㦮 㹾⨟㧊 Ṗ㧛䞶 ➢ 㩚㏷䞲 㹾⨟㦮 ㌗䌲 㩫⽊⯒ 䕢㞛䞮㡂 䤚⽊ Ⰲ▪ 㤆㍶ 㑲㥚⯒ 㩫䞲┺. 㧊 㤆㍶㑲㥚 㩫⽊⯒ 䤚⽊ Ⰲ▪ Ṗ⓻ 㹾⨟✺㠦Ợ 㩚㏷䞮ἶ 䟊╏ 㹾⨟✺㦖 㧊 㩫⽊⯒ 㥶㰖 䞮Ⳋ㍲ 㭒䟟䞲┺. ῆ㰧㭒䟟 㭧㠦 ῆ㰧㧊 䟊㼊♮₆ 㰗㩚㦮 ㌗䢿㧒 ➢ 䤚⽊ Ⰲ▪ Ṗ⓻ 㹾⨟✺㦖 Ⰲ▪ 㹾⨟㦒⪲⿖䎆 ⹱㦖 㤆 ㍶㑲㥚㠦 ➆⧒ 1 㑲㥚 㹾⨟㦚 ㌞⪲㤊 Ⰲ▪ 㹾⨟㦒⪲ 䕢㞛䞲┺. ㌞⪲㤊 Ⰲ▪⓪ ῆ㰧㦮 Ⰲ▪ 㹾⨟ ID ⯒ 㧦 㔶㦮 㹾⨟ ID ⪲ ⼖ἓ䞲┺. ⼖ἓ♲ Ⰲ▪ 㹾⨟ ID Ṗ 䙂䞾♲ Ⲫ㔲㰖⯒ ⋮Ⲏ㰖 䤚⽊ Ⰲ▪ Ṗ⓻ 㹾⨟㠦Ợ 㩚 ㏷䞲┺. 䤚⽊ Ⰲ▪ 㹾⨟㦮 㤆㍶㑲㥚⯒ 㩫䟊 ⏩Ợ ♮Ⳋ ᾦ㹾 ⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲ 䢮ἓ㠦㍲☚ ῆ㰧㭒䟟㦚 㩗㣿䞮 ⓪ ộ㧊 Ṗ⓻䟊㰚┺. ᾦ䐋 㔶䢎 ❇㦮 㡂⩂ Ṗ㰖 ⼖㑮 ⪲ 㧎䟊 ῆ㰧㦮 㭧Ṛ㧊 ⿚Ⰲ♮▪⧒☚ 㤆㍶㑲㥚 㩫⽊ ⯒ ₆⹮㦒⪲ 㰖㡆 㠜㧊 Ⰲ▪⯒ ᾦ㼊䞮㡂 ῆ㰧㦚 㥶㰖 䞲┺. 4. 冶冶嵦 ⽎ ⏒ⶎ㠦㍲⓪ ₆㫊 ῆ㰧㭒䟟 ⹿㔳㠦㍲ ⹲㌳䞮⓪ 䔎⧮䞓 ὒ⿖䞮, 㔲Ṛ 㰖㡆 ⶎ㩲㩦㦚 Ṳ㍶䞮₆ 㥚䟊 ῆ㰧 䤚⽊ Ⰲ▪ 㹾⨟㦮 㤆㍶㑲㥚⯒ 㿪Ṗ䞮㡖┺. 㧊⯒ ₆⹮㦒⪲ ᾦ㹾⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲ 䢮ἓ㠦㍲☚ ῆ㰧 㭒䟟㦚 㩗㣿䞶 㑮 㧞⓪ ⹿㞞㠦 ╖䟊 㩲㞞䞮㡖┺. ᾦ䐋 ㌗䢿㧊⋮ Ⰲ▪ 㹾⨟㦮 ⼖㑮⪲ 㧎䟊 Ⰲ▪Ṗ ⼖ ἓ♮㠊㟒 䞮⓪ ἓ㤆㠦 ₆㫊ὒ ╂Ⰲ, ῆ㰧㦚 ⿚Ⰲ䞮㰖 㞠ἶ 㔶㏣䞮Ợ Ⰲ▪⯒ ⼖ἓ䞮㡂 㥶㡆䞲 ῆ㰧㭒䟟㧊 Ṗ⓻䟊㪢┺. 㧊⪲ 㧎䟊 ἶ㏣☚⪲ 䢮ἓ㠦㍲Ⱒ 㩗㣿㧊 Ṗ⓻䟞▮ ῆ㰧㭒䟟㦚 㔶䢎❇ὒ ᾦ㹾⪲Ṗ Ⱔ㦖 ☚㔲 ☚⪲ 䢮ἓ㠦㍲☚ 㩗㣿䞶 㑮 㧞Ợ ♮㠞┺. 㹾⨟ὒ 㹾⨟ Ṛ㠦⓪ 㹾⨟㦮 ID 㢖 㭒䟟㠦 䞚㣪䞲 㡂⩂ Ṗ㰖 㩫⽊Ṗ 䕾䌍㠦 ╊Ỿ ◆㧊䎆 㩚㏷㧊 㧊⬾㠊 㰚┺. ⁎⩂⸖⪲ ⽊㞞㦚 ṫ䢪䞮㡂 㹾⨟ 㤊㩚㧦 ⡦⓪ ῆ㰧㦚 㧊⬾ἶ 㧞⓪ 㹾⨟✺㦮 㞞㩚㦚 ⽊䢎䞶 㑮 㧞⓪ 㹾⨟ 㩫⽊ 䟊䌏 ⹿㰖 ⡦⓪ 䌦㰖 㞢ἶⰂ㯮㦚 Ṳ⹲䞮⓪ 㡆ῂṖ 䞚㣪䞮┺. ACKNOWLEDGMENT 㧊 ⏒ⶎ㦖 2017 ⎚☚ 㩫⿖(ὒ䞯₆㑶㩫⽊䐋㔶⿖)㦮 㨂㤦㦒⪲ 㩫⽊䐋㔶₆㑶㰚䦻㎒䎆㦮 㰖㤦㦚 ⹱㞚 㑮䟟 ♲ 㡆ῂ㧚 (No.IITP-2017-0-00724, ㎖⭆⩂ ₆⹮ ㌆㠛 㧦☯䢪 㔲㓺䎲 ῂ㿫㦚 㥚䞲 5G ㎇⓻ 䞲Ἒ ⁏⽎ 㩖㰖 㡆, ἶ㔶⬆, 㽞㡆ἆ 䐋䞿 䟋㕂₆㑶 Ṳ⹲) 焾処怾竒

[1] TTAS, “Communication Protocol for Group Driving ,” “TTAK.KO-06.0439ペ

[2] Inès Ben Jemaa, “Multicast communications for cooperative vehicular systems ,” “Robotics [cs.RO]” Ecole Nationale Supérieure des Mines de Paris, 2014

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