Today, a lot of research on autonomous driving technology is being conducted, and various vehicles with autonomous driving functions, such as ACC (adaptive cruise control) are being released. The autonomous vehicle recognizes obstacles ahead by the fusion of data from various sensors, such as lidar and radar sensors, including camera sensors. As the number of vehicles equipped with such autonomous driving functions increases, securing safety and reliability is a big issue. Recently, Mobileye proposed the RSS (responsibility-sensitive safety) model, which is a white box mathematical model, to secure the safety of autonomous vehicles and clarify responsibility in the case of an accident. In this paper, a method of applying the RSS model to a variable focus function camera that can cover the recognition range of a lidar sensor and a radar sensor with a single camera sensor is considered. The variables of the RSS model suitable for the variable focus function camera were defined, the variable values were determined, and the safe distances for each velocity were derived by applying the determined variable values. In addition, as a result of considering the time required to obtain the data, and the time required to change the focal length of the camera, it was confirmed that the response time obtained using the derived safe distance was a valid result.

The automobile industry has developed dramatically in recent years, the supply of vehicles has also increased, and thus it has become deeply established in everyday life. Recently, as the supply of vehicles with autonomous driving functions increases, the safety of vehicles is also an emerging issue. Various car-following models for the safe driving of vehicles have long been studied by various people, and recently, a Responsibility-Sensitive Safety (RSS) model has been proposed by Mobileye. However, in existing car-following models or the RSS model, the safe distance between vehicles is presented using only vehicle speed and acceleration information, so there is a limitation in that it cannot respond to changes in road conditions due to the weather. In this paper, in order to ensure safety when the RSS model is applied to a variable focus function camera, an improved RSS model is presented in consideration of the changes in road conditions due to changes in weather, and a safety distance is derived based on the proposed model.