• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2368-2371
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• 2003

알려지지 않은 환경에서 이동로봇이 목표점까지 이동하기 위해서는 외계센서를 이용하여 장애물을 인식하여 충돌 없이 주행할 수 있는 능력이 있어야하고 또한 인식된 장애물을 지도정보로 저장하여야 한다. 이렇게 생성된 지도정보를 이용하여 최적의 경로를 실시간으로 계획하면서 목표점까지 도달하여야 한다. 본 논문에서는 초음파 센서로 알려지지 않은 환경을 인식하여 선분지도를 생성하면서 생성된 선분지도를 이용하여 동적으로 최적의 경로계획을 위한 경로생성에 대하여 방법을 제시한다. 또한 실내 환경에서 모의실험을 통하여 실시간으로 경로계획이 가능함을 확인하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.394-399
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• 2010

This paper presents to study the velocity control method of AGV for heavy material transport. Generally, in the industries, fork-type AGV using path tracking requires high stop-precision with performing operations for 20 hours. To obtain the high stop-precision of AGV for heavy material transport, AGV requires driving technic during low speed. Hence, we use encoder with keeping the speed of AGV and study the velocity control method to improve for the stop-precision of AGV. To experiment the proposed the velocity control method, we performed the experiments engaging the pallet located 4m in front of the AGV. In the experimental result, the maximum error of stop-precision was less than 18.64mm, and we verified that the proposed method is able to control stable.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.1
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• pp.76-90
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• 2022

The platooning refers to a form in which one or more following vehicles along the path of the leading vehicle(directly driven by the driver) drive in one platoon using V2V, V2I communication and vehicle-mounted sensor. Platooning has emerged in line with the increasing demand for cargo volume and advanced transportation logistics systems, and is expected to have effects such as increasing capacity, reducing labor costs, and reducing fuel consumption. However, compared to general passenger cars, research on autonomous driving of trucks and verification of their effects are insufficient. Therefore, in this study, meta-analysis was conducted on the theme of the effect of truck platooning, and the results of existing studies related to platooning effects were integrated into one reliable, generalized, and objective summary estimate. In conclusion, it was analyzed that the introduction of truck platooning would have an effect of 13.93% increase in capacity, 38.76% decrease in conflict, and 8.13% decrease in fuel consumption.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3D
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• pp.453-459
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• 2006

This paper presents an experimental evaluation of wandering effect on asphalt concrete pavement responses. A laser-based wandering system has been developed and its performance is verified under various field conditions. The portable wandering system composed of two laser sensors with Position Sensitive Devices can allow one to measure the distance between laser sensors and tire edges of moving vehicle. Therefore, lateral position of each wheel on the pavement can be determined in a real time manner. Pavement responses due to different loading paths are investigated using a roll over test which is carried out on one of asphalt surfaced pavements in the Korea Highway Corporation test road. The pavement section (A5) consists of 5 cm thick surface course; 7 cm intermediate course; and 18 mm base course, and is heavily instrumented with strain gauges, vertical soil pressure cells and thermo-couples. From the center of wheel paths, seven equally-spaced lateral loading paths are carefully selected over an 140 cm wandering zone. Test results show that lateral horizontal strains in both surface and intermediate courses are mostly compressive right under the loading path and tensile strains start to develop as the loading offset becomes 40 cm from the wheel path. The development of the vertical stresses in the top layers of subbase and anti-frost is found to be minimal once the loading offset becomes 50 cm.

• Journal of Korean Society of Transportation
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• v.22 no.2 s.73
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• pp.131-143
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• 2004

Given a path represented by a sequence of link numbers in a graph, the vine is differentiated from the loop in a sense that any link number can be visited in the path no more than once, while more than once in the loop. The vine provides a proper idea on complicated travel patterns such as U-turn and P-turn witnessed near intersections in urban transportation networks. Application of the link label method(LLM) to the shortest Path algorithms(SPA) enables to take into account these vine travel features. This study aims at expanding the LLM to a K-th path search algorithm (KPSA), which adopts the node-based-label correcting method to find a group of K number of paths. The paths including the vine type of travels are conceptualized as drivers reasonable route choice behaviors(RRCB) based on non-repetition of the same link in the paths, and the link-label-based MPSA is proposed on the basis of the RRCB. The small-scaled network test shows that the algorithm sequence works correctly producing multiple paths satisfying the RRCB. The large-scaled network study detects the solution degeneration (SD) problem in case the number of paths (K) is not sufficient enough, and the (K-1) dimension algorithm is developed to prevent the SD from the 1st path of each link, so that it may be applied as reasonable alternative route information tool, an important requirement of which is if it can generate small number of distinct alternative paths.

• Journal of the Korean Association of Geographic Information Studies
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• v.26 no.3
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• pp.85-96
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• 2023

This study developed and evaluated a safe route guidance service for electric personal assistive mobility device used mainly by the mobility impaired people to improve their mobility. Thirteen underlying factors affecting the mobility of electric personal assistive mobility device have been derived through a survey with the mobility impaired people and employees in related organizations in Busan Metropolitan City. After assigning safety scores to individual factors and identifying the relevant factors along routes of interest with an object detection AI model, the safe route for electric personal assistive mobility device was provided through an optimal path-finding algorithm. As a result of comparing the general route of T-map and the recommended route of this study for the identical routes, the latter had relatively fewer obstacles and the gentler slope than the former, implicating that the recommended route is safer than the general one. As future works, it is necessary to enhance the function of a route guidance service based on the real-time location of users and to conduct spot investigations to evaluate and verify its social acceptability.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.2
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• pp.68-78
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• 2000

This paper suggests a new map-matching algorithm for matching traveling trace of vehicle, which is measured by GPS receiver, to the road of a digital map This eventually brings the Improvement of positioning accuracy of the vehicle with GPS receiver After representing the travelling vehicle's motion by state equations using Singer's model, the proposed map-matching algorithm places the position of a vehicle right on the road and also improves the positioning accuracy of the vehicle using a Kalman filter In the crossroad, since it is difficult to determine precisely a current travelling road, we take linear regression to the estimated values from Kalman filtering This gives the direction angle of turning vehicle, then we can determine the correct route direction after comparing with each route-direction angle at the intersection.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.4
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• pp.304-310
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• 2017

In this paper, we propose the architecture of an IPM based lane detector for autonomous vehicles to detect and control the driving route along the curved lane. In the IPM image, we divide the area into two fields, Far/Near Field, and the lane candidate region is detected using the Hough transform to perform the matching for the curved lane. In autonomous vehicles, various algorithms must be embedded in the system. To reduce the system resources, we proposed a method to minimize the number of memory accesses to the image and various parameters on the external memory. The proposed circuit has 96% lane recognition rate and occupies 16% LUT, 5.9% FF and 29% BRAM in Xilinx XC7Z020. It processes Full-HD image at a rate of 42 fps at a 100 MHz operating clock.

• Journal of Sensor Science and Technology
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• v.12 no.5
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• pp.211-217
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• 2003

This paper is proposed that roadway recognition performance improvement for autonomous vehicle using magnetic markers that are embedded along the road center and the sensors mounted on a vehicle, and which changing of magnetic field that is measured along with vehicle driving. For Retrenchment of equipment cost, interval of markers is more expensive than existing method. In order to this, This paper is proposed that interval of markers is founded using magnetic field analysis, and which arrangement method of six magnetic sensors and control method of neural network. This paper is carried out magnetic field analysis, the acquiring of the training patterns, the training of the neural network and composition of steering control, and is verified that roadway recognition performance can improve using computer simulation with proposed methods.

• Journal of Korea Society of Industrial Information Systems
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• v.25 no.2
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• pp.39-47
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• 2020

This paper introduces a novel system-level framework that derives energy efficient electric vehicle (EV) driving speed profile to extend EV driving range without additional cost. This paper first implements an EV power train model considering forces acting on a driving vehicle and motor efficiency. Then, it derivate the minimum-energy driving speed profile for a given driving mission defined by the route. This framework first formulates an optimization problem and uses the dynamic programming algorithm with a weighting factor to derive a speed profile minimizing both of energy consumption and driving time. This paper introduces various weighting factor tracking methods to satisfy the driving time constraint. Simulation results show that runtime of the proposed scaling algorithm is 34% and 50% smaller than those of the binary search algorithm and greedy algorithm, respectively.