• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.205-209
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• 2008

Recently, for development of hardware systems, it has been comercially developed for lane detection system of assistive funtion to drivers. There are so many driving systems that is capable of detecting lane for ideal environment like quite visible lane and sweep curve just like highway, but these kinds of system are hard to apply for self driving system because it is difficult to detect lane in dynamic environment, which have rapid curve or only one sided lane For this paper, we proposed intelligent driving system that is able to detect the lane in case of rapid curve by labeling, or one sided lane by lane prediction. based on experimental results, we prove our lane detection system is able to detect lane not only in ideal environment, but also environment which have rapid curve or one sided lane.

• Journal of IKEEE
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• v.26 no.2
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• pp.141-149
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• 2022

With the development of artificial intelligence and unmanned technologies, the remote surveillance/autonomous driving systems have been actively researched. For an effective performance analysis of the developed remote control system, it is important to record the data of it in real time. In addition, in order to analyze the performance between the control system and the remote system, the recorded data from them should be synchronized with time. In this paper we proposed a novel time synchronization method for the remote control system. The proposed remote control system satisfies the time difference of the recorded data within 1 ms, and we can reduce the time difference by using a CPU shielding and affinity setting. The performance of the proposed method was proved through various network data storage experiments. And the experiments confirmed that the proposed method can be applied to recording devices of unmanned ground vehicles and control vehicles. The proposed method will be used as a method for analyzing network data of UGV-R (Unmanned Ground Vehicle - Reconnaissance).

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.2
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• pp.159-164
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• 2007

The Advanced Safety Vehicle (ASV) allows drivers not only convenience and safety, but also many useful services provided by the Telematics technology. Since ASV is expected to be widely used in the near future, it is necessary to ensure the safety of ASV systems. Among several aspects of ASV, this paper investigates the safety of the Adaptive Cruise Control (ACC) system. Field tests are carried out under the domestic roadway and traffic conditions, according to International Standard Organization (ISO) requirements for ACC. The test data are analyzed whether the requirements are adequate for domestic circumstances, and the suggestions for findings are given.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1040-1041
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• 2015

전용의 궤도에서 무인자동으로 승객의 요구에 따라 출발지에서 목적지까지 최적의 경로로 논스톱으로 운행하며, 높은 시스템 접근성과 프라이버시 보장 등 승용차 수준의 서비스 제공이 가능한 대중교통수단인 PRT의 운행관리를 위해 3D 그래픽 기반의 중앙제어 시스템을 개발하였다. PRT는 정거장을 필요에 따라 본선 또는 측선으로 설치가 가능하며, 승객의 요청에 따라 배차서비스를 수요에 탄력적으로 대응할 수 있다. 본 연구에서는 PRT 차량의 운행상황을 직관적으로 모니터링하기 위해 3D 그래픽 기반 운영제어 시스템을 개발하였으며, 승객이 요청한 차량이 정확하게 배차되어 탑승하였는지 확인하기 위한 운행 보조 시스템을 설계하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.10
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• pp.63-68
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• 2017

Although automated metro subway systems have the advantage of operating a train without a train driver, it is difficult to detect an immediate fault condition and take countermeasures when an unusual situation occurs. Therefore, it is important to construct a maintenance information system (MIS) that detects the vehicle failure/status information in real time and maintains it efficiently in the depot of the railway's vehicles. This paper proposes a conceptual design method that realizes the interface between the train control system (TCS), the operation control center train control monitoring system (OCC-TCMS) console, and the MIS using wireless communication network in real-time. To transmit a large amount of information on 800,000 occurrences per day during operation, data was collected in a 56 byte data table using a data processing algorithm. This state information was classified into 4 hexadecimal codes and transmitted to the MIS by mapping the status and the fault information on the vehicle during the main line operation. Furthermore, the transmission and reception data were examined in real time between the TCS and MIS, and the implementation of the failure information screen was then displayed.

• The Transactions of the Korea Information Processing Society
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• v.3 no.2
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• pp.369-380
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• 1996

Inductive Loop Detector(ILD) has been commonly used in collecting traffic data such as occupancy time and non-occupancy time. From the data, the traffic volume and type of passing vehicle is calculated. To provide reliable data for traffic control and plan, accuracy is required in type recognition which can be utilized to determine split of traffic signal and to provide forecasting data of queue-length for over-saturation control. In this research, a new recognition model issuggested for recognizing typeof vehicle from thecollected data obtained through ILD systems. Two clustering methods, based on statistical algorithms, and one neural network clustering method were employed to test the reliability and occuracy for the methods. In a series of experiments, it was found that the new model can greatly enhance the reliability and accuracy of type recongition rate, much higher than conventional approa-ches. The model modifies the neural network clustering method and enhances the recongition accuracy by iteratively applying the algorithm until no more unclustered data remains.

• Journal of the Korea Society of Computer and Information
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• v.16 no.4
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• pp.225-233
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• 2011

In this paper, we propose a remote control station based on the awareness of various combat field situation in order for operating multiple unmanned ground vehicles. Our remote control station is capable of sending a variety of messages designed for carrying out the skillful movement for collaborate among unmanned ground vehicles, gathering the information related with combat field situation, and completing the assigned missions which are described by operator in advance. To verify the effectiveness of our proposal, we develop the sophisticated remote control station and conduct a great many remote operating tests for multiple unmanned ground vehicles.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.10
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• pp.21-29
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• 2015

For higher reliability against component failures in railroad trains with many electronic sensors and actuators, a distributed control system with which all electronic components are connected via a network is being considered. This paper compares and analyzes various topologies of Ethernet network for a railroad train in the aspects of (1) failure recovery, (2) the number of ports per device, (3) the number of cable connections between vehicles, and (4) performance. Especially, the unique characteristic of a train system that the number of vehicles changes is considered through analysis. Various combinations of in- and inter-vehicle topologies are considered. In addition, we introduce a hybrid of star and daisy-chain topology for inter-vehicle connection when the maximum number of inter-vehicle connections is limited to reduce possible failures of inter-vehicle connections. Simulation results show performance comparison between different topology combinations; the hybrid topology is shown to enhance delay performance even with a highly limited number of inter-vehicle connections.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.969-976
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• 2008

A position control problem is studied for UEV(Unmanned Expedition Vehicles), which is to follow pre-determined paths via fixed way-points. Hybrid control systems are used for position control of UEV depending on the operating condition. Speed control consists of three controllers: PID control, adaptive PI control, and neural network. Heading control consists of two controllers, PID and adaptive PID control. The controllers are selected based on the changes of road conditions. We suggest an adaptive PI control algorithm for speed control and an transition management algorithm among the controllers. The algorithm adapts the road conditions and variation of vehicle dynamical characteristics and selects a suitable controller.