• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.275-275
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• 2004

현재 국가 간의 경쟁력 확보를 위하여 자동화 기술의 개발을 통한 무인화ㆍ자동화를 실현함으로써 물류비용 및 인건비의 절감을 위한 노력에 많은 투자가 이루어지고 있는 실정이다 FMS를 구축하기 위해서는 AGV는 반드시 필요한 운송 장치로 현재 많은 제품들이 생산되어 현장에서 사용되고 있다. 현재 AGV는 바닥에 설치되어 있는 주행라인을 따라서 이동하는 방식이 가장 많이 사용되고 있으며, 주행라인 검출 방식으로 말이 사용되고 있는 전자유도 방식은 설비비용이 말이 들고 경로 수정이 어렵다는 문제점을 가지고 있다.(중략)

• Journal of the Korea Society of Computer and Information
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• v.8 no.2
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• pp.1-7
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• 2003

This study is a research on character recognition based on image processing, using only color tape to mark guidelines instead of magnetic tape or electric wire used by existing AGV. AGV must follow given courses, and stop recognizing signs such as marks and numbers that indicate destinations. In this study. marks to stop AGV employed blue characters of the same font and size as those of number plates. Yellow driving lines and blue numeric characters were marked in corridors. AGV ran ing the characteristics of colors and detecting lines, and temporarily stopped recognizing numbers of 100％ through DP pattern matching. This study presented the image processing technique and the result of operating AGV.

• Journal of the Korea Society of Computer and Information
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• v.8 no.1
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• pp.13-19
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• 2003

There are active researches on automated guided vehicles(AGV) generally used in flexible manufacturing system(FMS) or automated warehouse systems(AWS). Because existing AGV uses magnetic tapes, electric wire, RF or laser as guidelines, its installation and modification require a lot of money and time. The present study implemented AGV that detects paths marked with 50mm Yellow tape using a mono-color CCD camera. Because it uses color tape, it is easy and inexpensive to install and change lines. This study presented the structure of the developed AGV, the image Processing technique for detecting guidelines by ing the characteristics of color, and the result of operating AGV.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.4
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• pp.220-225
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• 2003

In this paper, various types of racing line are analyzed for the best time to go through a 90 degree comer. 'Best' means the least time, at the greatest average speed. The comer concerned here has the long straights before and after the corner so that the vehicle is able to n with its maximum speed along the straights. It is shown that both inside and outside driving lines including the modified outside driving lines never beat classical racing line. It is also found that outside driving line is better than inside driving inside driving line as long as there are straight lines before and after the comer.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.299-302
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• 2009

이 논문에서는 라인 트레이스 차량의 주행 제어를 위한 퍼지 제어기를 설계하였다. 라인을 감지하는 센서들의 감지 상태에 따라 센서값을 산출하고 이 센서값은 조향각 제어 퍼지 규칙의 입력으로 사용되어 조향각을 제어값으로 산출한다. 또한 산출된 조향각은 다시 모터속력 제어 퍼지 규칙의 입력으로 사용되어 주행 속도 결정을 위한 모터속력을 제어값으로 산출하게 된다. 제안한 퍼지 제어 기법을 이용하여 조향각만을 제어한 경우와 조향각과 모터속력을 함께 제어한 경우를 각각 실험한 결과, 모터속력을 함께 제어한 경우가 트랙을 이탈하지 않으면서 더욱 빠르게 주행함으로써 제안한 기법에 효과적임을 보였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2019.07a
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• pp.237-238
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• 2019

현시대에 자율주행 기술이 자동차를 단순 이동수단에서 이동성을 확보한 생활공간으로 자동차의 근본적인 개념을 변화시켜 새로운 산업 패러다임적 가치뿐 아니라, 사회 경제적 변혁을 예고하고 있다. 이미 전 세계적인 기업들은 자율주행 시스템을 구축하고 개발하여 실제 생활에서 활용도 하고 있다. 그럼에도 불구하고 상용화를 하기 위해선 아직 법/제도의 부재, 안정성, 가격 등 여러부분에서 문제점들을 극복해야한다. 본 과제인 라인트레이서와 GPS를 활용한 자율주행시스템이 목적지를 지정하면 자율적으로 길이나 도로를 따라 이동하면서 장애물을 피해가게 만들어 안정성을 확보하고 이동하는 시간에 개인 여가 시간이나 생산적인 활동을 할수 있게 만들어 삶의 질 개선에 기여할 것이다. 이러한 기술들을 적극 활용하여 목적지를 설정하면 자율주행 하는 자동차로 설정하였고, 장애물 감지와 현재 방향 감지를 추가하였다. 장애물 감지와 방향 그리고 위치를 수신받기 위해 5개의 센서를 활용하였고 한번에 구동을 시키기 위해 센서 쉴드를 활용하여 기능을 확장 시켰다.

• Convergence Security Journal
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• v.18 no.5_1
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• pp.105-112
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• 2018

Along with the recent technological development, autonomous vehicles are being commercialized. but The accident of autonomous driving car is becoming an issue, and safety problem of autonomous driving car is becoming a hot topic. Also There are currently no specific guidelines for clear laws and security ethics. These guidelines require a lot of information and experience. This study establishes basic guidelines based on cases of accidents from past to present. This study suggests security considerations through case study of security ethics in autonomous car accident.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.1
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• pp.107-120
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• 2020

This study aims to analyze the importance of key elements and clauses of the preliminary ethical guideline for Automated Vehicles(AV) using the Analytic Hierarchy Process(AHP). Reflecting previous researches on AV ethical guideline, we developed the questionnaire for the AHP survey. According to the AHP results of key elements and detailed clauses, Protecting human dignity and life are most important as a top priority in overall clauses. Also, clauses related to the user's liability are high priorities, but clauses related to the administrator's liability are low priorities. These results implied that the government should enact a law and draw up an ethical guideline in a neutral attitude to respect the private areas and enjoy the public interests. In order to declare Korean ethical guidelines and improve social acceptance, it is necessary to conduct a seminar and make an educational program, also gather the opinions of citizens and experts.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.11
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• pp.2289-2294
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• 2009

In this paper, we proposed a fuzzy controller for racing of a line trace vehicle. Sensor values are computed by statuses of line detecting sensors attached to the line trace vehicle and these sensor values are used for fuzzy inference rules of steering angle control to decide steering angle as output. The decided steering angle is also used for fuzzy inference rules of motor speed control to decide motor speed as output. We experimented and analyzed two proposed methods - one is fuzzy control of steering angle only and the other is fuzzy control of both steering angle and motor speed. In the experiment, we verified that the second proposed method was more efficient in racing speed.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.141-146
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• 2003

This paper calculates the elapsed time to go down a straight as a function of the corner exit speed and considers air resistance, rolling resistance, and slope resistance to figure out the force for forward acceleration. In a car racing, the most critical comer in a course is the one before the longest straight. A driver can lose a quite amount of time by taking a bad line in a corner. Taking a bad line also causes poor comer exit speed which in turn costs more elapsed time to go down a straight. The results are not so dramatic as in the case of cornering but are showing why one should take the correct corner racing line to get the maximum exit speed. Also, for the case of drag race, the elapsed time to go 1/4 mile is calculated.