• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.81-86
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• 2015

GPS position errors were corrected for guidance of autonomous vehicles. From the vision, we can obtain the lateral distance from the center of lane and the angle difference between the left and right detected line. By using a controller which makes these two measurements zero, a lane following system can be easily implemented. However, the problem is that if there's no lane, such as crossroad, the guidance system of autonomous vehicle does not work. In addition, Line detection has problems working on curved areas. In this case, the lateral distance measurement has an error because of a modeling mismatch. For this reason, we propose GPS error correction filter based on curve-modeled lane detection and evaluated the performance applying it to an autonomous vehicle at the test site.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.112-119
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• 2004

This paper develops a computer model of a cabover type large truck for estimating the effects of the mounted method of frame on handling performance. The computer model considers two mounted methods of frame; flange mounted and web mounted. Frame is modeled by finite elements using MSC/NASTRAN in order to consider the flexibility of frame. The reliability of the developed computer model is verified by comparing the actual vehicle test results with the simulation results. The actual vehicle test is performed in a double lane change course, and lateral acceleration, yaw rate, and roll angle are measured. To estimate the effects of the mounted method of frame on handling performance, simulations are performed with the flange mounted and web mounted frame. Simulation results show that the web mounted frame＇s variations of roll angle, lateral acceleration, and yaw rate are larger than the flange mounted frame＇s variations, especially in the high test velocity and the second part of the double lane course. Also, simulation results show that the web mounted frame＇s tendencies of roll angle, lateral acceleration, and yaw rate advance the flange mounted frame＇s tendencies, especially in the high test velocity and the second part of the double lane course.

• Journal of KIISE:Software and Applications
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• v.31 no.11
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• pp.1534-1542
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• 2004

A novel vision-based scheme of extracting real-time traffic information parameters is presented. The method is based on a region classification followed by a spatio-temporal image analysis. The detection region images for each traffic lane are classified into one of the three categories: the road, the vehicle, and the shadow, using statistical and structural features. Misclassification in a frame is corrected by using temporally correlated features of vehicles in the spatio-temporal image. Since only local images of detection regions are processed, the real-time operation of more than 30 frames per second is realized without using dedicated parallel processors, while ensuring detection performance robust to the variation of weather conditions, shadows, and traffic load.

• Journal of Advanced Navigation Technology
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• v.5 no.2
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• pp.158-164
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• 2001

We presented a channel model for the inter vehicle radio link including the reflection from the road surface, side road vehicle and concrete wall. Then we theoretically derived the path loss and delay profile characteristics using the Ray tracing method efficiently analyzing millimeter wave or optic wave. Finally, we shown the improvement of propagation characteristics by diversity techniques, BCH coding and convolution coding techniques. At the result, MRC diversity techniques and BCH coding can't obtained PER = $10^{-6}$ which is considered to be data service criterion. But, we knew that Packet Error Rate Characteristic can obtained PER = $10^{-6}$, which is considered to be data service criterion, when convolution coding scheme are adopted in Rician fading.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.5
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• pp.42-51
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• 2001

Vehicle detection is the basic of traffic monitoring. Video based systems have several apparent advantages compared with other kinds of systems. However, In video based systems, shadows make troubles for vehicle detection, especially active shadows resulted from moving vehicles. In this paper, a new method that combines background subtraction and edge detection is proposed for vehicle detection and shadow rejection. The method is effective and the correct rate of vehicle detection is higher than 98% in experiments, during which the passive shadows resulted from roadside buildings grew considerably. Based on the proposed vehicle detection method, vehicle tracking, counting, classification and speed estimation are achieved so that traffic parameters concerning traffic flow is obtained to describe the load of each lane.

• Journal of IKEEE
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• v.24 no.2
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• pp.492-496
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• 2020

The visibility deteriorates in hazy weather and it is difficult to accurately recognize information captured by the camera. Research is being actively conducted to remove haze so that camera-based applications such as object localization/detection and lane recognition can operate normally even in hazy weather. In this paper, we propose a nonlinear model for depth map estimation through an extensive analysis that the difference between brightness and saturation in hazy image increases non-linearly with the depth of the image. The quantitative evaluation(MSE, SSIM, TMQI) shows that the proposed haze removal method based on the nonlinear model is superior to other state-of-the-art methods.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.6
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• pp.155-166
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• 1997

In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB /SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

• Journal of the Korea Society of Computer and Information
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• v.5 no.2
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• pp.90-97
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• 2000

This paper describes an speaker-adaptive speech recognition system which make a reliable recognition of speech signal for new speakers. In the Proposed method, an speech spectrum of new speaker is adapted to the reference speech spectrum by using Parameters of a 1st linear transformation network at the front of phoneme classification neural network. And the recognition system is based on semicontinuous HMM(hidden markov model) which use the multilayer perceptron as a fuzzy vector quantizer. The experiments on the isolated word recognition are performed to show the recognition rate of the recognition system. In the case of speaker adaptation recognition, the recognition rate show significant improvement for the unadapted recognition system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.10a
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• pp.687-690
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• 2017

Edge detection is an important step in determining the performance of lane recognition, object and pattern detection, and so on. And much research has been done until now. Sobel, Prewitt, Roberts, and Canny edge detection algorithms are widely known. However, these algorithms are often judged to be a non-edge region when processing a smooth change in brightness value. Therefore, in this paper, edge detection algorithm using gray-level morphology using erosion, expansion, open and close in the mask area. is proposed.

• Proceedings of the Korean Society of Computer Information Conference
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• 2024.01a
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• pp.299-300
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• 2024

첨단 기술의 발전과 함께 지능형 운전자 보조 시스템의 성능 및 교통 시스템 체계가 고도화됨에 따라 전반적인 교통사고 발생 건수는 줄어드는 추세지만 대한민국의 교통사고 발생 빈도는 아직 OECD 평균 대비 높은 실정이다. 특히, 2020년 경제 협력 개발 기구(OECD) 통계에 따르면 대한민국의 인구 10만 명당 교통사고 사망자 수는 회원국 36개 중 29위로 매우 높은 축에 속한다. 따라서, 본 논문에서는 교통사고 발생률을 낮추는 데 도움을 줄 수 있는 주행 이상 패턴 감지 시스템을 제안한다. 제안한 방법에서는 실시간 영상 분석을 통해 신호등 및 차선을 인식함과 동시 차량 내부 진단 데이터에 대한 시계열 분석을 기반으로 운전자의 운전 패턴을 분석한 후 평소와 다른 이상 징후를 발견하면 운전자에게 경고 알림을 제공하여 위험한 상황을 회피할 수 있도록 지원한다.