• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.1
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• pp.174-192
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• 2021

The LIDAR sensor, which provides higher cognitive performance than cameras and radar, is difficult to apply to ADAS or autonomous driving because of its high price. On the other hand, as the price is decreasing rapidly, expectations are rising to improve existing autonomous driving functions by taking advantage of the LIDAR sensor. In level 3 autonomous vehicles, when a dangerous situation in the cognitive module occurs due to a sensor defect or sensor limit, the driver must take control of the vehicle for manual driving. If the driver does not respond to the request, the system must automatically kick in and implement a minimum risk maneuver to maintain the risk within a tolerable level. In this study, based on this background, a LIDAR-based LKS MRM algorithm was developed for the case when the normal operation of LKS was not possible due to troubles in the cognitive system. From point cloud data collected by LIDAR, the algorithm generates the trajectory of the vehicle in front through object clustering and converts it to the target waypoints of its own. Hence, if the camera-based LKS is not operating normally, LIDAR-based path tracking control is performed as MRM. The HAZOP method was used to identify the risk sources in the LKS cognitive systems. B, and based on this, test scenarios were derived and used in the validation process by simulation. The simulation results indicated that the LIDAR-based LKS MRM algorithm of this study prevents lane departure in dangerous situations caused by various problems or difficulties in the LKS cognitive systems and could prevent possible traffic accidents.

• Journal of Advanced Navigation Technology
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• v.28 no.3
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• pp.272-277
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• 2024

In most countries, instrument flight procedures are designed by applying one of the following standards: the International Aviation Organization's DOC 8168, Air Navigation Services and Operation Procedures (PANS-OPS), or the US Federal Aviation Administration's TERPS, Terminal Procedures. In particular, the circling approach procedure has many differences between the two standards, and the US terminal procedure (TERPS) has become more complicated since 2013 by applying expanded standards depending on altitude. The circling approach procedures are more risky than straight-in approach procedures because it involves maneuvering the aircraft close to the ground at low energy for landing. In order to accurately understand these differences, this study provides to distinguish by what criteria the circling approach procedure is designed according to individual domestic airports in Korea, to calculate the radius for the range of circling approach areas that guarantee minimum obstacle avoidance during circling approach maneuvers, and to present methods for performing safe circling approach procedures.