• KIPS Transactions on Software and Data Engineering
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• v.10 no.12
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• pp.561-568
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• 2021

In recent years, autonomous driving technologies have become a high-value-added technology that attracts attention in the fields of science and industry. For smooth Self-driving, it is necessary to accurately detect an object and estimate its movement speed in real time. CNN-based deep learning algorithms and conventional dense optical flows have a large consumption time, making it difficult to detect objects and estimate its movement speed in real time. In this paper, using a single camera image, fast object detection was performed using the YOLOv5 algorithm, a deep learning algorithm, and fast estimation of the speed of the object was performed by using a local dense optical flow modified from the existing dense optical flow based on the detected object. Based on this algorithm, we present a system that can predict the collision time and probability, and through this system, we intend to contribute to prevent tram accidents.

• Journal of Advanced Navigation Technology
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• v.25 no.6
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• pp.485-492
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• 2021

Vision-based autonomous precision landing technology for UAVs requires precise position estimation and landing guidance technology. Also, for safe landing, it must be designed to determine the safety of the landing point against ground obstacles and to guide the landing only when the safety is ensured. In this paper, we proposes vision-based navigation, and algorithms for determining the safety of landing point to perform autonomous precision landings. To perform vision-based navigation, CNN technology is used to detect landing pad and the detection information is used to derive an integrated navigation solution. In addition, design and apply Kalman filters to improve position estimation performance. In order to determine the safety of the landing point, we perform the obstacle detection and position estimation in the same manner, and estimate the speed of the obstacle using LSM. The collision or not with the obstacle is determined based on the CPA calculated by using the estimated state of the obstacle. Finally, we perform flight test to verify the proposed algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.2
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• pp.514-521
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• 2021

When calculating an intersection collision speed using a formula, it is very difficult to grasp the degree of deceleration of a vehicle after the collision unless there is road surface trace in the entire section where each vehicle moved from the point of collision to their final positions after the collision. A vehicle's motion trajectory shows an irregular curve after a collision due to the effects of inertia based on the driving characteristics of the vehicle, the eccentric force according to the collision site, and the collision speed. Therefore, it is very important to set the appropriate departure angle after a collision for accurate collision speed analysis. In this study, based on experimental collision data using a computer simulation (PC-Crash), the correlation between an appropriate vehicle departure angle and the post-collision speed was analyzed, and then, a regression analysis model was derived. Through this, we propose a method to calculate collision speed by applying only the vehicle departure angle in some types of collisions for traffic accidents at intersections.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.07a
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• pp.11-12
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• 2015

두 선박이 정면에서 마주치며 선박간 상호 통항하거나 상대선을 추월할 경우 각 선박의 선체형상과 선속에 의한 유체력 상호작용에 따른 선박간 간섭력이 발생한다. 선박간 간섭력의 주요한 평가 요소인 횡력과 회두 모멘트의 측정을 통해 두 선박이 근접하였을 때의 위험도와 충돌을 예측할 수 있다. 선행된 간섭력에 관한 연구는 대부분 경험에 의하거나 이론적인 측면에서 관련 연구가 진행되어왔으며, 학계에서 통상적으로 널리 알려진 뉴턴의 연구(1960)에서는 깊은 수심에서 두 선박을 평행하게 항주시켰을 때 선박간 최대 흡인력은 두 선박이 정횡으로 나란하게 위치되는 지점에서 발생하고, 이때의 간섭력은 선속의 제곱에 비례한다고 추정하였다. 현대의 조선기술이 발전함에 따라 선박의 크기는 점점 대형화되고 선박의 운항 효율성 증진을 위한 다양한 선형이 개발되어 실선에 적용되고 있다. 이런 경향에 따라 과거에 비해 현대 선박 운항환경에서의 선박간 간섭은 선박의 크기 및 선형에 의한 영향이 클 것으로 판단된다. 본 연구에서는 선박의 종류별로 대표 선종을 선정하여 두 선박이 정면에서 마주치며 통과하는 운항조건에서의 선속 증가에 따른 선박 상호간 간섭력의 변화를 통상적으로 사용되는 선박조종시뮬레이터를 이용하여 실험 및 분석하여 상관관계를 도출하였다. 선박 유형에 따른 시뮬레이션 실험 결과 최대 횡력은 주로 선미 부근에서 발생하였고 최대 회두모멘트는 선수가 근접할 때 발생하였으며, 선속이 증가할수록 선박 상호간 근접거리가 좁혀졌고 선형별로 각기 다른 선속에서 선미 충돌이 발생하였다. 이 실험연구는 선형에 따른 선박 상호간 근접 시의 횡거리와 통과속력에 대한 기준 설정의 연구 근간을 마련하였고 선박간 교항시 안전운항을 위한 지침이 될 것으로 판단된다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.1
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• pp.59-66
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• 2022

In order to solve the problem of urban traffic congestion, Urban Air Mobility (UAM) concept using Electric Vertical Take-off and Landing (eVTOL) aircraft has been gaining popularity, and many domestic and international studies are underway. However, since these aircraft inevitably fly over densely populated areas, it is essential to ensure safety, which starts with accurately analyzing the crash risk. In this paper, the locations and impact speeds of crash are computed using six degree-of-freedom simulations of an eVTOL aircraft in a fixed-wing mode. System malfunction was modeled by a sudden loss of thrust with control surfaces being stuck during cruise. Because most of these eVTOL aircraft are still under development, a methodology of constructing a six degree-of-freedom dynamics model from generic specification is also developed. The results show that the crash locations are highly concentrated right under the aircraft within a square that has an edge length similar to the cruise altitude. Speed distribution is more complicated because almost identical crash locations can be achieved by two very different paths resulting in a large variation in the speeds.

• Journal of the Korean Society of Marine Environment & Safety
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• v.17 no.2
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• pp.179-185
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• 2011

A marine collision accident occurred at the Jin-do water way. A barge loaded with heavy equipment of Power Generation Plant was being towed at its side by two tugs "A" and "B" from Byeg-pa harbour to the designated position to be used for power generation plant near Jin-do bridge. The Power Generation Plant was 40-meters high loaded atop the barge. When the "tugs and tow" were approaching the Jin-do the bridge, the two towing tugs lost maneuvering control of the barge and it went off-course, hit first the waterway embankment and finally struck the lower part of bridge's span and post musing the barge to capsize and sunk its cargo into the sea. The bridge also suffered damages where the top of the Plant struck At the time of the accident, there was a strong tidal current at the waterway. This paper calculates the safe towing force of barges with heavy loads when traversing in a strong tidal current situation in narrow waterway.

• Journal of Korean Society of Transportation
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• v.24 no.2 s.88
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• pp.113-124
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• 2006

Among tile traffic safety facilities, median barriers are installed above 4-lane national roads due to the awareness of haying an effect on preventing the front collision. Studies about the installation effect analysis of median harrier have been carried out through both at home and outside, mainly indicating total accident reduction effect on pertinent sections. In sum, study about how the accident occurrence form is changed at the point classified by the accident type or severity is insignificant. In the case of outside the country, calculating the accident reduction effect according to the type of median barriers is main research and in domestic, though there is a part of researches assessing reduction effect by accident types, it is not reliable in the view or statistics because of using only 1year's before-aftev data installing the facility, So in this Paper. it is the main purpose to presume the accident conversion effect. For this, we conduct an investigation and collect data about 7-year's accident data containing before-after Project, safety facilities foundation records and index of road alignment on the subject of 4-1ane national roads(108.6km) existing median barrier. Next. using the empirical bayes method, we estimate a model construction and accident conversion effect of accident type severity. We expect the result or this Paper will be applied for a policy execution and Presentation of facility standard related to median barrier from now on.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.1
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• pp.9-16
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• 2017

As a preliminary study of enter or leaving traffic patterns of the Korea main port, port Management Information System (Port-MIS) data was used to check the volume of vessels entering and leaving the port of Busan, and three consecutive days from each seasons were selected for study. Selected 12-day General Information Center on Maritime Safety & Security (GICOMS) data was also used to analyze the traffic pattern in the main traffic lane of Busan port for dangerous goods carrier. Also, the distance between dangerous goods carriers and Oryukdo breakwater of east breakwater in the main traffic lane was analyzed. Collision probability was estimated using the cumulative probability distribution function of the normal distribution for the maritime traffic safety audit scheme based on the assumption that a ship's trajectory has a normal distribution for a section of the route. However, in case of entry or leaving thorough the Oryukdo breakwater and entry thorough the east breakwater, ship's sailing trajectories were revealed not to follow a normal distribution via regularity testing using a KS-test and SW-test. Especially in the north port, the tendency of the right side of the ship to pass was remarkable. It is desirable to develop a traffic model suitable for the characteristics of the port rather than to apply general traffic theories, and to apply this model to a maritime traffic safety diagnosis, so further research is needed.