• Journal of Positioning, Navigation, and Timing
• /
• v.11 no.4
• /
• pp.389-395
• /
• 2022

In order to ensure reliability the high-level automated driving such as Advanced Driver Assistance System (ADAS) and universal robot taxi provided by autonomous driving systems, the operation with high integrity must be generated within the defined Operation Design Domain (ODD). For this, the position and posture accuracy requirements of autonomous driving systems based on the safety driving requirements for autonomous vehicles and domestic road geometry standard are necessarily demanded. This paper presents localization requirements for safe road driving of autonomous ground vehicles based on the requirements of the positioning system installed on autonomous vehicle systems, the domestic road geometry standard and the dimensions of the vehicle to be designed. Based on this, 4 Protection Levels (PLs) such as longitudinal, lateral, vertical PLs, and attitude PL are calculated. The calculated results reveal that the PLs are more strict to urban roads than highways. The defined requirements can be used as a basis for guaranteeing the minimum reliability of the designed autonomous driving system on roads.

• International Journal of Automotive Technology
• /
• v.5 no.2
• /
• pp.135-144
• /
• 2004

In this paper, the model-matching control in the longitudinal autonomous driving system is investigated by vehicle dynamics simulation, which contains nonlinear subcomponents and simplified subcomponents. The design of the robust model-matching controller is performed by the characteristics of the 2 degrees of freedom controller, which is composed of the feedforward compensator and the feedback compensator. It makes the characteristics of tractive and brake force to be equivalent to the specific transfer function, which is suggested as the reference model. Mathematical models of vehicle dynamic analysis including the model-matching control are constructed for computer simulation. Then, simple examples on open-loop simulation without any controller and closed loop simulation with the model-matching controller are applied to check the validity of the robust controller. As the practical example, the autonomous driving system in the longitudinal direction is adopted. It is proved that the model-matching control is effective and adequate to the disturbances and the perturbations, which are shown in the responses of the change of a vehicle mass and a road gradient.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.27 no.1
• /
• pp.29-40
• /
• 2024

Recently, the technology of autonomous driving, one of the core of the fourth industrial revolution, is developing, but sensor-based autonomous driving is showing limitations, such as accidents in unexpected situations, To compensate for this, HD-map is being used as a core infrastructure for autonomous driving, and interest in the public and private sectors is increasing, and various studies and technology developments are being conducted to secure the latest and accuracy of HD-map. Currently, NGII will be newly built in urban areas and major roads across the country, including the metropolitan area, where self-driving cars are expected to run, and is working to minimize data error rates through quality verification. Therefore, this study analyzes the spatial relationship of reference objects in the attribute structuring process for rapid and accurate renewal and production of HD-map under construction by NGII, By applying the attribute input automation methodology of the reference object in which spatial relations are established using the library of open source-based PyQGIS, target sites were selected for each road type, such as high-speed national highways, general national highways, and C-ITS demonstration sections. Using the attribute automation tool developed in this study, it took about 2 to 5 minutes for each target location to automatically input the attributes of the spatial relationship reference object, As a result of automation of attribute input for reference objects, attribute input accuracy of 86.4% for high-speed national highways, 79.7% for general national highways, 82.4% for C-ITS, and 82.8% on average were secured.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.13 no.2
• /
• pp.27-33
• /
• 2014

This paper proposes a gradation image processing method for the development of a Road Sign Recognition Platform (RReP), which aims to facilitate the rapid and accurate management and surveying of approximately 160,000 road signs installed along the highways, national roadways, and local roads in the cities, districts (gun), and provinces (do) of Korea. RReP is based on GPS(Global Positioning System), IMU(Inertial Measurement Unit), INS(Inertial Navigation System), DMI(Distance Measurement Instrument), and lasers, and uses an imagery information collection/classification module to allow the automatic recognition of signs, the collection of shapes, pole locations, and sign-type data, and the creation of road sign registers, by extracting basic data related to the shape and sign content, and automated database design. Image division and merging, which were applied in this study, produce superior results compared with local binarization method in terms of speed. At the results, larger texts area were found in images, the accuracy of text recognition was improved when images had been gradated. Multi-threshold values of natural scene images are used to improve the extraction rate of texts and figures based on pattern recognition.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.21 no.1
• /
• pp.91-104
• /
• 2022

The operational design domain (ODD) of autonomous vehicles needs to be expanded on highways and urban roads in light of the substantial commercialization of Level 3 autonomous vehicles. Therefore, this study developed a specific infrastructure autonomous vehicle-based cooperative driving service to ensure the driving safety of autonomous vehicles on city roads. The traffic operation efficiency, safety evaluation, and core evaluation indices for each service were selected and analyzed to study the effect of each service. The result of the analysis confirmed that the traffic operation efficiency and safety of autonomous vehicles were improved through the V2X communication-based autonomous cooperative driving service. On the whole, the significance of this study is in deriving the effect of the autonomous cooperative driving service based on V2X communication on urban roads with interrupting traffic flow.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2000.11a
• /
• pp.603-606
• /
• 2000

The cost needed for the construction and management of highways in the whole nation is rapidly growing so the research that can decrease the cost is required. However, most of the highway specs have simply converted from those of other countries, including USA. Therefore, some of our design and construction specs were not the optimum ones based on our own situation, requiring a research under the actual traffic and environment of our nation. The use of test road develops many aspects of highway engineering. Those are evaluation of construction materials, a general overview of korea pavement design and serviceability under the actual traffic and environmental condition of the nation. It is also economical and efficient compared to the trial construction of each item in spreaded form. A test road, 7.7km long with two lanes, is being constructed on the Inner Central Expressway. In this test road, 2.7km is planned for asphalt pavement and 3.4km is planned for concrete pavement. Three test bridges and five earth retaining structures will be included in the test road. Based on the master plan, the major performance was progressing such as detailed research modules of each area, preliminary research for the future research, sensor surveys for the behavior analyses of pavements and structures with installation methods and data acquisition systems, the foundation research of Integrated Instrumentation System and the Management Plan for automated measurement. Some area(structure research division, geotechnical research division) was designed the instrumentation plan because some instrument sensors must be installed during the construction of the test road. And then the instrumentation plan of each area was enforcing because a large majority of the instrument sensors must be installed after the construction of the test road. The field surveys with material property tests and pilot instrumentation test with sensor tests was also performing in accordance with the construction in the field.