• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.647-652
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• 2000

This paper proposes a collision warning/avoidance algorithm using a trajectory prediction method. This algorithm is based on 2-dimensional kinematics and the Kalman filter has been used to obtain the information of the object vehicle. This algorithm has been investigated via computer simulation and showed a good trajectory prediction performance. The proposed collision warning/avoidance algorithm would enhanced driver acceptance for a collision warning/avoidance system.

• 한국자동차공학회논문집
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• 제7권8호
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• pp.233-247
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• 1999

Traffic accidents are normally caused by late or faulty judgements due to the driver's inaccurate estimation of the distance, velocity, and acceleration from the surrounding vehicles as well as his carelessness or inattention. Thus, the development of collision avoidance systems is motivated by their great potential for increased vehicle safety. A typical collision avoidance system consists of the forward-looking sensor, the criteria for activation of collision warming and avoidance, the collision avoidance maneuvers, and the user interface. This thesis is concerned with the development of a collision warning algorithm in which the driver is warned of approaching collision with the visual and/or the audible signals . The warning algorithm based on fuzzy logic is presented here based on new warning criteria. It has been newly derived from the conventional warning equation by adding a new input variable of the required deceleration to avoid collision. The algorithm is also able to adapt to the individual driver's taste along with the different road conditions by externally controlling the warning intensity. Finally , the proposed algorithm has been validated using computer simulation.

• 한국군사과학기술학회지
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• 제12권2호
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• pp.213-221
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• 2009

An aircraft collision accident is a disaster that causes great losses of inventories and lives. Though a collision avoidance warning function is provided automatically to pilots in the aircrafts by the enhancement of the aircraft capability, achieving fast decision-making to escape a collision situation is a complex and dangerous work for pilots. If an in-flight collision situation is controlled by the air traffic control system which monitors all airplanes in the air, it would be more efficient to prevent in-flight collisions because it can handle the emergency before the pilot's action. In this paper, we develop the collision avoidance warning function in the air traffic control system. Specifically, we design and implement the five stages of the collision avoidance function, and propose a visualization method which could effectively provide the operators with the trajectories and altitudes of the aircrafts in a collision situation. By developing an in-flight collision warning function in the air traffic control system that visualizes flight patterns through the state transition data of in-flight aircrafts on the flight path lines, it can effectively prevent in-flight collisions with traffic alerts. The developed function allows operators to effectively select and control the aircraft in a collision situation by providing the operators with the expected collision time, the relative distance, and the relative altitude while assessing the level of alert, and visualizing the alert information which includes the Attention-Warning-Alert phase via embodying the TCAS standard. With the developed function the air traffic control system could sense an in-flight collision situation before the pilot's decision-making moment.

• 한국군사과학기술학회지
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• 제3권2호
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• pp.156-165
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• 2000

This paper describes modeling and simulation of automotive forward collision warning and avoidance system using CASE(Computer-Aided Systems Engineering) tool. The system is composed or many sensors, a controller, warning devices, brakes and etc. The system was modeled by one activity chart, fourteen state charts and one module chart. Rear-end collision scenarios was generated by Simulink and used to support Stalemate model. The resulting model was used to evaluate the correctness of function and behavior of the system. A simulator for the system has been designed and used to validate the model under realistic operating conditions in the laboratory. To model and simulate the system's functionality and behavior brings clarity to system design early in the system development.

• 한국항공우주학회지
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• 제40권6호
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• pp.515-522
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• 2012

항공기 사고 중에서 주요 원인 중 하나인 조종상태 지상충돌(Controlled Flight Into Terrain, CFIT)을 해결하기 위하여 대지 접근 경고 장치(Ground Proximity Warning System, GPWS)를 사용하여 항공기 아랫부분의 지형에 대해서 지형충돌 경고를 출력한다. 이러한 대지 접근 경고 장치도 적시에 경고가 발생하지 않아 많은 문제가 있었다. 본 논문에서는 비행 상태와 지형정보를 이용하여 속도가 빠르고, 고기동을 하는 전투기에 대해서 보다 효율적인 지형/장애물 충돌 회피 경고 알고리듬을 개발하였다. 이 알고리듬에는 조종사의 반응시간을 포함하여 항공기의 지연시간을 고려하였고, 일련의 검증을 통해 실제 탑재 가능한 알고리듬을 제시하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.849-854
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• 2007

This paper describes design and tuning of a full-range Adaptive Cruise Control (ACC) with collision avoidance. The control scheme is designed to control the vehicle so that it would feel natural to the human driver and passengers during normal safe driving situations and to avoid rear-end collision in vehicle following situations. In this study, driving situations are determined using a non-dimensional warning index and time-to-collision (TTC). A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC System. An ECU-Brake Hardware-in-the-loop Simulation (HiLS) was developed and used for an evaluation of ACC System. The ECU-Brake HiLS results for alternative driving situation are compared to manual driving data measured on actual traffic way. The ACC/CA control logic implemented in an ECU was tested using the ECU-Brake HiLS in a real vehicle environment.

• 한국ITS학회 논문지
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• 제18권6호
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• pp.176-190
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• 2019

최근 횡단보도 및 교차로에서 보행자 충돌사고 예방의 중요성이 증가하고 있다. C-ITS 서비스에서 이러한 사고를 줄이기 위하여 보행자 충돌방지 경고 서비스를 제시하고 있다. 그러나 현재 C-ITS 표준에 따른 보행자 충돌방지 경고 서비스는 현장의 카메라에서 보행자를 바로 검출하여 서비스를 제공하는 것이 아니라 관제 센터의 영상분석 서버에서 보행자를 검출하고 ITS 시스템과 연계하여 서비스를 제공하기 때문에 실시간성을 만족하기 어렵다. 본 논문에서는 엣지 카메라를 이용하여 현장에서 보행자를 검출하고 검출결과를 V2X 인프라를 통해 바로 운전자에게 제공하는 보행자 충돌방지 경고 시스템을 제안하고, 구현한 후 성능 평가를 시행하였다. 평가 결과, 최악의 상황에서도 보행자 충돌방지 경고 메시지를 C-ITS 표준에서 요구하고 있는 300ms 이내의 지연시간을 만족하여 전달할 수 있음을 확인하였다.

• International Journal of Computer Science & Network Security
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• 제22권3호
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• pp.107-112
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• 2022

The automotive industry is motivated to provide more and more amenities to its customers. The industry is taking advantage of artificial intelligence by increasing different sensors and gadgets in vehicles machoism is forward collision warning, at the same time road accidents are also increasing which is another concern to address. So there is an urgent need to provide an A.I based system to avoid such incidents which can be address by using artificial intelligence and global positioning system. Automotive/smart vehicles protection has become a major study of research for customers, government and also automotive industry engineers In this study a two layered novel hypothetical approach is proposed which include in-time vehicle/obstacle detection with auto warning mechanism for collision detection & avoidance and later in a case of an accident manifestation GPS & video camera based alerts system and interrupt generation to nearby ambulance or rescue-services units for in-time driver rescue.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.537-543
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• 2000

mathematical models for a hydraulic brake actuator and a brake control law for vehicle collision warning/collision avoidance (CW/CA) systems will be presented in this paper. The control law have been designed for optimzied safety and comfort. A solenoid-valve-controlled hydraulic brake actuator system for the CW/CA systems has been investigated, A nonlinear computer model and a linear model of the hydraulic brake actuator system have been developed. Both models were found to represent the actual system with good accuracy. Uncertainties in the brake actuator model have been considered in the design of the control law for the roubustness of the controller. The effects of brake control on CW/CA vehicle response has been investigated via simulations. The simulations were performed using the hydraulic brake system model and a complete nonlinear vehicle model. The results indicate that the proposed brake control law can provide the CW/CA vehicles with an opimized compromise between safety and comfort.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.340-350
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• 2021

This paper proposes a decision support model for USVs to improve the accuracy of collision avoidance decision-making. It is formed by Navigation Safety Domain (NSD) and domain-based Collision Risk Index (CRI), capable of determining the collision stage and risk between multiple ships. The NSD is composed of a warning domain and a forbidden domain, which is constructed under the constraints of COLREGs (International Regulations for Preventing Collisions at Sea). The proposed domain based CRI takes the radius of NSD in various encounter situations as threshold parameters. It is found that the value of collision risk in any directions can be calculated, including actual value and risk threshold. A catamaran USV and 6 given vessels are taken as study objects to validate the proposed model. It is found that the judgment of collision stage is accurate and the azimuth range of risk exists can be detected, hence the ships can take direct and effective collision avoidance measures. According to the relation between the actual value of CRI and risk threshold, the decision support rules are summarized, and the specific terms of COLREGs to be followed in each encounter situation are given.