• 제목/요약/키워드: Distance and velocity estimation

검색결과 74건 처리시간 0.029초

상황인식 기반 지능형 최적 경로계획 (Intelligent Optimal Route Planning Based on Context Awareness)

  • 이현정;장용식
    • Asia pacific journal of information systems
    • /
    • 제19권2호
    • /
    • pp.117-137
    • /
    • 2009
  • Recently, intelligent traffic information systems have enabled people to forecast traffic conditions before hitting the road. These convenient systems operate on the basis of data reflecting current road and traffic conditions as well as distance-based data between locations. Thanks to the rapid development of ubiquitous computing, tremendous context data have become readily available making vehicle route planning easier than ever. Previous research in relation to optimization of vehicle route planning merely focused on finding the optimal distance between locations. Contexts reflecting the road and traffic conditions were then not seriously treated as a way to resolve the optimal routing problems based on distance-based route planning, because this kind of information does not have much significant impact on traffic routing until a a complex traffic situation arises. Further, it was also not easy to take into full account the traffic contexts for resolving optimal routing problems because predicting the dynamic traffic situations was regarded a daunting task. However, with rapid increase in traffic complexity the importance of developing contexts reflecting data related to moving costs has emerged. Hence, this research proposes a framework designed to resolve an optimal route planning problem by taking full account of additional moving cost such as road traffic cost and weather cost, among others. Recent technological development particularly in the ubiquitous computing environment has facilitated the collection of such data. This framework is based on the contexts of time, traffic, and environment, which addresses the following issues. First, we clarify and classify the diverse contexts that affect a vehicle's velocity and estimates the optimization of moving cost based on dynamic programming that accounts for the context cost according to the variance of contexts. Second, the velocity reduction rate is applied to find the optimal route (shortest path) using the context data on the current traffic condition. The velocity reduction rate infers to the degree of possible velocity including moving vehicles' considerable road and traffic contexts, indicating the statistical or experimental data. Knowledge generated in this papercan be referenced by several organizations which deal with road and traffic data. Third, in experimentation, we evaluate the effectiveness of the proposed context-based optimal route (shortest path) between locations by comparing it to the previously used distance-based shortest path. A vehicles' optimal route might change due to its diverse velocity caused by unexpected but potential dynamic situations depending on the road condition. This study includes such context variables as 'road congestion', 'work', 'accident', and 'weather' which can alter the traffic condition. The contexts can affect moving vehicle's velocity on the road. Since these context variables except for 'weather' are related to road conditions, relevant data were provided by the Korea Expressway Corporation. The 'weather'-related data were attained from the Korea Meteorological Administration. The aware contexts are classified contexts causing reduction of vehicles' velocity which determines the velocity reduction rate. To find the optimal route (shortest path), we introduced the velocity reduction rate in the context for calculating a vehicle's velocity reflecting composite contexts when one event synchronizes with another. We then proposed a context-based optimal route (shortest path) algorithm based on the dynamic programming. The algorithm is composed of three steps. In the first initialization step, departure and destination locations are given, and the path step is initialized as 0. In the second step, moving costs including composite contexts into account between locations on path are estimated using the velocity reduction rate by context as increasing path steps. In the third step, the optimal route (shortest path) is retrieved through back-tracking. In the provided research model, we designed a framework to account for context awareness, moving cost estimation (taking both composite and single contexts into account), and optimal route (shortest path) algorithm (based on dynamic programming). Through illustrative experimentation using the Wilcoxon signed rank test, we proved that context-based route planning is much more effective than distance-based route planning., In addition, we found that the optimal solution (shortest paths) through the distance-based route planning might not be optimized in real situation because road condition is very dynamic and unpredictable while affecting most vehicles' moving costs. For further study, while more information is needed for a more accurate estimation of moving vehicles' costs, this study still stands viable in the applications to reduce moving costs by effective route planning. For instance, it could be applied to deliverers' decision making to enhance their decision satisfaction when they meet unpredictable dynamic situations in moving vehicles on the road. Overall, we conclude that taking into account the contexts as a part of costs is a meaningful and sensible approach to in resolving the optimal route problem.

FMCW 레이더에서의 1D FRI (Finite Rate of Innovation) 초고해상도 기법 적용 및 분석 (Application and Analysis of 1D FRI (Finite Rate of Innovation) Super-resolution Technique in FMCW Radar)

  • 유경우;공승현
    • 한국자동차공학회논문집
    • /
    • 제22권7호
    • /
    • pp.31-39
    • /
    • 2014
  • Recently, as Intelligent Transportation System (ITS) and self-driving system become influential in the ground transportation system, automotive radar systems have been actively studied among the various radar systems to implement the vehicle collision detection system and distance measurement system between vehicles. Most of the automotive radars are Frequency Modulated Continuous Wave (FMCW) radar type which can calculate distance and velocity of target by estimating the frequency difference between the transmitted signal and received signal. Therefore, accurate frequency estimation is very important in the FMCW radar system. For this reason, to improve the measurement accuracy of the FMCW radar, Reverse Directional FRI (RD-FRI) Super-Resolution technique which has high frequency estimation accuracy is applied to the FMCW radar system. The feasibility of the proposed technique is evaluated with simulation results and compared with FFT and conventional Super-Resolution techniques. The simulation results show that the proposed technique estimates the frequency with high accuracy and the distance with centimeter accuracy.

연속류 도로구간의 수막정보 발생구간 추정 및 적용연구 - 서울시 내부순환도로를 중심으로 - (Development of Hydroplaning Estimation on an Uninterrupted Road)

  • 이종학;노정훈;박석주
    • 한국도로학회논문집
    • /
    • 제19권6호
    • /
    • pp.147-153
    • /
    • 2017
  • PURPOSES : This research aims to estimate the occurrence of hydroplaning on roads based on the road alignment types and rainfall intensity in Seoul. METHODS : Three types of data were used for estimation of hydroplaning in this study. The Inner Circulation Road (12.5 km) to the Bukbu Expressway (7.4 km) in Seoul was selected as the test road and data was collected for road information using a probe-vehicle. Precipitation was observed from Automatic Weather System in Seoul. These data were interpolated by applying Inverse Distance Weighted Methodology for hydroplaning estimation. Finally, the water depth information of the roads was observed using an RCM411 device. RESULTS : This study demonstrated that the cross slope with small-angle-tilt or vertical section with large-angle-tilt are the primary factors causing hydroplaning on the roads. The flow velocity on steep slope is high; however, large drainage lengths result in hydroplaning on the roads. CONCLUSIONS : This result can contribute towards the reduction of car accidents on rainy days. Furthermore, information regarding hydroplaning can be delivered to drivers more rapidly and precisely in the future.

A Study on the Minimum Safe Distance between Two Vessels in Confined Waters

  • Lee, Chun-Ki;Moon, Serng-Bae
    • 한국항해항만학회지
    • /
    • 제38권6호
    • /
    • pp.561-565
    • /
    • 2014
  • This paper is mainly concerned with the interaction effects between two vessels and sidewall with a mound. Experimental study on hydrodynamic forces between ship and sidewall with a mound was already shown in the previous paper, measured by varying the distances between ship and sidewall. The ship maneuvering simulation was conducted to find out the minimum safe distance between vessels, which is needed to avoid sea accident in confined waters. From the inspection of this investigation, it indicates the following result. When and if one vessel passes the other vessel through the proximity of sidewall with a mound, the spacing between two vessels is needed for the velocity ratio of 1.2, compared to the case of 1.5. Also, for the case of ship-size estimation, the ship maneuvering motion is more affected by interaction effects for the overtaken small vessel, compared to the overtaking large vessel.

독성물질 누출의 강도 산정 방법에 관한 비교 연구 (A Comparative Study on the Method of Consequence Estimation for Release of Toxicant Substances)

  • 김윤화;백종배;고재욱
    • 한국안전학회지
    • /
    • 제9권1호
    • /
    • pp.89-94
    • /
    • 1994
  • Two methods, the numerical method of CPQRA and the manual method of IAEA, were used to estimate the effect distance from release and dispersion of toxic materials. The Gaussian plume model which has a weather stability class D with wind velocity of 5m/s was applied to calculate dispersion of toxic materials. Also, probit function were employed to evaluate the human fatality as a result of exposure to toxic gases. Furthermore, concentration of toxic materials corresponding to LC$_{50}$ for 30 min could be determined by setting Pr as 5.0 and solving the probit function. Calculations were conducted by employing chlorine and ammonia as toxic materials because they are not only most commonly used In chemical plants but also very harmful to humans. Calculated results by employing toxic materials indicated that the effect distance from the CPQRA method was between the minimum and maximum distance from the method proposed by IAEA.A.

  • PDF

다중 프레임의 SAD를 이용한 드론 속도 측정 (Estimation of Drone Velocity with Sum of Absolute Difference between Multiple Frames)

  • 남돈호;염석원
    • 융합신호처리학회논문지
    • /
    • 제20권3호
    • /
    • pp.171-176
    • /
    • 2019
  • 드론은 원거리 동영상을 효율적으로 획득할 수 있어서 활용성이 높다. 드론 운용에서 속도의 크기인 속력은 설정할 수 있지만 이동하는 방위의 정확한 값은 설정이 불가능하다. 본 논문에서는 드론에서 획득한 동영상을 이용하여 일정한 속도로 이동하는 드론의 속도를 추정한다. 기준 프레임과 표적 프레임의 Sum of Absolute Difference(SAD)를 최소로 하는 표적 프레임의 변위를 구한다. 드론의 실제 속도(Ground Truth)는 각 프레임에서 일정한 동일 지점(Matching Point)의 위치를 이용하여 계산한다. 실험에서 150m 상공에서 일정한 속력으로 이동하는 드론으로 동영상을 획득하였다. 추정한 x와 y방향의 속도와 속력의 평균 제곱근 오차(RMSE)를 구하여 제안한 방법의 신뢰성을 보였다.

발파진동의 예측기법과 환경규제 기준으로의 변환 연구 (A Study on the Prediction & Transformation of Blasting Vibration for Environmental Regulation Standard)

  • 김남수;양형식
    • 터널과지하공간
    • /
    • 제11권1호
    • /
    • pp.14-19
    • /
    • 2001
  • 발파진동을 계측하여 예측방법의 타당성을 검토하였고, 환경규제 기준으로의 변환방식을 규명하였다. 진동레벨과 진동속도의 환산거리 설계 적용성은 진동속도가 더 좋았다. 따라서 설계나 시공은 진동속도로 관리하고 이를 법적 기준인 진동레벨로 변환할 필요성이 있었다. 기존의 변환식 중에서 충격진동 데이터로만 구성하여 변환식을 구하였고, 동시에 측정된 진동속도와 진동레벨의 상관식에 의한 변환식을 구하였으며, 퓨리에 변환을 하여 각 주파수 별로 감각보정하여 진동레벨을 구하였다. 세 가지 방법을 이용하여 변환한 결과 모두 오차가 있으므로 변환에 의한 피해 보상의 판정에는 무리가 있었으나, 그 중에서 발파시 동시에 측정된 수직방향 성분 PPV와 진동레벨의 변환식이 가장 실용적으로 판단되었다.

  • PDF

두 대역 상반된 스윕방향 hyperbolic frequency modulation 펄스로 수중물체 시선속도추정 기법 및 성능분석 (Underwater object radial velocity estimation method using two different band hyperbolic frequency modulation pulses with opposite sweep directions and its performance analysis)

  • 조점군;정의철
    • 한국음향학회지
    • /
    • 제42권1호
    • /
    • pp.25-31
    • /
    • 2023
  • 능동소나를 이용하여 수중물체의 속도를 추정하려면 Continuous Wave(CW) 펄스를 이용하는 것이 일반적이나, 수중물체의 속도가 느리고 근거리의 해양에서는 잔향음의 영향으로 수중물체의 속도 추정이 용이하지 않다. 2017년도에 Wang 연구진은 이를 극복하고자 수중물체의 속도에 의한 도플러 변이에 둔감한 광대역 신호인 Hyperbolic Frequency Modulation(HFM) 펄스 두 개를 상반된 스윕방향으로 이용하였다. 두 펄스 간 송신 시간간격과 탐지시간 차이의 변화를 통하여 수중물체 속도 추정이 가능하다는 것을 시뮬레이션으로 제시하였다. 하지만 동일한 대역을 이용하므로 상호상관성에 의해서 수중물체 탐지 성능이 영향을 받을 수 밖에 없다. 상호상관성에 의한 수중물체 탐지 성능저하를 방지하기 위하여 대역이 분리된 상반된 스윕방향의 두 HFM 펄스 이용을 제안한다. 본 논문에서는 상반된 스윕방향의 두 대역 HFM을 이용하여 수중물체의 시선속도 추정에 관한 이론을 도출하였고, 펄스길이와 대역폭이 1 s와 400 Hz인 HFM 펄스로 시뮬레이션을 수행하였다. 제안한 방법을 이용하여 수중물체의 시선속도를 추정하면 약 6 %의 오차로 표적 속도 추정이 가능하다는 것을 시뮬레이션을 통하여 확인하였다.

차량의 데이터 처리 오버헤드를 줄이기 위한 이동 속도와 거리 추정 기반의 센싱 데이터 수집 주기 제어 기법 (Velocity and Distance Estimation-based Sensing Data Collection Interval Control Technique for Vehicle Data-Processing Overhead Reduction)

  • 권지수;박대진
    • 한국정보통신학회논문지
    • /
    • 제24권12호
    • /
    • pp.1697-1703
    • /
    • 2020
  • 주변 환경으로부터 직접 데이터를 수집하는 센서 노드는 많은 제약 조건을 가지기 때문에 자원의 효율적인 사용이 필요하다. 본 논문에서는 도로를 주행 중인 차량의 위치 데이터를 수신하는 센서 노드에서, 칼만 필터로 추정한 대상의 속도와 이동 거리 가중치로 데이터 수신 주기를 변경한다. 차량의 속도가 느릴수록 센서 노드의 데이터 수신 주기를 길게 함으로써 전체 네트워크에서 이루어지는 연산 시간을 줄일 수 있다. 제안하는 기법은 MATLAB으로 구현된 교통 시뮬레이터를 통하여 검증하였으며, 기존 방법에 비해 제안하는 기법을 사용하는 센서 네트워크에서 연산에 소요되는 시간이 감소하는 것을 확인하였다.

비전 센서 및 딥러닝 기반 선박 접안을 위한 어라운드뷰 모니터링 시스템 (Vision Sensor and Deep Learning-based Around View Monitoring System for Ship Berthing)

  • 김한근;김동훈;박별터;이승목
    • 대한임베디드공학회논문지
    • /
    • 제15권2호
    • /
    • pp.71-78
    • /
    • 2020
  • This paper proposes vision sensors and deep learning-based around view monitoring system for ship berthing. Ship berthing to the port requires precise relative position and relative speed information between the mooring facility and the ship. For ships of Handysize or higher, the vesselships must be docked with the help of pilots and tugboats. In the case of ships handling dangerous cargo, tug boats push the ship and dock it in the port, using the distance and velocity information receiving from the berthing aid system (BAS). However, the existing BAS is very expensive and there is a limit on the size of the vessel that can be measured. Also, there is a limitation that it is difficult to measure distance and speed when there are obstacles near the port. This paper proposes a relative distance and speed estimation system that can be used as a ship berthing assist system. The proposed system is verified by comparing the performance with the existing laser-based distance and speed measurement system through the field tests at the actual port.