• Proceedings of the Korean Operations and Management Science Society Conference
• /
• 1994.04a
• /
• pp.536-542
• /
• 1994

This paper introduces a vehicle-following-system in which a moving vehicle recognizes the front vehicle's tail-light color and luminance, while maintaining a certain distance and avoiding collision. Using color images rather than using gray-scale images makes it easier to detect the objective color and eliminates the need of a thresholding. The Methods used are RGB to HSV conversion and global region growing method. This paper contributes to the basic study of Color-Vision, and can be extended to color inspection systems.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.773-778
• /
• 1991

In this paper we describe a road following method for an autonomous vehicle. From a road image in gray level, a road boundary is detected using a gradient operator, and then the road boundary is converted to orthogonal view of the road showing the vehicle position and heading direction. In this research an efficient road boundary search technique is developed to support real time vehicle control. Also, an obstacle detection method, using images taken from two different positions, has been developed.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.8 no.5
• /
• pp.48-56
• /
• 2009

Regulation of Visible Light Transmission Percentage (VLT%) has been argued because it was known that the degree of darkness of tinted vehicle can affect to driving maneuver. Previously, it was proven that low level of VLT affects capacity reduction. But, due to lack of field data they could not analyze the effect of Car-Following model parameters. This study focuses on the effect of a tinted vehicle on following traffic flow. RTK GPS receiving data through field experiment analyzed based on headway distance, acceleration noise, sensitivity, and reaction time. As a result of analysis through GM 1st Model and 3rd Model, influence of following vehicle vary inversely with VLT and risk according as tinting of lead vehicle is third vehicle bigger than second vehicle. Also the results patterns of GM 3rd model include distance-headway are same with GM 1st Model. In the further need to research for influence analysis of traffic flow stability by the level of VLT.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.14 no.2
• /
• pp.32-38
• /
• 2006

A vehicle adaptive cruise control strategy based on human drivers' driving characteristics has been investigated. Human drivers driving characteristics have been analyzed using vehicle test data obtained from 125 participants. The control algorithm has been designed to incorporate the driving characteristics of the human drivers and to achieve natural vehicle behavior of the controlled vehicle that would reduce the workload of the human driver. Vehicle following characteristics of the cruise controlled vehicle have been compared to real-world driving radar sensor data of human drivers using a validated vehicle simulator. and compare nominal cruise control and adaptive cruise control.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.29 no.3D
• /
• pp.363-371
• /
• 2009

The purpose of this study is to verify the safety issue of the tinted vehicle based on the field study as well as the issue of the capacity reduction from the tinted vehicle. Through this study, an innovative experimental method to verify the issues was developed using RTK GPS receivers, and a data collection was conducted using the developed experimental method. Using the collected data, the effects of the ahead vehicle with the windows tinted on the traffic condition such as headways and acceleration noise were analyzed to test that the ahead vehicle with windows tinted too darkly affects the increasing vehicle maneuver as following the degree of tinting. This study was conducted as a frontier study and more studies, for example, full scale analyses considering various road and vehicle conditions need to be conducted in the future.

• International Journal of Automotive Technology
• /
• v.5 no.2
• /
• pp.89-94
• /
• 2004

In this paper, a safe control strategy is considered in the situation when a platoon of vehicles need to decelerate rapidly. When the vehicles ate spaced closely, it is known that the reference information should be transmitted to the whole platoon to minimize the undesirable effects of small leader disturbances. However, the vehicle control should also depend on the preceding vehicle position to maintain the desired distance. Tracking the preceding vehicle position can lead to amplification of the control input along the following vehicles, therefore the vehicles in the rearward generally exert larger maximum control input than the vehicles in the front. The theoretical bounds for the $i^{th}$ vehicle control input are calculated using a linear vehicle and controller model. In the simple illustrative example, the designed controller maintains string stability, and the control inputs of the following vehicles stay within bounds.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.1
• /
• pp.93-99
• /
• 2011

A PRT vehicle's control method is presented in this paper. In the asynchronous vehicle control system, vehicles follow their leading vehicles. Leading vehicles are defined differently among the different types of track. The main topic of this paper is to present a method to define the leading vehicle among different types of track and the calculation algorithm of the safety length the following vehicle must maintain. Simulation program is developed using the algorithm and the results of the test run are presented. An asynchronous PRT vehicle control algorithm was presented by Szillat in the paper "A low level PRT Microsimulation, Dissertation, University of Bristol, 2001". But it is different from the algorithm in this paper. In the algorithm proposed by Markus, vehicles in the merging track are controlled synchronously, and its safety distance between the leading and the following car is evaluated after the establishment of the complicated future time-location table instead of simple equations proposed in this paper.

• Journal of Korean Society of Transportation
• /
• v.26 no.2
• /
• pp.121-133
• /
• 2008

Conventional car following models are controlled when the velocity of following vehicle is equal to preceding vehicle without consideration of relative distance. Also, since the car following models are hardly consider the driver's behaviors and the environmental factors in driving, the models can't be adopted in reality. Hence, we developed the car following model applying Human Factors to consider driver's safety and comfortness. We simulated to compare the suggested model with the existing model, GGM(General GM). As results of simulations, the GGM model followed the preceding vehicle when the velocity of following vehicle was equal to preceding vehicle without relation of relative range. The other side, when the relative range was less or over than safety range, the suggested model made the relative range equal to safety range. Accordingly, we could be sure that the model would decrease the driver's discomfort and intensify the safety on driving without unnecessary waste of road. We identified that the suggested model is more realistic than the conventional GGM model.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.10 no.6
• /
• pp.15-23
• /
• 2011

Driving directly in front of the driver of a vehicle driving in front of the vehicle and it is commonly known is affected. Responding to the car in front of the driver and the vehicle in front, and these follow the model is known as Three-Car-Following Model. Platoon vehicles to follow behind the driver's visibility is affected by the a tinted vehicle, and Parameters of the model is estimated to be affected also. In this study, in Three-Car-Followng Model parameters were estimated. and the parameter values differ about whether and how analysis was performed by the level of Visible Light Transmission Percentage. RTK GPS receiving data through field experiment analyzed based on sensitivity of three car by Visible Light Transmission Percentage and ${\gamma}$. And With statistical verification of driving directly in front of the driver in front of the vehicle and that the moving vehicle is influenced also confirmed. Also Visible Light Transmission Percentage is lowered, the vehicle in front of the driver's behavior showed sensitive reactions. In the further need to research for influence analysis of traffic flow capacity by the level of VLT.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.7
• /
• pp.1146-1151
• /
• 2003

In this paper, results of an analysis of driving behavior characteristics and a driver-adaptive control algorithm for adaptive cruise control systems have been described. The analysis has been performed based on real-world driving data. The vehicle longitudinal control algorithm developed in our previous research has been extended based on the analysis to incorporate the driving characteristics of the human drivers into the control algorithm and to achieve natural vehicle behavior of the adaptive cruise controlled vehicle that would feel comfortable to the human driver. A driving characteristic parameters estimation algorithm has been developed. The driving characteristics parameters of a human driver have been estimated during manual driving using the recursive least-square algorithm and then the estimated ones have been used in the controller adaptation. The vehicle following characteristics of the adaptive cruise control vehicles with and without the driving behavior parameter estimation algorithm have been compared to those of the manual driving. It has been shown that the vehicle following behavior of the controlled vehicle with the adaptive control algorithm is quite close to that of the human controlled vehicles. Therefore, it can be expected that the more natural and more comfortable vehicle behavior would be achieved by the use of the driver adaptive cruise control algorithm.