• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.774-780
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• 2017

The techniques for driving trajectory calculation and driving trajectory distribution calculation are proposed to analyze the durability of ground vehicles effectively. To achieve this aim, the driving trajectory of a vehicle and the driving trajectory distribution of that are needed, in addition to road profile. The road profiles can be measured by a profilometer but a driving trajectory of a vehicle cannot be acquired effectively due to a large position error from a conventional GPS sensor. Therefore two techniques are proposed to reduce the position error of a vehicle and achieve the distribution of driving trajectory of that. The driving trajectory calculation technique produces relative positions by using the velocity, time and heading of a vehicle. The driving trajectory distribution calculation technique produces distributions of the driving trajectory by using axis transformation, estimating reference line, dividing sectors and plotting a histogram of the sectors. As a results of this study, we can achieve the considerably accurate driving trajectory and driving trajectory distribution of a vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.11
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• pp.1065-1071
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• 2012

In this paper, we proposed a method for vehicle monitoring with trajectory reconstruction. For safety, it is important to monitor the driving habit of driver. Every year, many accidents occur due to the reckless driving of the driver. Continuous monitoring of the status of commercial vehicles is needed for safety through the entire path from start point to the destination. To monitor the reckless driving, we try to monitor the trajectory of the vehicle by using vehicle's lateral acceleration data. Compared with steering angle and lateral acceleration, these resemble each other. So, we find the relationship of steering angle and acceleration, and find the global direction of vehicle. We find the position of non-GPS section with EKF (External Kalman Filter) and reconstruct the whole trajectory during vehicle driving.

• Journal of Korean Society of Transportation
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• v.35 no.5
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• pp.423-433
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• 2017

During recent 5 years, it was recorded that 20% of total accident frequency and 30% of total number of death have been occurred due to drowsy driving. Drowsy driving accident is result from the loss of driving ability due to driver's accumulated fatigue. Continuous driving time can be measured as a surrogate variable to quantify the level of fatigue. The main purpose of this research is to investigate statistical correlation between the proportion of continuous driving vehicle (more than 2 hours) and the number of drowsy accidents. To carry this out, continuous driving time was measured using GPS route-guidance trajectory data. Also, accident frequency, traffic volume and segment length were collected to estimate safety performance function (SPF) for Jungbunearuk expressway in Korea. Through various types of estimated SPFs, statistical correlation was analyzed based on estimated statistical indices. This research can provide theoretical background for enforcement to regulate commercial vehicle driver's continuous driving time. In addition, throughout the trajectory data expansion, it is expected that strategy for anti-drowsy driving facilities installation can be established based on the suggested methodology.

• Information and Communications Magazine
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• v.29 no.8
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• pp.72-84
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• 2012

This paper introduces three vehicle trajectory-based data forwarding schemes, tailored for vehicular ad hoc networks. Nowadays GPS-based navigation systems are popularly used for providing efficient driving paths for drivers. With the driving paths called vehicle trajectories, we can make data forwarding schemes more efficient, considering the micro-scoped mobility of individual vehicles in road networks as well as the macro-scoped mobility of vehicular traffic statistics. This paper shows why the vehicle trajectory is a key ingredient in the design of the vehicle-to-infrastructure, infrastructure-to-vehicle, and vehicle-to-vehicle data forwarding schemes over multihop. Through the mathematical formulation, the key design techniques are shown for three forwarding schemes based on vehicle trajectory, compared with a state-of- the- art data forwarding scheme based on only vehicular traffic statistics.

• Journal of Information Processing Systems
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• v.13 no.4
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• pp.951-969
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• 2017

In this paper, we newly propose a traffic information service model that collects traffic information sensed by an individual vehicle in real time by using a smart device, and which enables drivers to share traffic information on all roads in real time using an application installed on a smart device. In particular, when the driver requests traffic information for a specific area, the proposed driver-personalized service model provides him/her with traffic information on the driving directions in advance by predicting the driving directions of the vehicle based on the learning of the driving records of each driver. To do this, we propose a traffic information management model to process and manage in real time a large amount of online-generated traffic information and traffic information requests generated by each vehicle. We also propose a road node-based indexing technique to efficiently store and manage location-based traffic information provided by each vehicle. Finally, we propose a driving learning and prediction model based on the hidden Markov model to predict the driving directions of each driver based on the driver's driving records. We analyze the traffic information processing performance of the proposed model and the accuracy of the driving prediction model using traffic information collected from actual driving vehicles for the entire area of Seoul, as well as driving records and experimental data.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1431-1438
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• 2013

A pack-level battery hardware-in-the-loop simulation (B-HILS) platform is implemented. It consists of dynamic vehicle models using PSAT and multiple control interfaces including real-time 3D driving and GPS mode. In real-time 3D driving mode, user can drive a virtual vehicle using actual drive equipment such as steering wheel and accelerator to generate the cycle profile of the battery. In GPS mode, actual road traffic and terrain effects can be simulated using GPS data while the trajectory is displayed on Google map. In the latter part of the paper, several performance tests of an actual lithium-polymer battery pack are carried out utilizing the developed system. All experiments are conducted as parts of actual development process of a commercial battery pack adopting 2nd generation Prius as a target vehicle model. Through the experiments, the low temperature performance and fuel efficiency of the battery are quantitatively investigated in comparison with the original nickel-metal hydride (NiMH) pack of the Prius.

• Journal of Navigation and Port Research
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• v.33 no.9
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• pp.603-608
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• 2009

In this paper, a 3m-class free running model ship will be introduced with its manoeuvring performance experiments. The results of turning circle test and zig-zag test will be explained. The developed system are equipped with GPS, main control computer, wireless LAN, IMU (Inertial Measurement Unit), self-propulsion propeller and driving rudder. Its motion can be controlled by RC (Radio Control) and wireless LAN from land based center. Automatic navigation is also available by pre-programmed algorithm. The trajectory of navigation can be acquired by GPS and it provides us with important data for ship's motion control experiments. The results of manoeuvring performance experiment have shown that the developed free running model ship can be used to verify the test of turning circle and zig-zag. For next step, other experimental researches such as ship collision avoidance system and automatic berthing can be considered in the future.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.6
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• pp.867-874
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• 2021

The IoT (Internet of Things) technology is rapidly becoming an important consideration in many engineering fields in the current 4th industrial era. In recent years, the concepts of digital shipbuilding and smart factories have been adopted as trends in shipyards. However, there is active interest in research on implementing autonomous driving in autonomous vehicles and airplanes, which is currently available in commercial form in a limited capacity. The present study is regarding the path-tracking performance of a boat to accomplish an autonomous driving mission using a flight controller (FC) and real-time kinematic (RTK) global positioning system (GPS) based on an open-source Ardupilot; an actual sea test is also performed using this system on a calm lake. The boat's mission is to evaluate the maneuverability of the self-driving process to a specific point and returning to the home position. For a given speed, the difference between the preset mission trajectory and actual operational trajectory was analyzed, and a series of studies were conducted on the applicability of the system to ships. In addition, the movements and maneuverability of the OmniX-type hull with four propellers were investigated, and the driving path-tracking performance was observed to increase by a maximum of 48%.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.50-59
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• 2014

This paper proposes a method of localization of vehicle especially the horizontal position for the purpose of recognizing the driving lane. Through tracking road signs, the relative position between the vehicle and the sign is calculated and the absolute position is obtained using the known information from the regulation for installation. The proposed method uses Kalman filter for road sign tracking and analyzes the motion using the pinhole camera model. In order to classify the road sign, ORB(Oriented fast and Rotated BRIEF) features from the input image and DB are matched. From the absolute position of the vehicle, the driving lane is recognized. The Experiments are performed on videos from the highway driving and the results shows that the proposed method is able to compensate the common GPS localization errors.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.10
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• pp.739-744
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• 2017

Elastic deformation and fatigue damage can cause the permanent deformation of a kart's frame during turning, affecting the kart's driving performance. A kart's frame does not contain any suspension or differential devices and, therefore, the dynamic behavior caused by torsional deformation when driving along a curve can strongly affect these two kinds of deformations. To analyze the dynamic behavior of a kart along a curved section, the GPS trajectory of the kart is obtained and the torsional stress acting on the kart-frame is measured in real time. The mechanical properties of leisure and racing karts are investigated by analyzing their material properties and conducting a tensile test. The torsional stress concentration and frame distortion are investigated through a stress analysis of the frame on the basis of the obtained results. Leisure and racing karts are tested in each driving condition using driving analysis equipment. The behavior of a kart when being driven along a curved section is investigated through this test. Because load movement occurs owing to centrifugal force when driving along a curve, torsional stress acts on the kart's steel frame. In the case of a leisure kart, the maximum torsional stress derived from the torsional fatigue limit was found to be 230 MPa, and the torsional fatigue limit coefficient was 0.65 when driving at a speed of 40 km/h. Furthermore, the driving elements during the cornering of a kart were measured based on an actual auto-test after installing a driving measurement system, and the driving behavior of the kart was analyzed by measuring its vertical displacement.