• 한국도로학회논문집
• /
• 제19권5호
• /
• pp.89-96
• /
• 2017

PURPOSES: This study aims to develop a rational procedure for estimating the pavement roughness index considering vehicle wandering. METHODS : The location analysis of the passing vehicle in the lane was performed by approximately 1.2 million vehicles for verification of the wandering distribution. According to verification result, the distribution follows the normal distribution pattern. The probability density function was estimated using each lane's wandering distribution model. Then the procedure for applying a weighted value into the lane profile was conducted using this function. RESULTS : The modified index, MRIw, with consideration towards applying the wandering weighted value application was computed then compared with MRI. It was found that the Coefficient of Variation for distribution of lateral roughness index in the lane was high in the case of a large difference between each index (i.e., MRIw and MRI) observed. CONCLUSIONS : This result confirms that the new procedure with consideration of the weight factor can successfully improve the lane representative characteristics of the roughness index.

• 한국안전학회지
• /
• 제32권5호
• /
• pp.135-140
• /
• 2017

This study deals with the safety of roundabout. The purpose of this study is to analyze the factors affecting the pedestrian accidents of roundabout near schools. In pursuing the above, this study gives particular attentions to comparatively analyzing the pedestrian accident by number of entry and circulatory lane. The traffic accident data from 2013 to 2015 are collected from TAAS data set of Road Traffic Authority. To develop the pedestrian accident model, the Poisson and negative binomial models has been utilized in this study. Such the dependent variable as the number of pedestrian accidents and the 24 independent variables as geometry, traffic volume and others are used. The main results are as follows. First, 3 Poisson and 2 negative binomial models(${\rho}^2$ of 0.153~0.426) which are all statistically significant are developed. Second, the common variable of models based on the number of circulatory roadway lane is analyzed to be the entry lane width and that of the number of entry lane is evaluated to be the design speed. Also specific variables are evaluated to splitter island, roundabout sign, number of approach road, bus stop and elementary school. Finally, the design speed might be expected to decrease the number of pedestrian accidents near schools.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.81-81
• /
• 2000

We use camera to apply human vision system in measurement. To do that, we need to know about camera parameters. The camera parameters are consisted of internal parameters and external parameters. we can fix scale factor&focal length in internal parameters, we can acquire external parameters. And we want to use these parameters in automatically driven vehicle by using camera. When we observe an camera parameters in respect with that the external parameters are important parameters. We can acquire external parameter as fixing focal length&scale factor. To get lane coordinate in image, we propose a lane detection filter. After searching lanes, we can seek vanishing point. And then y-axis seek y-sxis rotation component(${\beta}$). By using these parameter, we can find x-axis translation component(Xo). Before we make stepping motor rotate to be y-axis rotation component(${\beta}$), '0', we estimate image coordinates of lane at (t+1). Using this point, we apply this system to Kalman filter. And then we calculate to new parameters whick make minimum error.

• 센서학회지
• /
• 제9권5호
• /
• pp.373-379
• /
• 2000

본 논문에서는 차량이 자동으로 도로를 추적하는 자율주행을 실현하기 위한 선행조건으로서 자기차선의 자장으로부터 차량의 위치와 방향을 추정하기 위한 시스템을 제안한다. 자기차선에 사용되는 원통형 영구자석인 단일자기원에 자기 쌍극자 모델이 적용될 수 있음을 검증하기 위해서 자기센서를 이용하여 위치에 따른 원형 영구자석 자장의 3축 성분을 측정하고 실험 데이터를 자기 쌍극자 모델과 비교하였다. 실험 데이터를 기반으로 한 모델을 이용하여 자장의 3축 성분에 의하여 센서의 위치를 추정할 수 있음을 보인다. 단일 자기원에 검증된 자기 쌍극자 모델을 자기차선으로 확장하고, 센서의 위치와 방향에 따른 자장의 3축 성분의 실험 데이터를 획득한다. 실험 데이터의 맵핑을 이용하여 자장의 3축 성분에 따른 센서의 위치와 방향을 추정한다. 자기차선 상에서 차량의 위치와 센서를 제안된 방법에 의해 추정하고 컴퓨터 시뮬레이션을 통하여 차선추적에 적용한다.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2017년도 추계학술발표대회
• /
• pp.891-894
• /
• 2017

Lane detection algorithms became a key factor of advance driver assistance system (ADAS), since the rapidly increasing of high-technology in vehicles. However, one common problem of these algorithms is their performance's instability under various illumination conditions. We recognize a feasible complementation between image processing and color science to address the problem of lane marks detection on the road with different lighting conditions. We proposed a novel lane detection algorithm using the attributes of a uniform color space such as $CIEL^*C^*h$ with the implementation of image processing techniques, that lead to positive results. We applied at the final stage Clustering to make more accurate our lane mark estimation. The experimental results show the effectiveness of our method with detection rate of 91.80%. Moreover, the algorithm performs satisfactory with changes in illumination due to our process with lightness ($L^*$) and the color's property on $CIEL^*C^*h$.

• Journal of KIEE
• /
• 제11권1호
• /
• pp.69-77
• /
• 2001

This paper describes an image processing algorithm capable of recognizing road lanes by using a CDF(cumulative distribution function). The CDF is designed for the model function of road lanes. Based on the assumptions that there are no abrupt changes in the direction and location of road lanes and that the intensity of lane boundaries differs from that of the background, we formulated the CDF, which accumulates the edge magnitude for edge directions. The CDF has distinctive peak points at the vicinity of lane directions due to the directional and the positional continuities of a lane. To obtain lane-related information a scatter diagram was constructed by collecting edge pixels, of which the direction corresponds to the peak point of the CDF, then the principal axis-based line fitting was performed for the scatter diagram. Noises can cause many similar features to appear and to disappear in an image. Therefore, to reduce the noise effect a recursive estimator of the CDF was introduced, and also to prevent false alarms or miss detection a scene understanding index (DUI) was formulated by the statistical parameters of the CDF. The proposed algorithm has been implemented in real time on video data obtained from a test vehicle driven on a typical highway.

• 한국정보통신학회논문지
• /
• 제10권2호
• /
• pp.406-412
• /
• 2006

본 논문에서는 차선 추출을 위해서 OHT(Optimized Hough Transform) 알고리듬을 제안한다. 입력 영상을 그레이 영상으로 변환하고 변환된 그레이 영상은 수평 투영을 통해 주변 배경 영역과 도로 영역으로 분리된다. 분리된 도로 영역에서 OHT(Optimized Hough Transform) 알고리듬을 적용한다. OHT(Optimized Hough Transform) 알고리듬은 다음과 같이 특징지어진다. 첫째, 윤곽선 방향각을 이용해서 차선후보 픽셀을 최소화하였으며, 둘째, 좌우 차선의 범위는 제한된 ${\theta}$값으로서 정의하였다. 실험 결과, 제안한 알고리듬이 기존의 Hough Transform보다 훨씬 효율적임을 알 수 있었다.

• 한국자동차공학회논문집
• /
• 제22권7호
• /
• pp.107-116
• /
• 2014

This paper presents camera-based road surface marking detection methods suited to sensor fusion-based positioning system that consists of low-cost GPS (Global Positioning System), INS (Inertial Navigation System), EDM (Extended Digital Map), and vision system. The proposed vision system consists of two parts: lane marking detection and RSM (Road Surface Marking) detection. The lane marking detection provides ROIs (Region of Interest) that are highly likely to contain RSM. The RSM detection generates candidates in the regions and classifies their types. The proposed system focuses on detecting RSM without false detections and performing real time operation. In order to ensure real time operation, the gating varies for lane marking detection and changes detection methods according to the FSM (Finite State Machine) about the driving situation. Also, a single template matching is used to extract features for both lane marking detection and RSM detection, and it is efficiently implemented by horizontal integral image. Further, multiple step verification is performed to minimize false detections.

• 한국자동차공학회논문집
• /
• 제22권7호
• /
• pp.40-47
• /
• 2014

This paper proposes a matching method of GIS lane information with a vehicle position using camera image to reduce DGPS error. Images of straight road are taken using a camera that is installed on the front center of the vehicle, and the distance between the vehicle and the lane are estimated using the images. The current GIS lane data is matched by comparing the estimated distance and the measured distance using a DGPS. Inverse perspective mapping is used to minimize the error of image processing from the heading angle, and single buffering method is applied to decide the exact moment of GIS match. Through practical test on the highway, feasibility of the GIS matching using camera image is confirmed.

• International Journal of Automotive Technology
• /
• 제6권2호
• /
• pp.171-181
• /
• 2005

The purpose of this paper is two-fold: 1) A novel algorithm in order to extract lane-related information from road images is presented; 2) Design specifications of an image processing onboard unit capable of extracting lane­related information in real-time is also presented. Obtaining precise information from road images requires many features due to the effects of noise that eventually leads to long processing time. By exploiting a FPGA and DSP, we solve the problem of real-time processing. Due to the fact that image processing of road images relies largely on edge features, the FPGA is adopted in the hardware design. The schematic configuration of the FPGA is optimized in order to perform 3 $\times$ 3 Sobel edge extraction. The DSP carries out high-level image processing of recognition, decision, estimation, etc. The proposed algorithm uses edge features to define an Edge Distribution Function (EDF), which is a histogram of edge magnitude with respect to the edge orientation angle. The EDF enables the edge-related information and lane-related to be connected. The performance of the proposed system is verified through the extraction of lane-related information. The experimental results show the robustness of the proposed algorithm and a processing speed of more than 25 frames per second, which is considered quite successful.