• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.98.3-98
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• 2002

Vision-based systems for finding road lanes have to operate robustly under a wide variety of environ-mental conditions including large amount of scene clutters. This paper presents a method for finding the lane boundaries by combining a local line extraction method and dynamic programming as a search tool. The line extractor obtains an initial position estimation of road lane boundaries from the noisy edge fragments. Dynamic programming then improves the initial approximation to an accurate configuration of lane boundaries. Input image frame is divided into a few sub-regions along the vertical direction. The local line extractor then performs to extract candidate lines of road lanes in the...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.107.2-107
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• 2002

The objective of this study is to propose a lane changing and keeping method on a curved road for an automatic guidance of a vehicle. It is well known that the speed control of a vehicle in a curved road is essential in terms of vehicle stability and passenger safety because centrifugal force makes a vehicle to be on out of lane. And it is also natural to avoid the collision with other cars or obstructions with keeping the stability and drivability. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net in which not only the state variables, but also the corresponding uncer...

• 한국생산제조학회지
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• 제7권4호
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• pp.28-34
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• 1998

This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2010년도 춘계학술대회 논문집
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• pp.756-761
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• 2010

Bimodal trams are run by a guidance system and combine the functions of buses and trains. The trams have been highlighted as an alternative means of public transportation due to their accessibility, mobility, and arrival accuracy. While bimodal trams can be implemented on existing roads or by road expansion, with the narrow road conditions in Korea, studies must be performed in advance on suitable lane and platform locations and the exclusivity of lane use. This paper proposes plans for the location of bimodal tram lanes and platforms, whether in the median or at the road’s edge. In addition, methods of efficient bimodal tram operation are discussed, including the implementation of exclusive tram lanes.

• 로봇학회논문지
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• 제6권2호
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• pp.165-172
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• 2011

This paper presents a robust lane detection algorithm based on RGB color and shape information during autonomous car control in realtime. For realtime control, our algorithm increases its processing speed by employing minimal elements. Our algorithm extracts yellow and white pixels by computing the average and standard deviation values calculated from specific regions, and constructs elements based on the extracted pixels. By clustering elements, our algorithm finds the yellow center and white stop lanes on the road. Our algorithm is insensitive to the environment change and its processing speed is realtime-executable. Experimental results demonstrate the feasibility of our algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.17-17
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• 2000

In this paper, we design a hybrid controller for a safe lane change maneuver in automated highway systems(AHS). The proposed hybrid controller consists of a supervisor which controls the behaviors of discrete-event dynamic systems, and a regulator which controls the operations of continuous-variable dynamic systems. The supervisor determines whether the system starts a maneuver or not, via a condition for a safety, and gives orders to the regulator for performing the maneuvers. And the regulator tracks the planned path generated in the supervisor. The conditions for a safe lane change maneuver are proposed using the velocity, the acceleration, and geometrical relationship of vehicles.

• 한국자동차공학회논문집
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• 제7권5호
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• pp.240-248
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• 1999

This paper presents a lane-change collision avoidance control algorithm for autonomous vehicles that will be used in AHS(Automated Highway System). In the proposed control algorithm, nominal control inputs are generated by solving the inverse vehicle dynamic equations of motion for a lane-change maneuver. In addition, a corrective steering input from preview as well as DYC (Direct Yaw Moment Control) may be included to reduce unpredictable errors and to insure yaw directional stability, respectively. The performance of the algorithm is evaluated with an ABS HILS system which consist of 17 DOF vehicle model and real ABS hardware parts. The HILS simulation results show that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.

• 한국축산식품학회:학술대회논문집
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• 한국축산식품학회 2005년도 제36차 추계 학술발표대회
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• pp.346-349
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• 2005

병원성미생물을 분리${\cdot}$동정하는 방법으로 선택배지를 이용하는 검사방법은 4${\sim}$7일의 시간이 소요되는 단점이 있으며, 기존의 PCR방법은 대부분 단일 병원성 미생물만을 검출할 수 있는 반면 본 연구에서 사용된 시스템은 6종류의 세균성 식중독균을 한 번의 분석으로 확인할 수 있었기 때문에 비용과 분석시간을 대폭 절감하는 효과가 있었다. Fig. 1은 6종류의 세균성 식중독균이 혼합된 시료에 각각의 단일 프라이머를 이용하여 특이성을 확인한 결과이며, Fig. 2는 멀티플렉스 프라이머를 이용하여 각각의 세균성 식중독균 열 추출 시료에 대한 특이성을 확인한 결과이다. PCR 산물들이 사다리(ladder) 형태로 증폭됨으로써 동시에 6종류의 세균성 식중독균을 용이하게 확인할 수 있었다(Lane 1${\sim}$Lane 6). 또한 3종류의 세균성 식중독균이 혼합된 열 추출시료에서도 특이적인 PCR 증폭 산물들을 탐지할 수 있었다(Lane 10 & Lane 11).

• 대한전기학회논문지:시스템및제어부문D
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• 제53권7호
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• pp.509-516
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• 2004

This paper proposes an image processing algorithm for detecting obstacles on road using DLI(disparity of lane-related information) that is generated by stereo images acquired from dual cameras mounted on a moving vehicle. The DLI is a disparity that is acquired using a single lane information from road lane detection. For the purpose to reduce processing time, we use small block of edge-histogram based blocking logic. This algorithm detects moving objects such as preceding vehicles and obstacles. The proposed algorithm has been implemented in a personal computer with the road image data of a typical highway. We successfully performed experiments under a wide variety of road conditions without changing parameter values or adding human intervention. Experimental results also showed that the proposed DLI is quite successful.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.769-772
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• 2000

In this paper, a new lateral offset estimation method, based on image processing techniques, is proposed for driver assistant system. A new description on lane markings in the image plane is presented, and its properties are discussed and used to detect lane markings. Multi-frame lane detection and analysis are adopted to improve the proposed lateral control method. An algorithm for obstacle detection is also developed. Experimental results show that the proposed method performs lateral control effectively.