• Journal of Mechanical Science and Technology
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• 제16권3호
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• pp.338-343
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• 2002

In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.

• 자동차안전학회지
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• 제12권3호
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• pp.34-42
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• 2020

ADAS (Advanced Driver Assistance Systems) uses sensors such as camera, radar, lidar and GPS (Global Positioning System). Among these sensors, the camera has many advantages compared with other sensors. The reason is that it is cheap, easy to use and can identify objects. In this paper, therefore, a theoretical formula was proposed to obtain the distance from the vehicle's front wheel to the lane using a monocular camera. And the validity of the theoretical formula was verified through the actual vehicle test. The results of the actual vehicle test in scenario 4 resulted in a maximum error of 0.21 m. The reason is that it is difficult to detect the lane in the curved road, and it is judged that errors occurred due to the occurrence of significant yaw rates. The maximum error occurred in curve road condition, but the error decreased after lane return. Therefore, the proposed theoretical formula makes it possible to assess the safety of the LKA system.

• 전기전자학회논문지
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• 제15권3호
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• pp.255-260
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• 2011

본 논문은 허프 변환을 이용한 차선 검출 알고리즘의 병렬화 기법을 제안한다. 허프 변환은 영상의 모든 위치에 존재 가능한 모든 후보 ${\Theta}$ 들에 대해 ${\rho}$ 값을 구해야 하므로 연산량이 많기 때문에 연산에 많은 시간이 소요되는 단점이 있다. 이를 멀티코어 환경에서 병렬 처리하는 구조를 제안 한다. 또한 허프 변환 이외에도 전처리 과정에 해당하는 노이즈 제거와 에지 검출도 병렬 처리 하였다. 제안하는 알고리즘은 기존 알고리즘에 비해 5.17배의 성능 향상이 있다.

• 한국도로학회논문집
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• 제16권4호
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• pp.11-19
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• 2014

PURPOSES: This study is to suggest the improvement for bus rapid transit system in Seoul METHODS: The maintenance cost for bus lane damages and plastic deformations are increased by bus passing speed, heavy bus weight, and climate change (localized torrential downpour, subtropical climate) and the accident risk has been increased. RESULTS: Recent analysis of pavement damage indicates that bus lane damage caused by heavy weight is overwhelming and it is urgent to prepare countermeasures. CONCLUSIONS : Pavement data of bus rapid transit system, bus transit numbers and pavement damage elements were analyzed. By analyzing pavement maintenance, design and construction, the countermeasures for the improvement of bus lane pavement and effective maintenance were suggested.

• 한국양식학회:학술대회논문집
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• 한국양식학회 2002년도 춘계 한국양식학회 학술대회 발표요지
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• pp.171-172
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• 2002

Genomic DNA from the muscle of marsh clam (Corbicula leana)from Gochang was extrected in order to identify genetic differences and similarity by randomly amplified polymorphic DNAs-polymerase chain reaction. 3.28 of the 23.0 polymorphic bands per lane were found to be polymorphic in marsh clam. Also, about 4.34% of total polymorphic bands were either specific to marsh clam. The major common bands of 0.28 kb generated by primer OPB-15 (GGAGGGTGTT) were present in every individuals, respectively, which were polymorphic. This common bands which present in every individuals should be diagnostic of specific strains, species and-or their relatedness. Primer OPB-19 (ACCCCCGAAG) produced the highest number of specific bands, which was 12. The specific minor band of 0.07 kb was present in lane 22, which were polymorphic. Especially, only a specific band (1.35kg) identifying individuals was observed in lane 22.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2007년도 가을 학술발표논문집 Vol.34 No.2 (A)
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• pp.229-230
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• 2007

Lane detection is one of the major components of traffic intelligence. It is impossible to recognize lanes as human do in all kinds of special situations; however, we can try to solve special problems with special methods. In this paper we propose a simple method using color segmentation, the Probabilistic Hough Transform (PHT), and the Least-Square in real-time lane tracking. Vehicles in neighborhood can be eliminated with one simple threshold in segmentation. Meanwhile, broken shape lanes in different road conditions can be successfully detected using the combination of PHT and Least-Square method. Eventually, this method is tested with groups of static images downloaded from internet and video sequences shot randomly on some highways. Satisfactory results are received.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1999년도 가을 학술발표논문집 Vol.26 No.2 (3)
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• pp.381-383
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• 1999

광대역 멀티미디어 응용에 필수적인 높은 대역폭과 다양한 서비스 품질(QoS)을 지원할 수 있는 ATM 망의 초기 도입 단계로서 기존 LAN 환경의 데이터 통신 응용들을 우선적으로 수용하기 위한 노력이 국제 표준화 기관들을 중심으로 활발히 진행되었다. IETF(Internet Engineer Task Force)의 IP over ATM(IPOA)과 ATM 포럼의 LAN Emulation(LANE)은 초기에 제안된 대표적인 규격이다. 이 고전적 모델은 이미 많은 곳에 구축되어 있으며 이들 망은 점차 확장되어 서로의 모델간의 통신을 필요로 하고 있다. 그러나 제 3계층에서 연동하는 IETF와 제 2계층에서 연동하는 ATM 포럼의 시각 차이로 인해 두 모델간의 통신은 복잡한 경로를 통해야만 가능하다. 따라서 본 논문에서는 기존의 망 구조를 유지하면서 효율적이고 경제적으로 서로 다른 두 모델간의 통신을 할 수 있는 ATM BRouter를 이용한 방법을 제안하고 제안된 방법에 사용될 ATM BRouter의 구성 및 기능, 구현에 관한 내용을 기술한다.

• 한국자동차공학회논문집
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• 제4권3호
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• pp.168-175
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• 1996

Except the collision avoidance performance related to the rapid lane change, the 4WS vehicle has better dynamic stability and handling performance than the conventional 2WS vehicle which has close relation with the driver's safety, a 4WS conrol method with the effect of steering wheel angular velocity is proposed based on the fact that the driver steers abruptly the steering wheel to avoid the collision. And the effects of the proposed 4WS control method are investigated on the dynamic stability and handling performance by using the ISO lane change test code.

• 한국자동차공학회논문집
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• 제22권3호
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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.