• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.257-257
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• 2000

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. 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, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car Like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.25-34
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• 1999

In this paper, an algorithm is presented to recognize lane and obstacles based on highway road image. The road images obtained by a video camera undergoes a pre-processing that includes filtering, edge detection, and identification of lanes. After this pre-processing, a part of image is grouped into 27 sub-windows and fed into a three-layer feed-forward neural network. The neural network is trained to indicate the road direction and the presence of absence of an obstacle. The proposed algorithm has been tested with the images different from the training images, and demonstrated its efficacy for recognizing lane and obstacles. Based on the test results, it can be said that the algorithm successfully combines the traditional image processing and the neural network principles towards a simpler and more efficient driver warning of assistance system

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.3
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• pp.16-22
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• 2011

This paper presents the potential of in-vehicle data recorder system for monitoring aggressive driving patterns and providing feedback to drivers on their on road behaviour. This system can detect 10 risky types of drivers' driving patterns such as aggressive lane change, sudden brakes and turns with acceleration etc. Vehicle dynamics simulation and vehicle road test have been performed in order to develop driving pattern recognition algorithms. Recorder systems are installed to 50 buses in a single company. Drivers' driving behaviour are monitored for 1 month. The drivers' risky driving data collected by the system are analyzed. Aggressive lane change in 50km/h below is a cause in overwhelming majority of risky driving pattern.

• Journal of the Korean Society of Safety
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• v.25 no.6
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• pp.197-202
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• 2010

This study deals with the accident models of arterial link sections by driving type. The objectives is to develop models by driving type using the accident data of 24 arterial links in Cheong-ju. In pursuing the above, this study gives particular emphasis to modeling such the accidents as the straight, lane change and others. The main results analyzed are as follows. First, the number of accidents is analyzed to account for about 59% in straight, 31% in lane change and 10% in others. Second, the number of left-turn lane as common variables, and the ADT, number of pedestrian crossings, connecting roads and link length as specific variables are selected in developing models(number of accident and EPDO). Third, 8 models which are all statistically significant are developed. Finally, RMSE of the driving type models was analyzed to be better than that of dummy variable.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.176-182
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• 2003

The researches for autonomous vehicle have been implemented in many studies, but most studies were confined to the lane fol1owing and changing. This paper addresses a problem of autonomous lane following parking a nonholonomic vehicle. The algorithm for image processing by the hough transform and controlling a steering angle and speed to park a nonholonomic vehicle is developed. The developed system which integrated the control algorithm for parking and vision algorithm for line traction tested with RC car and verified by the performance of the detection of parking area and the reactive parking without collisions.

• Journal of the Society of Disaster Information
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• v.5 no.1
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• pp.30-44
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• 2009

Asphalt concrete pavements are often destroyed within the intended design life due to the increasement in traffic volume. The most common types of asphalt concrete pavement damages are permanent deformation and fatigue cracking, and so on. In this research, characteristics of traffic loadings and lateral wheel path distributions are analyzed using the field survey on traffic flow. The obtained traffic characteristics can be used to the decision making for the maintenance policy of roads. According to the traffic lane analysis for the 2nd and 3rd lanes, inner lane vehicles tended to pass to the right side to avoid the opposite side vehicles. In addition, the outside lane vehicles were deviated to the left side to avoid passengers. It is also noted that the lateral wheel path distributions was close to the normal distribution.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2202-2205
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• 2001

This paper is composed of two parts. One is image preprocessing part to measure the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle by steering controller.

• International Journal of Highway Engineering
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• v.16 no.1
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• pp.49-56
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• 2014

PURPOSES : This study was done to model the headway distribution of rural two lane roads. METHODS : Time headway data for the various level of traffic volumes was measured in twelve sites. Based on the time headway data, existing seven mathematical models were evaluated and selected by comparing graphically the measured and theoretical distributions and conducting the Chi-square test. RESULTS : The results show that both the Schul model and Composite Model were the most appropriate models of the models. Based on the measured time-headway distributions, this study proposed a new headway distribution model by the shift of the Schul model. CONCLUSIONS : The shifted Schul model has the ability to describe time headway distirbutons for random, intermediate, and constant-headway states.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.802-804
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• 2014

Edge detection of image for performing the road lane recognition is an essential preprocessing. Various studies are being performed in order to detect such edge and there are conventional edge detection methods such as Sobel, Prewitt and Roberts. Such methods regardless of pixel distribution are processed by applying the same weighted value to the entire pixels and show a somewhat insufficient edge detection results. Therefore, this paper has proposed an algorithm that detects the edge using the suitable weighted value for the road lane recognition considering the pixel distribution shape of the image.