• Journal of Korean Society of Transportation
• /
• v.20 no.5
• /
• pp.99-111
• /
• 2002

전산기술의 발달에 힘입어 근래에 모의실험을 이용한 연속교통류의 미시적 분석이 활발히 수행되고 있고 다양한 모의실험 전산모형이 소개되고 있다. 미시적 연속교통류 전산모의실험은 차량추종모형과 차로변경모형을 적용하여 다양한 운전자들의 차량운행행태를 모사하여 분석하는 실험이다. 전산모형은 난수를 토대로 차량의 자유속도와 초기 발생 차로를 배정하기 때문에 낮은 자유속도를 할당받은 차량이 높은 속도의 차로(예:1차로)로 발생되는 경우가 발생한다. 많은 모의실험모형이 사용하고 있는 차로변경의 가정이 "운전자는 자신이 원하는 속도(자유속도)를 유지한다"는 것이며 그러한 가정만의 적용으로 인해 현실적이지 않은 차로 이용률이 결과되고, 따라서 전산모형을 통한 교통류 흐름분석에 문제를 제공하고 있다. 본 논문에서는 미국 도로국에서 20여년 동안 개발되고 수정되어왔으며 현재 실용적으로 가장 많이 사용되고 있는 Freeway Simulation(FRESIM) 전산모형이 내재한 차로변경모형을 토대로 고속도로 기본구간에서의 선택적 차로변경모형을 제시한다. 제시된 모형에서는 (1)저속의 선행차량이 고속의 후행차량에게 차로를 양보하는 가정이 새롭게 추가되고 (2)FRESIM모형에서 사용하는 상수값을 국내 현장조사를 통하여 도출된 분포식을 통한 값으로 대체하였다. 수집된 자료분석결과 연속 교통류에서의 15% 차두시간은 1.34초이며 차로변경시간은 평균 2.22초인 F분포를 따르고, 자유속도는 정규분포를 따르는 것으로 결과되었다. 모의실험결과 무작위난수를 토대로 배정된 차로로 생성된 차량들이 새롭게 제시된 차로변경모형의 적용으로 현장 차로이용률을 95% 신뢰수준에서 모사하는 것으로 분석되었다.

• The Bulletin of The Korean Astronomical Society
• /
• v.35 no.2
• /
• pp.59.2-59.2
• /
• 2010

We have carried out VLBI test observations of the Korean VLBI Network (KVN) at 22/43-GHz in collaboration with Japanese VLBI Exploration of Radio Astrometry (VERA). In order to evaluate the VLBI system of KVN, we have observed several sources using KVN+VERA. They consist of Active Galactic Nuclei (AGNs), which are expected to be compact and to have very well-known structures at spatial resolutions of 50-250 Mega-wavelengths, and Galactic star-forming regions and late-type stars, which have bright H2O and SiO maser emission regions. We have investigated baseline and imaging sensitivities of KVN+VERA. In this talk we report the preliminary results.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.67 no.2
• /
• pp.75-81
• /
• 2018

In this paper for developing and implementing the car driver's front lane attention enhancement developed system using the car camera. The developed system automatically alarm the car driver when front cars make the dangerous situation. We use Raspberry Pi camera module V2 as car camera module, Raspberry Pi 3 board as hardware main board of implementing embedded system and develop the application library module which can be operated on the Raspberry situation. The application library module widely consist of two part, front car recognition part and dangerous situation distinguish part. Our developed system satisfy the performance test of the target system at the software test certification laboratory of TTA(Telecommunication Technology Association). We test four items as attentive car recognition ability at day and night, system performance, response time. We get the performance of developed system based on the four goal. The car driver's front lane attention enhancement system in this paper will be widely used at the ADAS(Advanced Driving Assistance System) because of the better performance and function.

• Journal of Korea Multimedia Society
• /
• v.15 no.8
• /
• pp.996-1003
• /
• 2012

We present a nearby vehicle detection method in the adjacent lane using in-vehicle front view camera. Nearby vehicles in adjacent lanes show various appearances according to their relative positions to the host vehicle. Therefore, most conventional methods use motion information for detecting nearby vehicles in adjacent lanes. However, these methods can only detect overtaking vehicles which have faster speed than the host vehicle. To solve this problem, we use the feature of regions where nearby vehicle can appear. Consequently, our method cannot only detect nearby overtaking vehicles but also stationary and same speed vehicles in adjacent lanes. In our experiment, we validated our method through various whether, road conditions and real-time implementation.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2011.05a
• /
• pp.275-279
• /
• 2011

본 연구는 낙동강 본류의 하도준설로 인하여 본류에 유입하는 지류하천의 하상고와 본류와의 하상고간의 높이차가 크게 발생됨에 따른 지류하상 안정화 기법을 금호강을 대상으로 검토하였다. 지류하천의 하상고와 본류와의 높이차가 크게 발생됨에 의해 하천을 직강화하여 첩수로를 만들게 되고 하상 경사는 커지게 된다. 이 경우 유량과 하상 재료의 변화는 없으므로 Lane 식에서 우변 하상 경사의 증가는 좌변의 증가를 가져오며 따라서 유사량의 증가를 가져온다. 즉 하천이 급해지면서 유사량이 증가한다. 이에 따라 직강 구간에서 하상의 세굴을 가져오게 된다. 실제로, 하천 개수 사업에서 직강화는 하상의 세굴과 저하보다는 통상 하폭의 확대를 가져온다. 지류 입장에서는 본류 수면이 일종의 기준면이 되므로 기준면의 저하를 의미하며, 이는 지류 에너지 경사의 증가를 의미한다. 이 경우 Lane 관계식에서 하상 경사의 증가는 좌변의 증가를 가져오며, 하상 재료가 일정한 상태에서 이는 유사량의 증가를 가져온다. 즉 지류의 하상 경사와 유사량 증가는 하상의 침식을 의미하며, 이러한 침식은 상류로 진행된다. 이를 두부 침식이라 한다. 따라서 본 연구에서는 낙동강 본류하도 준설에 따른 지류하상의 하상변동과 지류유입 토사량에 대해서 검토하겠다.

• International Journal of Highway Engineering
• /
• v.20 no.1
• /
• pp.137-146
• /
• 2018

PURPOSES : This study aims to analyze how the installation of advanced warning devices affects individual drivers' driving behaviors with operating record data collected from 100 vehicles. METHODS : With collected data, the changes in individual drivers' driving behaviors, such as Forward Collision Warning (FCW) and Lane Departure Warning (LDW), were investigated with respect to the cumulative distance traveled and driving time. For the analysis, operating record data collected from 100 vehicles for seven months were used. RESULTS : The results showed that individual drivers' driving behaviors could be categorized into six different types. In addition, most of the drivers showed unstable warning patterns in the initial stage after installation of an advanced warning device. Approximately 40% of vehicles equipped with advanced warning systems were found to have positive effects, indicating that the frequencies of both FCW and LDW had been continuously decreasing after installation of the system. CONCLUSIONS : The warning device might be helpful for making drivers' driving behaviors safer. Driving behaviors during the initial stage of the system installation, which might be regarded as an adaptation phase, were found to be very unstable compared with normal situations, indicating that adequate education and training should be provided to all the drivers to prevent operator disruption at the initial installation of the system.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.24 no.6
• /
• pp.730-736
• /
• 2016

Recent research suggests the various applications of Model Predictive Control on vehicle systems. In numerous cases, nonlinear tire models such as the Magic Formula, which are highly complex and are more detailed than necessary, are used. This paper presents a nonlinear tire model that excludes the region of negative slope but expresses the nonlinear properties of tire well enough for tracking the lane of a racing course. The proposed inverse tire model can also be used to calculate the slip angle from the tire force. Thus, the model can be utilized to design the Model Predictive Controller.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.12 no.5
• /
• pp.136-145
• /
• 2004

In companion paper, the composition and structure of the traffic environment is derived. Rules to regulate agent behaviors and the frameworks to communicate between the agents are proposed. In this paper, the model of a driver agent which controls a vehicle agent is constructed. The driver agent is capable of having different driving styles. That is, each driver agent has individual behavior settings of the yielding index and the passing index. The yielding index can be defined as how often the agent yields in case of lane changes, and the passing index can be defined as how often the agent passes ahead. According to these indices, the agents overtake or make their lanes for other vehicles. Similarly, the vehicle agents can have various vehicle dynamic models. According to their dynamic characteristics, the vehicle agent shows its own behavior. The vehicle model of the vehicle agent contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation has proceeded for an interrupted flow model. The result has shown that it is possible to express the characteristics of each vehicle and its driver in a traffic flow, and that the change of the traffic state is closely related with the distance and the signal delay between intersections. The system developed in this paper shows the effectiveness and the practical usefulness of the traffic simulation.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.6
• /
• pp.155-166
• /
• 1997

In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB /SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.2
• /
• pp.161-167
• /
• 2012

This research deals with generating via points for autonomous navigation on a roadway for unmanned vehicles. When a vehicle plans a path from a starting point to a goal point, it should be able to map out which lane on which road it passes by. For this purpose, we should organize positional information of roads and save it as a database. This paper presents methods to save the database and to plan a shortest path to the goal by generating via points in consideration of the moving direction and the lane directions. Then we prove that the proposed algorithm can find the optimal path on the road through simulations.