• Journal of Auto-vehicle Safety Association
• /
• v.3 no.2
• /
• pp.28-33
• /
• 2011

This paper presents driving path estimation algorithm for adaptive cruise control system and advanced emergency braking system using multi-sensor fusion. Through data collection, yaw rate filtering based road curvature and vision sensor road curvature characteristics are analyzed. Yaw rate filtering based road curvature and vision sensor road curvature are fused into the one curvature by weighting factor which are considering characteristics of each curvature data. The proposed driving path estimation algorithm has been investigated via simulation performed on a vehicle package Carsim and Matlab/Simulink. It has been shown via simulation that the proposed driving path estimation algorithm improves primary target detection rate.

• International Journal of Highway Engineering
• /
• v.14 no.1
• /
• pp.1-8
• /
• 2012

The horizontal alignment of road is deeply related with the stability of the road and traffic capacity. It is necessary to analyze horizontal alignment of road accurately for efficient maintenance of the road and relevance judgment about the standard. Recently the study on horizontal alignment of road using Lidar data and GPS was concluded, but they were many problem analyzing horizontal alignment radius of curvature in wide area. In this study, the tool which the radius of curvature can evaluate the suitability about "Rules about the Road Structure & Facilities Standards" by using center lines of the road of the digital map tries to implement on GIS. The interface was designed and implemented which can automatically estimate the Road Centerline Horizontal Alignment by using $ESRI^{(R)}$ $ArcObject^{TM}$.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.2
• /
• pp.121-129
• /
• 2015

This paper presents a multiple vehicle recognition algorithm based on radar and vision sensor fusion for lane change assistance. To determine whether the lane change is possible, it is necessary to recognize not only a primary vehicle which is located in-lane, but also other adjacent vehicles in the left and/or right lanes. With the given sensor configuration, two challenging problems are considered. One is that the guardrail detected by the front radar might be recognized as a left or right vehicle due to its genetic characteristics. This problem can be solved by a guardrail recognition algorithm based on motion and shape attributes. The other problem is that the recognition of rear vehicles in the left or right lanes might be wrong, especially on curved roads due to the low accuracy of the lateral position measured by rear radars, as well as due to a lack of knowledge of road curvature in the backward direction. In order to solve this problem, it is proposed that the road curvature measured by the front vision sensor is used to derive the road curvature toward the rear direction. Finally, the proposed algorithm for multiple vehicle recognition is validated via field test data on real roads.

• Journal of Auto-vehicle Safety Association
• /
• v.4 no.1
• /
• pp.27-32
• /
• 2012

Recently, in order to reduce traffic accident related fatalities, increasing number of studies are conducted regarding the vehicle safety enhancement devices. But very few studies about test procedures and requirements for vehicle safety systems are being carried out. Since BSD, as one of the most important safety features, is installed on a new vehicle, its performance test method has to be evaluated. Independent factors irrelevant to the device types including collision position, vehicle speed and closing speed are used to calculate test distance away from the current vehicle. Effect of roadway geometry as radius of curvature is introduced to propose possible misjudgement of following vehicle as adjacent one. The study results would be utilized to enhance the test procedure of BSD performance.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.11 no.1
• /
• pp.193-200
• /
• 2003

This paper proposes a novel algorithm to recognize the curve of a structured road. The proposed algorithm uses an LCF (Lane Curve Function) obtained by the transformation of a parabolic function defined on world coordinate into image coordinate. Unlike other existing methods, the algorithm needs no transformation between world coordinate and image coordinate owing to the LCF. In order to search for an LCF describing the lane best, the differential comparison between the slope of an assumed LCF and the phase angle of edge pixels in the LROI (Lane Region Of Interest) constructed by the LCF is implemented. As finding the true LCF, the lane curve is determined. The proposed method is proved to be efficient through various kinds of images, providing the reliable curve direction and the valid curvature compared to the real road.

• International Journal of Highway Engineering
• /
• v.10 no.4
• /
• pp.9-18
• /
• 2008

Curling is caused by the difference in the temperature and humidity by the depth of the slab in Jointed Plain Concrete Pavement. Slab curvature shape and size change due to curling exert a profound influence on the internal stress and roughness of the pavement, affecting structural and functional performance of the pavement. Direct measurement of the slab curvature entails many problems. Many measuring instruments have to be installed at the early-stage of the pavement construction, and the behavior of the slab curvature needs to be measured accurately from the early-stage. Moreover, the cost and technical difficulty are very formidable to measure the slab curvature. This study develops a measurement method for slab curvature in jointed concrete pavement at any given time by applying Power Spectrum Density Analysis and Inverse Fast Fourier Transformation to the profile data, that can be easily obtained at the construction field site. The effectiveness of this developed method is verified by measuring the profile data of the test road of jointed concrete pavement at an inland central expressway by the hour and by examining the result of extracting the slab curvature shape from this profile data. Additionally, the profile data of CRCP(Continuously Reinforced Concrete Pavement) sections on the same expressway were obtained and analyzed at the same time. The validity of the method developed for the slab curvature shape extraction is verified by comparing the result from the analysis of the profile data of CRCP sections with that from the analysis of the prof1Ie data of jointed concrete pavement sections.

• Journal of Korea Multimedia Society
• /
• v.18 no.11
• /
• pp.1302-1312
• /
• 2015

Recent research has been devoted and focused on detecting pedestrian and vehicle in intelligent vehicles except for the vulnerable road user(VRUS). In this paper suggest a new projection method which has robustness for rotation invariant and reducing dimensionality for each cell from original image to detect two-wheeler. We applied new weighting values which are calculated by maximum curvature containing very important object shape features and uniform local binary pattern to remove the noise. This paper considered the Adaboost algorithm to make a strong classification from weak classification. Experiment results show that the new approach gives higher detection accuracy than of the conventional method.

• Structural Engineering and Mechanics
• /
• v.47 no.3
• /
• pp.345-359
• /
• 2013

For the purpose of investigating the free vibration response of the spatial curved beams, the governing equations are derived in matrix formats, considering the variable curvature and torsion. The theory includes all the effects of rotary inertia, shear and axial deformations. Frobenius' scheme and the dynamic stiffness method are then applied to solve these equations. A computer program is coded in Mathematica according to the proposed method. As a special case, the dynamic stiffness and further the natural frequencies of a cylindrical helical spring under fixed-fixed boundary condition are carried out. Comparison of the present results with the FEM results using body elements in I-DEAS shows good accuracy in computation and validity of the model. Further, the present model is used for reciprocal spiral rods with different boundary conditions, and the comparison with FEM results shows that only a limited number of terms in the resultant provide a relatively accurate solution.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.107.2-107
• /
• 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...

• Journal of Multimedia Information System
• /
• v.2 no.4
• /
• pp.303-310
• /
• 2015

Vulnerable road users such as bike, motorcycle, small automobiles, and etc. are easily attacked or threatened with bigger vehicles than them. So this paper suggests a new approach two-wheelers detection system riding on people based on modified histogram of oriented gradients (HOGs) which is weighted by curvature and local correlation coefficient. This correlation coefficient between two variables, in which one is the person riding a bike and other is its background, can represent correlation relation. First, we extract edge vectors using the curvature of Gaussian and Histogram of Oriented Gradients (HOG) which includes gradient information and differential magnitude as cell based. And then, the value, which is calculated by the correlation coefficient between the area of each cell and one of bike, can be used as the weighting factor in process for normalizing the HOG cell. This paper applied the Adaboost algorithm to make a strong classification from weak classification. The experimental results validate the effectiveness of our proposed algorithm show higher than that of the traditional method and under challenging, such as various two-wheeler postures, complex background, and even conclusion.