• 자동차안전학회지
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• 제3권2호
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• pp.28-33
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• 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.

• 한국도로학회논문집
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• 제14권1호
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• pp.1-8
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• 2012

도로의 평면 선형은 도로의 안정성과 교통 용량과 관계가 깊다. 도로의 효율적인 유지 관리와 기준에 대한 적합성 평가를 위해서는 도로의 평면 선형을 정확하게 분석하는 방법이 필요하다. 최근 Lidar자료나 GPS를 이용한 도로의 평면 선형 연구가 진행되고 있으나 넓은 지역에서의 평면 선형 곡선 반경을 분석하기에는 여러 가지 문제점을 가지고 있다. 본 연구에서는 수치지형도의 도로중심선을 이용하여 곡선 반경이 도로 구조 시설기준에 적합한지 여부를 평가하는 도구를 GIS 상에서 구현하고자 한다. 또한 $ESRI^{(R)}$ $ArcObject^{TM}$와 프로그래밍 언어인 비주얼 베이직(Visual Basic)을 사용해 도로의 평면선형을 자동적으로 산정할 수 있는 인터페이스를 설계 구현하였다.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.121-129
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• 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.

• 자동차안전학회지
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• 제4권1호
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• pp.27-32
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• 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.

• 한국자동차공학회논문집
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• 제11권1호
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• pp.193-200
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• 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.

• 한국도로학회논문집
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• 제10권4호
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• pp.9-18
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• 2008

줄눈 콘크리트포장(JCP-Jointed Concrete Pavement)의 경우 포장단면 온 습도차에 의해 슬래브 내의 컬링이 발생하게 된다. 컬링에 의해서 발생하는 슬래브의 휨 형상 및 크기는 포장내 응력 및 평탄성에 영향을 미치기 때문에 포장의 구조적, 기능적 성능에 중요한 영향을 줄 수 있다. 슬래브의 휨 형상을 직접 측정하는 것은 시공초기에 포장내에 다량의 계측기를 매설하여야 하며, 시공초기부터 거동의 정교한 측정이 필요하고 고가의 실험비용 및 기술적 인 어려움을 갖고 있다. 본 연구에서는 현장에서 손쉽게 획득할 수 있는 프로파일 데이터(Profile Data)에 파워 스펙트럼 분석(Power Spectrum Density Analysis) 및 역 푸리에 변환(Inverse Fast Fourier Transform) 기법 등을 적용하여 임의의 시간에서 줄눈 콘크리트포장의 슬래브 휨 형상을 측정하는 방법을 개발하였다. 개발한 기법의 실효성을 검증하기 위하여 국내 중부내륙에 위치한 시험도로 줄눈 콘크리트 포장에서 시간대별 프로파일을 측정하고 이 데이터로부터 슬래브 휨 형상을 도출하여 그 결과를 검토하였다. 또한 동 시간대의 연속철근 콘크리트포장(CRCP- Continuous Reinforced concrete Pavement) 구간에서의 프로파일 데이터를 분석하고 이를 줄눈 콘크리트포장에서의 결과와 비교하여 개발한 슬래브 휨 형상 추출기법의 타당성을 검증하였다.

• 한국멀티미디어학회논문지
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• 제18권11호
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• pp.1302-1312
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• 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
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• 제47권3호
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• pp.345-359
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• 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
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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...

• Journal of Multimedia Information System
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• 제2권4호
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• pp.303-310
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• 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.