• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.141-144
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• 1996

This study deals with the problem of the recognition of the preceding vehicles by image processing. The purpose of this study is the development of the equipment to prevent a collision with preceding vehicles during driving the vehicle. In order to decrease the processing time and increase reliability, at first, the traffic lane is extracted. It is determined by detecting road edges and calculating their tangent. After the traffic lane is gotten, the position of the vehicle is searched inside the lane. The features used to detect the vehicles in the algorithm are shadow of the vehicle, vertical edges, horizontal edges, and symmetrical segment. The preceding vehicles are extracted successfully by this method.

• 한국신재생에너지학회:학술대회논문집
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• 2008.05a
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• pp.37-40
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• 2008

We have concentrated on the performance improvement of each part for durability, safety and cost of high pressure storage system for fuel cell vehicle so far. But for the mass production of fuel cell vehicle, it is necessary to evaluate durability and safety in system module. We built the standard to evaluate and collision safety of high pressure storage system for fuel cell vehicle, and could verify reliability of high pressure storage system.

• 한국신재생에너지학회:학술대회논문집
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• 2007.11a
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• pp.71-74
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• 2007

We have concentrated on the performance improvement of each part for durability, safety and cost of high pressure storage system for fuel cell vehicle so far. But for the mass production of fuel cell vehicle, it is necessary to evaluate durability and safety in system module. We built the standard to evaluate vibration and collision safety of high pressure storage system for fuel cell vehicle, and could verify reliability of high pressure storage system.

• Journal of Auto-vehicle Safety Association
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• v.7 no.3
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• pp.25-29
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• 2015

Research for Vehicle-to-Vehicle communication has been progressed in order to prevent accidents. In this paper, we decided the events that has high frequency accident of between vehicles on the road and we was arranged possible accident scenarios of each event; EEBL, LCW, BSD, FCW, PCW, IMA. When the event occurs between vehicles, we studied how to evaluate whether the information transmitted safely.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.10
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• pp.104-110
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• 2005

In this paper, unmanned vehicle system and VFF algorithm development with vehicle dynamics is the main topic as a part of Intelligent Transportation System. Unmanned vehicle system is classified by vehicle system and control system. Authors used RC servo motor for longitudinal control via throttle angle, shift lever control, and brake control. For lateral control, authors used step motor, equipped with reduction gear. Unmanned vehicle has nine ultrasonic sensors in front of the unmanned vehicle. After the microcontroller computes the distance between unmanned vehicle and obstacle, the control computer calculates the steering angle enough to avoid the obstacle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.587-588
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• 2006

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.11
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• pp.763-770
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• 2022

In an environment where multiple drones are operated, collisions can occur when path points overlap, and collision avoidance in preparation for this is essential. When multiple drones perform multiple tasks, it is not appropriate to use a method to generate a collision-avoiding path in the path planning phase because the path of the drone is complex and there are too many collision prediction points. In this paper, we generate a path through a commonly used path generation algorithm and propose a collision avoidance method using speed profile optimization from that path segment. The safe distance between drones was considered at the expected point of collision between paths of drones, and it was designed to assign a speed profile to the path segment. The optimization problem was defined by setting the distance between drones as variables in the flight time equation. We constructed the constraints through linearize and convexification, and compared the computation time of SQP and convex optimization method in multiple drone operating environments. Finally, we confirmed whether the results of performing convex optimization in the 20 drone operating environments were suitable for the multiple drone operating system proposed in this study.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.3
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• pp.155-164
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• 2023

About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.7
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• pp.1146-1151
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• 2003

In this paper, results of an analysis of driving behavior characteristics and a driver-adaptive control algorithm for adaptive cruise control systems have been described. The analysis has been performed based on real-world driving data. The vehicle longitudinal control algorithm developed in our previous research has been extended based on the analysis to incorporate the driving characteristics of the human drivers into the control algorithm and to achieve natural vehicle behavior of the adaptive cruise controlled vehicle that would feel comfortable to the human driver. A driving characteristic parameters estimation algorithm has been developed. The driving characteristics parameters of a human driver have been estimated during manual driving using the recursive least-square algorithm and then the estimated ones have been used in the controller adaptation. The vehicle following characteristics of the adaptive cruise control vehicles with and without the driving behavior parameter estimation algorithm have been compared to those of the manual driving. It has been shown that the vehicle following behavior of the controlled vehicle with the adaptive control algorithm is quite close to that of the human controlled vehicles. Therefore, it can be expected that the more natural and more comfortable vehicle behavior would be achieved by the use of the driver adaptive cruise control algorithm.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.5
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• pp.969-974
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• 2021

South Korea is making efforts to select a drone industry, a type of unmanned aerial vehicle, as one of the 7 major industries in the country, to select a drone-specific liberalization zone and to establish and revise a drone-related bill. Through these efforts, drone delivery and drone taxis are expected to be operated in the future. Therefore, a multilateral collision avoidance system with existing aircraft such as drones, fixed-wing and rotary-wing should be established to prepare for possible drone and air-borne collisions.