• 한국정보통신학회논문지
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• 제21권8호
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• pp.1553-1559
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• 2017

본 논문은 자동차 전방에 장착된 단일 카메라를 이용한 차선 이탈 검출 알고리즘을 제안한다. 제안된 알고리즘은 카메라에 의해 취득된 영상으로부터 top-view 공간에 지정된 작은 관심 영역을 위한 부분 top-view 영상을 생성하고, 작은 부분 top-view 영상에서 차선을 검출하고, 미리 지정된 가상 자동차와 검출된 차선들의 겹침을 조사해 차선 이탈을 결정한다. 또한 제안된 알고리즘은 차선 사이에서 차선 이탈 검출을 방해하는 도로 표기 (잡음)에 의한 직선들의 제거와 이전 프레임의 차선 정보를 이용한 손실된 차선의 예측을 포함한다. 실제 주행 동영상을 이용한 차선 이탈 검출 실험에서 제안된 알고리즘은 차선 유지 상태에서 99.0%, 차선 이탈 상태에서 94.7%를 정상적으로 검출한다.

• 한국도로학회논문집
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• 제16권6호
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• pp.169-179
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• 2014

PURPOSES : This study is to conduct the research on the design principle for the driver's safety and comfort in installing consecutive curves of superhighway. METHODS : Superhighway does not currently exist in domestic area. Thus, this study is conducted by collecting driving behavior usage of 30 people who are involved in the members of the virtual driving simulation. By identifying the distribution characteristics of each scenario in ANOVA & Tukey Test, the distribution are categorized into three groups. RESULTS : In the case of Group A in Section 3 (R2 entry part), lane departure exceeds the safety standard, which means to be risky condition. And then in the case of Group B and C, the lane departure values applying theoretical formula was evenly distributed compared to the proven values. CONCLUSIONS : Based on the result, the continuous curve design principles at superhighway should follow three standards as follow. First, an additional linear part needs to be inserted between two curves. Second, what if inserting the linear part is difficult, it would be better to insert a curve more than 2,000m. Third, R1/R2 ratio should not be over two. This design primarily aims to the safety of the operator. Such road alignment also meets the expectations of drivers, thus, it may help drivers to be compatible and amenable while driving continuous curve in superhighway.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• 한국자동차공학회논문집
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• 제12권5호
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• pp.136-145
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• 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.

• 한국도로학회논문집
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• 제19권5호
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• pp.163-171
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• 2017

PURPOSES : Traffic safety facilities are used to prevent traffic accidents before they occur by providing drivers with information on traffic situations and the geometric design of roads. However, some facilities not defined in guidelines do not meet installation criteria, yet are being installed and used in order to increase efficiency in traffic flow and prevent traffic accidents in a specific expressway zone. In this study, we have evaluated the effect of delineation system which are not defined in the guideline criteria. METHODS : Different virtual scenarios were created for roads using expressway median barrier chevron signs, with a driving simulator used to evaluate the installation and operational effect of such signs. Ten experiments were performed with left- and right-curved roads at curve radius intervals of 500 m, from 500 m to 2,500 m. RESULTS : For sections with a curve radius of more than 1,500 m, drivers had a clear tendency toward stable driving regardless of delineation system. When a chevron sign is installed on a protection fence in the road curving left, an expanded installation is recommended up to the section with a curve radius of 1,000 m. According to the analysis results for the RHB (Relative High Beta spectrum), driving concentration also improved up to a curve radius of 1,000 m. CONCLUSIONS :The experiment result indicates the extent of biasing within a lane and the manipulation amount of steering handle, were analyzed and found to be affected by curve radius and road alignment regardless of delineation system.

• 한국자동차공학회논문집
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• 제12권5호
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• pp.125-135
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• 2004

The validity of simulation has been well-established for decades in areas such as computer and communication system. Recently, the technique has become entrenched in specific areas such as transportation and traffic forecasting. Several methods have been proposed for investigating complex traffic flows. However, the dynamics of vehicles and their driver's characteristics, even though it is known that they are important factors for any traffic flow analysis, have never been considered sufficiently. In this paper, the traffic simulation using a multi-agent approach with considering vehicle dynamics is proposed. The multi-agent system is constructed with the traffic environment and the agents of vehicle and driver. The traffic environment consists of multi-lane roads, nodes, virtual lanes, and signals. To ensure the fast calculation, the agents are performed on the based of the rules to regulate their behaviors. The communication frameworks are proposed for the agents to share the information of vehicles' velocity and position. The model of a driver agent which controls a vehicle agent is described in the companion paper. The vehicle model contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation has proceeded for an interrupted and uninterrupted flow model. The result has shown that the driver agent performs human-like behavior ranging from slow and careful to fast and aggressive driving behavior, and that the change of the traffic state is closely related with the distance and the signal delay between intersections. The system developed shows the effectiveness and the practical usefulness of the traffic simulation.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.145-154
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• 2006

In the companion paper, the composition and structure of the MATDYMO (Multi-Agent for Traffic Simulation with Vehicle Dynamic Model) were proposed. MATDYMO consists of the road management system, the vehicle motion control system, the driver management system, and the integration control system. Among these systems, the road management system and the integration control system were discussed In the companion paper. In this paper, the vehicle motion control system and the driver management system are discussed. The driver management system constructs the driver agent capable of having different driving styles ranging from slow and careful driving to fast and aggressive driving through the yielding index and passing index. According to these indices, the agents pass or yield their lane for other vehicles; the driver management system constructs the vehicle agents capable of representing the physical vehicle itself. A vehicle agent shows its behavior according to its dynamic characteristics. The vehicle agent contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation is conducted for an interrupted flow model and its results are verified by comparison with the results from a commercial software, TRANSYT-7F. The interrupted flow model simulation is implemented for three cases. The first case analyzes the agents' behaviors in the interrupted flow model and it confirms that the agent's behavior could characterize the diversity of human behavior and vehicle well through every rule and communication frameworks. The second case analyzes the traffic signals changed at different intervals and as the acceleration rate changed. The third case analyzes the effects of the traffic signals and traffic volume. The results of these analyses showed that the change of the traffic state was closely related with the vehicle acceleration rate, traffic volume, and the traffic signal interval between intersections. These simulations confirmed that MATDYMO can represent the real traffic condition of the interrupted flow model. At the current stage of development, MATDYMO shows great promise and has significant implications on future traffic state forecasting research.

• 대한기계학회논문집A
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• 제26권5호
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• pp.969-975
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• 2002

Visual effects are important cues for providing occupants with virtual reality in a vehicle simulator which imitates real driving. The viewpoint of an occupant is sensitively dependent upon the occupant's posture, therefore, the total human body motion must be considered in a graphic simulator. A real-time simulation is required for the dynamic analysis of complex human body motion. This study attempts to apply a neural network to the motion analysis in various driving situations. A full car of medium-sized vehicles was selected and modeled, and then analyzed using ADAMS in such driving conditions as bump-pass and lane-change for acquiring the accelerations of chassis of the vehicle model. A hybrid III 50%ile adult male dummy model was selected and modeled in an ellipsoid model. Multibody system analysis software, MADYMO, was used in the motion analysis of an occupant model in the seated position under the acceleration field of the vehicle model. Acceleration data of the head were collected as inputs to the viewpoint movement. Based on these data, a back-propagation neural network was composed to perform the real-time analysis of occupant motions under specified driving conditions and validated output of the composed neural network with MADYMO result in arbitrary driving scenario.

• 한국항행학회논문지
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• 제15권1호
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• pp.130-139
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• 2011

본 논문에서는 HIS 칼라모델에서 색상변환을 이용한 자동차 추적 알고리즘을 제안 하였다. 제안된 알고리즘은 도로위에 두 개의 수평가상 데이터 샘플라인을 설치해 놓는다. 차영상은 프레임과 프레임 사이에서 검출하였다. 검출된 자동차의 차영상에서 색상 분포를 이용해서 자동차 동일성 판별과 차선 변경을 검출하였다. 제안된 알고리즘의 효능성을 검토하기 위하여 도로에 주행하는 자동차를 대상으로 두 가상 샘플라인을 통과하는 자동차의 동일성 판별과 차선 변경을 검출하고, 자동차의 속도 측정기와 제안된 방법을 비교한 결과 0.4% 이내임을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.