• 자동차안전학회지
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• 제13권4호
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• pp.7-13
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• 2021

This paper presents an vulnerable road user (VRU) classification and tracking algorithm using vision and LiDAR sensor fusion method for urban autonomous driving. The classification and tracking for vulnerable road users such as pedestrian, bicycle, and motorcycle are essential for autonomous driving in complex urban environments. In this paper, a real-time object image detection algorithm called Yolo and object tracking algorithm from LiDAR point cloud are fused in the high level. The proposed algorithm consists of four parts. First, the object bounding boxes on the pixel coordinate, which is obtained from YOLO, are transformed into the local coordinate of subject vehicle using the homography matrix. Second, a LiDAR point cloud is clustered based on Euclidean distance and the clusters are associated using GNN. In addition, the states of clusters including position, heading angle, velocity and acceleration information are estimated using geometric model free approach (GMFA) in real-time. Finally, the each LiDAR track is matched with a vision track using angle information of transformed vision track and assigned a classification id. The proposed fusion algorithm is evaluated via real vehicle test in the urban environment.

• 한국정보통신학회논문지
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• 제19권9호
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• pp.2107-2113
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• 2015

본 논문에서는 교차로와 같은 교통집중 구간에서 교통약자를 대상으로 하여 교통신호 변화를 사전에 미리 인지하고 대응할 수 있는 교차로 신호 사전예보 시스템을 제안하였다. 또한, 제안 시스템의 정보연계 절차를 설계하고 무선통신의 운용 가능성을 검증하기 위해 PHY 기반의 무선통신 시뮬레이터를 설계하였다. 결과적으로, 본 논문에서 설계한 시뮬레이터를 기반으로 교차로 채널환경에 따른 성능분석을 수행함으로써 교통약자에 대한 차량 IT 기반의 의사결정 지원을 위한 교차로 신호 사전예보 시스템의 서비스가 가능함을 확인 하였다.

• 한국안전학회지
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• 제28권2호
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• pp.78-83
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• 2013

The traffic culture index is used as a major index in evaluating the traffic safety services of local governments and also serve as important data for the planning and implementation of traffic safety services. However, as the traffic culture index gradually became a standard for comparison among local governments, in part, certain cases arose which questioned the grounds for selecting variables for the index and the validity of the index in terms of its influential relationship between evaluation items. This study analyzed the index's influential relationship by utilizing a PLS structural equation model based on the evaluation results of the 2011 traffic culture index. A variable-linking model was created which recognized the relativity taking into account of the indirect effects between latent variables and this model was proven to be a model suitable in explaining the traffic culture index with a 97.8% explanation power. It was found that traffic safety(0.530), driving behavior(0.527), pedestrian behavior(0.187) and vulnerable road users(0.147), in such order, had an effect on the traffic culture index. It was also found that human casualties due to traffic accidents under "traffic safety" and traffic light compliance rate under "driving behavior" had an important effect. The study showed that motor vehicle share in illegal parking in school zones did not have a valid explanation power regarding "vulnerable road users".

• 한국ITS학회 논문지
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• 제21권1호
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• pp.240-257
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• 2022

자율주행 차량은 레이더, 라이다 카메라 등 다양한 로컬 센서들을 활용하여 주변 환경을 인지하고 판단하여 주행한다. 하지만 로컬 센서만을 활용하여 주행할 경우 인지 범위 한계로 장애물에 가려진 보행자나 자전거와 같은 VRU(Vulnerable Road User, 취약 도로 사용자)의 거동 정보를 예측하기 어렵다. 본 논문에서는 이러한 로컬 센서의 한계를 극복하기 위해 V2X 통신 정보를 활용한 VRU 충돌 회피 알고리즘을 개발하였다. 알고리즘은 인프라로부터 충돌 위험이 있는 VRU의 정보를 전달 받아 미래 거동을 예측하고 주변 환경에 따라 적절하게 조향 및 제동 회피를 수행하도록 설계하였다. 개발된 알고리즘을 검증하기 위하여 다양한 조건의 시나리오에서 시뮬레이션을 수행하였으며, 그 결과, 기존 로컬 센서 정보만을 활용하였을 때보다 개선된 충돌 회피 성능을 보일 뿐만 아니라, 차량의 안정성 또한 확보할 수 있음을 확인하였다.

• 기술사
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• 제42권4호
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• pp.45-50
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• 2009

The modal split structure of the Korea's transportation system has been dominated by road-oriented structure. The shortage of the inftrastructure to accommodate the rapidly increasing travel demand has brought about socio-economic losses such as severe traffic congestion and high logistic costs, and thereby weakened the competitiveness of the country. Highway transportation sector is more vulnerable to energy consumption comparing with railway sector since the highway sector is dependent mostly on fossil fuels for its energy source. In 2006 annual road cogestion costs in Korea reached 24.6 trillion won, with an average annual growth rate of 5.4%. The annual road congestion cost of intercity highways were 9.2 trillion won. As the new cities that recently developed are located far from Seoul area, the boundary of commuting in Seoul metropolitan area is extended. It makes passengers have longer trips with longer travel time, and the congestion problem to be more serious. In this regards, Gyeonggi Provincial Government proposed a deeper underground metropolitan express train system for the greater Metropolitan area. which is named as GTX. Gyeonggi Province suggested 3 key underground lines, based on the outcome of the feasibility study conducted by the Korea Society of Transportation, and submitted to the Ministry of Land Transportation and Maritime Affairs for its review. If the project is approved for construction and completed in 2016, the daily volume of surface traffic bound for Seoul will be reduced substantially and therefore the users will be benefitted for time savings by an annual amount of 2 trilion won every year.

• Nuclear Engineering and Technology
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• 제54권9호
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• pp.3347-3352
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• 2022

In 2013, the International Atomic Energy Agency (IAEA) changed the recommended maximum range of the Emergency Planning Zone (EPZ) to 30 km, and the Kori Nuclear Power Plant in Republic of Korea has also expanded the EPZ to 30 km, following the recommendation. As a result, metropolitan cities with a high population density are contained within the EPZ, and evacuating millions of people should be considered if the 30 km range of evacuation is to take place. This study proposes an evacuation plan using buses (public transportation) to transport people outside of the EPZ, quickly and efficiently. To verify the appropriate mode share ratio of buses that can guarantee the right of vulnerable road users and reduce traffic congestion, a model was built simulating the Kori Nuclear Power Plant in Ulsan Metropolitan City. The scenarios were established by changing the mode share ratio of buses and passenger cars by 10%. Considering a large-scale network analysis at the city level, a cell transmission model was applied to calculate the evacuation time in each scenario. The result shows that the optimal mode share ratio of buses is 40%, with a total evacuation time of 132 min, considering feasible bus fleets in Ulsan Metropolitan City.

• 한국도로학회논문집
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• 제20권1호
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• pp.147-156
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• 2018

PURPOSES : The purpose of this study is to analyze the characteristics of the weight values of evaluation items by traffic safety project type. METHODS : In general, a large-scale investment in projects such as the traffic safety project requires economic analyses to be performed in advance. However, there is an argument for considering special characteristics of the traffic safety project. Therefore, this study conducted characteristic analysis of the weight values of evaluation items. The analysis consisted of two steps. The first step was hypothesis verification using analysis of variance (ANOVA). In this process, the authors examined whether the weight of evaluation items is the same regardless of the traffic safety project type. Based on the first step's results, the authors proceeded to the second step. The objective of this step was to analyze how different the weight values are by traffic safety project type using an analytic hierarchy process. RESULTS : According to the ANOVA test results, the benefit to cost ratios have different weight values based on traffic safety project type at the 0.01 significance level. The policy evaluation items, such as the plans connection, resident opinion, and regional equity, also showed the same results except that the result for the related plans connection was statistically significant at the 0.05 level. Based on the first step's result, the AHP analysis in the second step showed that the traffic safety projects for vulnerable users and pedestrians have very low weight values in economic evaluation factors compared with other safety project types. The weight values for vulnerable users and pedestrians were 0.29 and 0.26, respectively, in economic evaluation items. On the other hand, the weight values for other safety project types were around 0.6. Among the policy evaluation items, resident opinion showed a higher weight value than other factors, such as connection and regional equity items. CONCLUSIONS : The social and economic impact of a traffic safety project varies by project type and project characteristics. Although the economic approach is overarching and a reasonable methodology is applied for large-scale projects, it should be noted that the safety issue, especially for transportation of vulnerable uses, requires a non-economical approach. Based on the analysis results, this study suggests that the priority of the projects should be determined by separating them into independent assessment groups depending on their characteristics.

• 대한공간정보학회지
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• 제22권4호
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• pp.135-142
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• 2014

최근 국가적인 차원에서 사회 안전에 대한 관심도가 증가하면서 범죄를 효율적으로 예방할 수 있는 다양한 활동을 수행하고 있다. 기존의 범죄관련 지도는 주로 범죄발생 현황에 대한 정보를 행정구역 단위로 사용자에게 제공하기 때문에 정작 여성 및 밤길을 이용하는 보행자가 안전한 도로를 사전에 파악할 수는 없었다. 이에 본 연구에서는 수치지도 2.0을 이용하여 손쉽게 범죄에 위험한 지역을 추출할 수 있는 기법을 개발하였다. 수치지도 2.0에서 범죄발생에 위험한 지역을 찾기 위해서 도로중심선과 건물 레이어의 위치정보와 속성정보를 사용하였다. 도로중심선 레이어에서는 포장재질, 도로폭의 속성정보와 도로와 도로가 교차하는 교차각 정보를 부가적으로 추출하여 활용하였다. 건물 레이어에서는 건물종류에 대한 속성정보를 사용하였다. 도로중심선과 도로교차점에 포장재질, 도로폭, 도로교차각, 건물종류 등을 고려하였을 경우의 위험점수를 모두 합산하여 설정된 임계값을 벗어나는 지역을 범죄발생이 일어날 수 있는 위험지역으로 추출하였다. 본 연구에서 개발한 방법론을 검증하기 위해서 실험을 수행하였다. 실험을 통해서 수치지도 2.0의 도로와 건물 레이어만을 이용하여 공간적인 측면에서 범죄 발생에 지역을 추출할 수 있었다. 본 연구의 결과는 향후 범죄 예방의 행정적인 측면에서는 식별된 범죄 발생에 취약한 지역에 대해 가로등, 보안등과 같은 안전시설물을 추가적으로 설치함으로 위험지역의 안전도를 높일 수 있을 것으로 사료된다.

• 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.

• 자동차안전학회지
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• 제9권2호
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• pp.13-19
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• 2017

This paper presents safety assessment scenarios for cyclist autonomous emergency braking(AEB) system. To assess the safety performance of AEB in real traffic situation with limited number of scenarios, scenario should reflect the characteristics of real traffic collision cases. For this, statistic data of real traffic car-to-cyclist collision in Korea are analyzed. Many types of accidents are listed and categorized based on the movement of vehicle and cycle just before the collision. Then, the characteristics, main issues and limitations of each scenarios are discussed. Not only the test scenario itself but also the cost and time for the test are very important issues for the test scenarios to actually repeat the test for various systems. Also, the performance of AEB can be effected by the algorithm of AEB and the technical limitation of the sensors and hardwares. Therefore, required number of tests, possibility of dummy destruction and other technical issues are discussed for each scenarios. Based on these information, typical scenarios are selected. Also, using this information, vehicle speed range, cyclist speed and collision point are established. Proposed scenarios are verified and modified based on the vehicle test results. vehicle test was evaluated 5 times for each scenarios. Based on this results, final test scenarios are modified and proposed.