• 제어로봇시스템학회논문지
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• 제8권12호
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• pp.1014-1022
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• 2002

An objective of Automated Highway Systems (AHS) is to increase the safety and throughput of the existing highway infrastructure by introducing traffic automation. AHS is an example of a large scale, multiagent complex dynamical system and is ideally suited for a hierarchical hybrid controller. We discuss a design issue of efficient hybrid controllers for the platoon maneuvers on AHS. For the modeling of a hybrid system including the merge and split operations, a safety distance policy is introduced for the merge and split operations. After that, the platoon system will be modeled by a hybrid system In addition, a hybrid controller for the proposed merge and split operation models is presented. Finally, the performance of the proposed hybrid control scheme is demonstrated via scenarios for platoon maneuvers.

• International Journal of Automotive Technology
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• 제7권5호
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• pp.625-635
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• 2006

From a viewpoint of human factors, automated highway systems(AHS) can be defined as one of the newly developing human-machine systems that consist of humans(drivers and operators), machines(vehicles and facilities), and environments(roads and roadside environments). AHS will require a changed vehicle control process and driver-vehicle interface(DVI) comparing with conventional driving. This study introduces a fixed-based AHS simulator and provides questionnaire-based human factors evaluation results after three kinds of automated driving speed experiences in terms of road configuration, operation policies, information devices, and overall AHS use. In the simulator, the "shared space-at-grade" concept-based road configuration was virtually implemented on a portion of the Kyungbu highway in Korea, and heads-up display(HUD), AHS information display, and variable message signs(VMS) were installed for appropriate AHS DVI implementation. As the results, the subjects expressed positive opinions on the implemented road configuration, operation policies, and the overall use of AHS. The results of this study would be helpful in developing the road configuration and DVI design guideline as the basic human factors research for the future implementation of AHS.

• 도로교통
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• 통권71호
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• pp.58-66
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• 1997

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.17-17
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• 2000

In this paper, we design a hybrid controller for a safe lane change maneuver in automated highway systems(AHS). The proposed hybrid controller consists of a supervisor which controls the behaviors of discrete-event dynamic systems, and a regulator which controls the operations of continuous-variable dynamic systems. The supervisor determines whether the system starts a maneuver or not, via a condition for a safety, and gives orders to the regulator for performing the maneuvers. And the regulator tracks the planned path generated in the supervisor. The conditions for a safe lane change maneuver are proposed using the velocity, the acceleration, and geometrical relationship of vehicles.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1853-1856
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• 2003

This paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. Since safety plays a key role in the development of an Automated Highway System, fault-tolerant control is vital. In this paper, we develop a control algorithm in vehicle platooning and prove that this control algorithm is stable for certain class of faults such as parameter uncertainties. The performance of the controller is demonstrated through a series of simulations incorporating various vehicles and AHS faults. Results of simulation shows that the vehicles have good performance in spite of simple automotive and AHS failure, such as actuator failure,that is to say, engine input failure, communication failure between lead vehicle and the another vehicles.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2002년도 춘계학술대회 논문집
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• pp.57-62
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• 2002

This study described the specification and configuration of developed fixed-base AHS (Automated Highway System) simulator fur the human factors researches, and its usability evaluation results after riding 120, 140, and 160kph automated driving speed. As the results, this study suggested the subjects' preferences and opinions about simulator and AHS configurations that would help to establish the AHS R&D plan and driver-vehicle/road interface design guidelines as the basic researches of the AHS human factors.

• 한국도로학회논문집
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• 제16권5호
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• pp.91-98
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• 2014

PURPOSES : This study is to develop a automate road mapping system using ARASEO(Automated Road Analysis and Safety Evaluation TOol) for road management. METHODS : The road survey van named ARASEO(Automated Road Analysis and Safety Evaluation TOol) was used to generate highway drawings for Korea National Road number 37 automatically. In order to generate the highway drawings for purpose of road management, it is required to acquired the information for highway alignment, road width and road facilities such as safety barrier and road sign. Therefore the survey van acquired and analyzed the road width, median and guardrail data using rear side laser sensor of ARASEO and recognized the traffic control sign and chevron sign using foreside camera images. Also the highway alignment which is the basic information for highway drawing can be analyzed by acquisition the every 1m positional and attitude data using GPU and IMU sensor and developed algorithm. Finally, in this research the CAD based drawing software was developed to draw highway drawing using the analysis result from ARASEO. RESULTS : This study showed the comparison result of the surveyed road width and drawing data. To make the drawing of the road, we made the Autocad ARX program witch run in CAD menu interface. CONCLUSIONS : Using this program we can create the road center line, every 500m horizontal and vertical ground plan drawing automatically.

• 한국ITS학회 논문지
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• 제21권4호
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• pp.62-77
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• 2022

독립형 자율주행 기술의 한계를 극복하기 위해 협력형 자율주행 기술이 필요하다. 협력형 자율주행 시스템은 자율주행 차량이 다른 차량 또는 인프라와 협력함으로써 주행의 효율성과 안전성을 높이는 기술을 의미한다. 본 연구에서는 협력형 자율주행 기술 개발을 위해 필요한 기술적 요소를 알아보고, 국내·외 연구 동향을 조사하였다. 미국, 유럽, 일본, 국내에서 수행된 협력형 자율주행 관련 서비스, 통신 기술, 표준 개발 등의 사례 검토를 통해 국가별 연구의 특성을 비교하였다. 연구 동향 검토를 통해 향후 협력형 자율주행 기술 개발을 위한 시사점을 도출하고, 자율주행차량을 지원하기 위한 인프라 가이던스의 필요성을 제시하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.465-467
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• 1998

A lane change maneuver is a part of lateral control of an automated highway system. Assuming no direct measurement of its position during transition from one lane to another. A vehicle is controlled to follow the virtual desired trajectory using only on-board sensors. This paper investigates the development of a fuzzy controller for automated lateral control during emergencies. The performance of the fuzzy controller is presented at 20m/s for a step lane change and a double lane change. The robustness of fuzzy controller is investigated with respect to change in tire parameters and the number of passengers.

• 한국ITS학회 논문지
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• 제16권6호
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• pp.208-218
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• 2017

본 연구는 기존에 정의된 LDM(Local Dynamic Map)에 동적지도 정보 제공 기능을 확장한 차량LDM(V-LDM) 기술의 설계 및 개발, 성능 검증을 목적으로 한다. 이를 위해 LDM과 동적지도 정보 제공 관련 국제표준 및 관련 기술을 참고하여 차량LDM 시스템 구성을 설계하였다. 또한 자율주행을 위한 차로 수준의 정보를 갖는 정밀전자지도의 기본 구성을 제안하였고, 차량 전방의 주행 환경 정보(정적+동적 정보) 전달을 위한 메시지인 Dynamic Map (DM) 프로토콜의 기본 구조를 정의하였다. 경부고속도로의 기본구간을 대상으로 제안된 정밀전자지도와 DM프로토콜 전달 기능의 성능을 검증한 결과, 데이터 크기와 처리 수행 시간 모두 전방거리에 선형적으로 비례함을 확인하였고, 10Hz의 갱신 주기를 갖기 위해 전방 최대 250m에 해당하는 정보를 제공하는 것을 적절한 대안으로 제시하였다.