• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.3
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• pp.16-24
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• 2011

The vehicle electronic control system is being developed as the legal and social demand for ensuring driver's safety is rising. The various Driver Assistance Systems with various sensors such as radars, camera, and lasers are in practical use because of the falling price of hardware and the high performance of sensor and processer. In the preceding study of this research, the program was developed to recognize the experiment vehicle's driving lane and the cars nearby or approaching the experiment vehicle throughout the images taken by CCD camera. In addition, the 'dangerous driving analysis program' which is Vision System basis was developed to analyze the cause and consequence of dangerous driving. However, the Vision system developed in the previous studyhad poor recognition rate of lane and vehicles at the time of passing a tunnel, sunrise, or sunset. Therefore, through mounting the brightness response algorithm to the Vision System, the present study is aimed to analyze the causes of driver's dangerous driving clearly by improving the recognition rate of lane and vehicle, regardless of when and where it is.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.2
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• pp.77-92
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• 2019

TPCLT is a advanced signal system that serves twice left turn phases during the same cycle. TPCLT can be a useful where the left turn traffic volume is high and the length of the left turn lane is short. This study examined the effectiveness of TPCLT in reducing delay for a signalized three-Leg intersection and proposed the application of TPCLT signal system. 108 scenarios with different traffic volumes were created. This study analyzed the control delay of the three-Leg intersection in case TPCLT is operated and non-TPCLT is operated. As a result of analysis, it was shown that TPCLT was effective in most of the scenarios. When traffic volume ratio of the left turn is 30~40%, TPCLT was more effective at reducing the control delay. The study result shows significant delay reduction for the left turning traffic and it is approximately 50 seconds. The opposing movement's average control delay increased 2 seconds. The effect of TPCLT on the length of left turn lane was analyzed. As a result, it is found that TPCLT is effective when the length of left turn lane is 30%~60% compared to that of conventional three leg intersection operations.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.463-470
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• 2015

When a camera installed on a vehicle is used, estimation of the camera pose including tilt, roll, and pan angle with respect to the world coordinate system is important to associate camera coordinates with world coordinates. Previous approaches using huge calibration patterns have the disadvantage that the calibration patterns are costly to make and install. And, previous approaches exploiting multiple vanishing points detected in a single image are not suitable for automotive applications as a scene where multiple vanishing points can be captured by a front camera is hard to find in our daily environment. This paper proposes a camera pose estimation method. It collects multiple images of lane markings while changing the horizontal angle with respect to the markings. One vanishing point, the cross point of the left and right lane marking, is detected in each image, and vanishing line is estimated based on the detected vanishing points. Finally, camera pose is estimated from the vanishing line. The proposed method is based on the fact that planar motion does not change the vanishing line of the plane and the normal vector of the plane can be estimated by the vanishing line. Experiments with large and small tilt and roll angle show that the proposed method outputs accurate estimation results respectively. It is verified by checking the lane markings are up right in the bird's eye view image when the pan angle is compensated.

• Journal of Korean Society of Transportation
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• v.32 no.4
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• pp.293-302
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• 2014

Recently, advanced sensors and communication technologies have been widely applied to advanced safety vehicles for reducing traffic accidents and injury severity. To apply the advanced safety vehicle technologies, it is important to quantify safety benefits, which is a fundamental for justifying application. This study proposed a methodology for quantifying the effectiveness of the Advanced Driver Assistant System (ADAS) with the Analytic Hierarchy Process (AHP). When the proposed methodology is applied to 2008-2010 Gyeonggi-province crash data, ADAS would reduce about 10.18% of crashes. In addition, Adaptive Cruise Control, Automatic Emergency Braking System, Lane Departure Warning System and Blind Spot Detection System are expected to reduce about 10.43%, 10.17%, 9.96%, and 10.18%, respectively. The outcomes of this study might support decision making for developing not only vehicular technologies but also relevant safety policies.

• Journal of Auto-vehicle Safety Association
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• v.4 no.1
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• pp.12-17
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• 2012

ADAS(Advanced Driver Assistance System) which is developed for alleviating driver's load has become improved with extending it's role. Previously, ADAS offered simple function just to make driver's convenience. However, nowadays ADAS also acts as Active Safety system which is made to release and/or prevent accidents. Longitudinal control system, as one of major parts of Active Safety System, is assessed as doing direct effect on avoiding accidents. Therefore, many countries such as Europe and America has pushed longitudinal control system as a government-wide project. In this paper, it covers the result of evaluation system and vehicle evaluation for development study in FCW, ACC and AEB.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.8
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• pp.824-833
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• 2006

In this paper, the image modelling of road's lane markings is established using view frustum(VF) model. From this model, a measurement system of lane markings and obstacles is proposed. The system also involve the real time processing of the 3D position coordinate and the distance data from the camera to the points on the 3D world coordinate by virtue of the camera calibration. In order to reduce their measurement error, an useful algorithm for which analyze the geometric variations due to traveling vehicle's fluctuation using VF model is proposed. In experiments, without correction, for instance, the $0.4^{\circ}$ of pitching rotation gives the error of $0.4{\sim}0.6m$ at the distance of 10m, but the more far distance cause exponentially the more error. We con finned that this algorithm can be reduced less than 0.1m of error at the same condition.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.178-186
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• 2002

In this study, the steering control system for UCT (unmanned container transporter) was developed using MR (Magnetoresistive) sensors. The MR and magnet sensors are used for the lane detecting system. The robust control theory is used for the design of the steering controller to reduce the uncertainties of the road. The performance of the robust steering controller is compared in simulations and tests using the existing PD controller of the UCT.

• Journal of Korean Society of Transportation
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• v.34 no.1
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• pp.81-94
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• 2016

The Korean real-time traffic responsive control systems, Cycle Offset Split Model of Seoul (COSMOS), employs a single theoretical model to estimate the degree-of-saturation (DS) on approaches. However, the deployment of the system has been accomplished without practical consideration of its field performance. This paper delivers a diagnosis study performed to find the relationships yet known on the DS values against the operational conditions unproved in theory but ordinarily observed in field practice. Based on the analysis of the historical log data (476,505 cycles) obtained from the COSMOS server, it was found; (1) full coverage of lane detections should perform better than the sample coverage of detection in ordinary conditions, (2) the sample coverage of detection perform better than the other case with an exclusive bus lane, (3) detection in which a shared lane is involved provide poor estimation of DS, (4) poor DS estimation when a detection lane is adjacent to a shared lane, and (5) the DS values obtained during a day can hardly be stable all time. The findings suggest traffic engineers a progressive direction to move forward for the next real-time traffic control systems.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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.