• 한국도로학회논문집
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• 제17권5호
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• pp.93-103
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• 2015

PURPOSES : The purpose of this study is to present a linear programing optimization model for the design of lane-based lane-uses and signal timings for an isolated intersection. METHODS: For the optimization model, a set of constraints for lane-uses and signal settings are identified to ensure feasibility and safety of traffic flow. Three types of objective functions are introduced for optimizing lane-uses and signal operation, including 1) flow ratio minimization of a dual-ring signal control system, 2) cycle length minimization, and 3) capacity maximization. RESULTS : The three types of model were evaluated in terms of minimizing delay time. From the experimental results, the flow ratio minimization model proved to be more effective in reducing delay time than cycle length minimization and capacity maximization models and provided reasonable cycle lengths located between those of other two models. CONCLUSIONS : It was concluded that the flow ratio minimization objective function is the proper one to implement for lane-uses and signal settings optimization to reduce delay time for signalized intersections.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.95-101
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• 2015

In this paper, we develop a sliding mode control for steering wheel angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the steering wheel angle. The sliding mode steering wheel angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the steering wheel angle control is available for the driver's convenience. The performance of the proposed method was validated via experiments.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2021년도 추계학술대회
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• pp.317-319
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• 2021

국내에는 도로의 교통혼잡을 효율적으로 운영하기 위해서 지능형 교통체계(ITS)가 구축되어 있으며 교통정보 수집 및 과속단속 시스템에 활용되고 있다. 현재, 교통순환과 교통안전 확보를 위해 차로마다 통행 차량을 지정하는 지정차로제 및 전용차로제가 시행되고 있으며 인공지능 기술을 적용한 체계적이고 정확한 불법 차량 단속시스템이 필요하다. 본 연구에서는 지정차로제의 차량 통행의 효율성을 향상 할 수 있는 차량번호 인식 모델을 제안한다. 컴퓨터 비전 기술을 적용하여 실시간으로 3차선과 4차선의 다차선 도로를 인식하고 차로별 차량번호를 검지하여 지정차로제 위반 차량의 단속방안을 제시하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• Asia pacific journal of information systems
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• 제26권3호
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• pp.427-448
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• 2016

The stochastic phenomena of traffic network condition, such as traffic speed and density, are affected not only by exogenous traffic control but also by endogenous changes in service time during congestion. In this paper, we propose a mixed M/G/1 queuing model by introducing a condition-varying parameter of traffic congestion to reflect structural changes in the traffic network. We also develop congestion indices to evaluate network efficiency in terms of traffic flow and economic cost in traffic operating system using structure-changing queuing model, and perform scenario analysis according to various traffic network improvement policies. Empirical analysis using Korean highway traffic operating system shows that our suggested model better captures structural changes in the traffic queue. The scenario analysis also shows that occasional reversible lane operation during peak times can be more efficient and feasible than regular lane extension in Korea.

• 한국대기환경학회지
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• 제34권4호
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• pp.542-553
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• 2018

Since many previous studies reported the health effect of air pollution and indicated traffic as a major pollution source, significant policy efforts have been made to control traffic to reduce air pollution. However, there have been few studies that evaluated such policy implementation. In Seoul, Korea, the exclusive median bus lane system was implemented in 2004, and the metropolitan government applied air pollution reduction policies such as conversion of diesel buses to compressed natural gas buses and installation of emission control devices. This paper aimed to investigate the impact of the exclusive median bus lane system on air pollution reduction. Using hourly concentrations of particulate matter ($PM_{10}$) and nitrogen dioxide ($NO_2$) measured at 131 regulatory monitoring sites in Seoul and Gyeonggi-do for 2001-2014, we calculated annual and daily average concentrations at each site. We assessed the impact of the policy using differences-in-differences analysis by annual and daily average models after adjusting for geographic and/or meteorological variables. This method divides population into treatment and control groups with and without policy application, and compares the difference between the two time periods before and after the policy implementation in the treatment group with the difference in the control group. We classified all monitoring sites into treatment and control groups using two definitions: 1) Seoul vs. Gyeonggi-do; 2) within vs. outside 300 meters from the median bus lane. Pre- and post-policy periods were defined as 2001-2005 and 2006-2014, and 2004 and 2014 in the annual and daily models, respectively. The decrease in $PM_{10}$ concentrations between the two periods across monitoring sites in the treatment group was larger by $1.73-5.88{\mu}g/m^3$ than in the control group. $NO_2$ also showed the decrease without statistical significance. Our findings suggest that an efficient public transport policy combined with pollution abatement policies can contribute to reduction in air pollution.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.34.6-34
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• 2002

1. Introduction 2. System Configuration 2.1 Control System 2.1.1 Longitudinal control 2.1.2 Lateral control 2.2 Sensor System 2.2.1 Photo interrupt 2.2.2 Ultrasonic sensor 2.3 Vision system 2.4 Communication system 2.4.1 Data communication 2.4.2 Image Communication 3. Test and Result 3.1 Vision test 3.2 Ultrasonic sensor test 4. Conculsion. Acknowledgment References.

• 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.

• 한국정보전자통신기술학회논문지
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• 제10권4호
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• pp.304-310
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• 2017

본 논문은 자율주행자동차가 곡선 주행 차로를 따라 주행 경로를 인지하고 경로 제어가 가능하도록 하기 위한 IPM 기반의 차선 검출기 구조에 대해 제안하고 RTL (Register Transfer Level) 기반의 회로 구현 결과에 대해 설명한다. 제안한 회로 구조는 곡률이 심한 차선에 대해 높은 정확도를 보장하기 위해 역투영 정합 영상을 Near/Far 영역으로 구분하여 허프 변환과 차선의 후보 영역 검출 연산을 적용한다. 자율주행자동차의 경우 다양한 알고리즘을 탑재해야 하므로 임베디드 시스템에서 차선 인식기의 시스템 자원 사용량을 줄이기 위해 차선 인식에 사용하는 영상 데이터 및 각종 파라미터 데이터에 대해 메모리 접근 회수를 최소화하는 방법을 제안하였다. 제안한 회로는 Xilinx Zynq XC7Z020에서 LUT 16%, FF 5.9%, BRAM 29%의 FPGA 자원 점유율을 보였으며 100MHz 클럭에서 Full-HD ($1920{\times}1080$) 영상을 초당 42장 처리 가능한 성능을 갖고 약 96% 차선 인식률을 보인다.

• 대한전자공학회논문지SP
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• 제48권4호
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• pp.86-97
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• 2011

본 논문에서는 칼라분류 및 방향성 에지정보의 클러스터링과 이들의 통합에 의한 새로운 도로영역 및 차선검출 알고리즘을 제안한다. 도로영역 및 차선을 하나의 인식대상 물체로 취급하고, 통계적 파라미터의 반복 최적화에 의한 칼라정보의 클러스터링을 수행해서 검출과 인식을 위한 초기정보로 사용한다. 다음으로, 칼라정보가 갖는 물체인식 의 한계를 개선하기 위해 에지정보를 검출하고, 관심영역(Region Of Interest for Lane Boundary(ROI-LB))의 추출과 ROI-LB 영역에서 방향성 에지정보의 검출과 클러스터링을 수행한다. 칼라분류 및 에지 클러스터링의 결과를 통합해, 이들 각각의 정보가 갖는 특징을 이용함으로서 도로환경에 적합한 도로영역 및 차선을 검출할 수 있도록 한다. 제안방법은 도로와 차선에 관한 파라미터릭 수학적 모델을 사용하지 않고 칼라 및 에지의 클러스터링 정보에 의한 non-parametric 방법으로 다양한 도로 환경에 유연한 대응이 가능한 장점을 갖는다. 본 제안방법의 유효성을 입증하기 위해 상이한 촬상조건 및 도로환경에서의 영상에 대한 실험결과를 제시한다.