• Journal of Auto-vehicle Safety Association
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• v.13 no.2
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• pp.35-41
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• 2021

In this study, improved path tracking control algorithm based on pure pursuit algorithm is newly proposed by using improved lane detection algorithm through real time post-processing with interpolation methodology. Since the original pure pursuit works well only at speeds below 20 km/h, the look-ahead distance is implemented as a sigmoid function to work well at an average speed of 45 km/h to improve tracking performance. In addition, a smoothing filter was added to reduce the steering angle vibration of the original algorithm, and the stability of the steering angle was improved. The post-processing algorithm presented has implemented more robust lane recognition system using real-time pre/post processing method with deep learning and estimated interpolation. Real time processing is more cost-effective than the method using lots of computing resources and building abundant datasets for improving the performance of deep learning networks. Therefore, this paper also presents improved lane detection performance by using the final results with naive computer vision codes and pre/post processing. Firstly, the pre-processing was newly designed for real-time processing and robust recognition performance of augmentation. Secondly, the post-processing was designed to detect lanes by receiving the segmentation results based on the estimated interpolation in consideration of the properties of the continuous lanes. Consequently, experimental results by utilizing driving guidance line information from processing parts show that the improved lane detection algorithm is effective to minimize the lateral offset error in the diverse maneuvering roads.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.468-469
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• 2018

We design CNN(convolutional neural network) which is applicable to steering control system of autonomous vehicle. CNN has been widely used in many fields, especially in image classifications. But CNN has not been applied much to the regression problem such as function approximation. This is because the input of CNN has a multidimensional data structure such as image data, which makes it is not applicable to general control systems. Recently, autonomous vehicles have been actively studied, and many techniques are required to implement autonomous vehicles. For this purpose, many researches have been studied to detect the lane by using the image through the black box mounted on the vehicle, and to get the vanishing point according to the detected lane for control the autonomous vehicle. However, in detecting the vanishing point, it is difficult to detect the vanishing point with stability due to various factors such as the external environment of the image, disappearance of the instant lane and detection of the opposite lane. In this study, we apply CNN for steering control of an autonomous vehicle using a black box image of a car.

• Journal of the Korea Society of Computer and Information
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• v.8 no.2
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• pp.37-43
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• 2003

The purpose of this thesis is to detect multiple vehicles using sequence image analysis at process that detect forward vehicles and lane from sequential color images. Detection of vehicles candidate area uses shadow characteristic and edge information in one frame. And, method to detect multiple vehicles area analyzes Estimation of Vehicle(EOV) and Accumulated Similarity Function(ASF) of vehicles candidate areas that exist in sequential images and examine possibility to be vehicles. Most researches detected a forward vehicles in road images but this research presented method to detect several vehicles and apply enough in havy traffic. To verify the effects of the proposed method, we capture the road images with notebook and CCD camera for PC and present the results such as processing time, accuracy and vehicles detection in the images.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.3
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• pp.255-263
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• 2014

Today, a number of CCTV on the highway is to observe the flow of traffics. There have been a number of studies where traffic data (e.g., the speed of vehicles and the amount of traffic on the road) are transferred back to the centralized server so that an appropriate action can be taken. This paper introduces a system that detects the changes of traffic flows caused by an accident or unexpected stopping (i.e., vehicle remains idle) by monitoring each lane separately. The traffic flows of each lane are level spacing curve that shows Wigner distribution for location vector. Applying calogero-moser system and Hamiltonian system, probability equation for each level-spacing curve is derived. The high level of modification of the signal means that the lane is in accident situation. This is different from previous studies in that it does more than looking for the signal from only one lane, now it is able to detect an accident in entire flow of traffic. In process of monitoring traffic flow of each lane, when camera recognizes a shadow of vehicle as a vehicle, it will affect the accident detecting capability. To prevent this from happening, the study introduces how to get rid of such shadow. The system using Basian network method is being compared for capability evaluation of the system of the study. As a result, the system of the study appeared to be better in performance in detecting the modification of traffic flow caused by idle vehicle.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.3
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• pp.38-50
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• 2023

Recent advances in artificial intelligence (AI) technology have enabled the integration of AI technology into image sensors, such as Closed-Circuit Television (CCTV), to detect specific traffic incidents. However, most incident detection methods have been carried out using fixed equipment. Therefore, there have been limitations to incident detection for all roadways. Nevertheless, the development of mobile image collection and analysis technology, such as image sensors and edge-computing, is spreading. The purpose of this study is to estimate the reducing effect of the incident detection time according to the introduction level of mobile image collection and analysis equipment (or connected vehicles). To carry out this purpose, we utilized data on the number of incidents collected by the Suwon branch of the Gyeongbu expressway in 2021. The analysis results showed that if the market penetration rate (MPR) of connected vehicles is 4% or higher for two-lane expressway and 3% or higher for three-lane expressways, the incident detection time was less than one minute. Furthermore, if the MPR is 0.4% or higher for two-lane expressways and 0.2% or higher for three-lane expressways, the incident detection time decreased compared to the average incident detection time announced by the Korea Expressway Corporation for both two-lane and three-lane expressways.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.5D
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• pp.623-631
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• 2011

In this study, a new method which can detect incidents in interrupted traffic flow was suggested. The applied method of detecting the incident is the Latin Square Analysis Method by using traffic traits. In the Latin Square Analysis, unlike other previously tried methods, the traffic situation was analyzed, this time considering the changes in traffic traits for each lane and for each time period. The data used in this study were the data observed in the actual field with fine weather. The traffic volumes, the vehicle speed and the occupancy rate were collected on the interrupted flow road. The data were collected in normal and incident situations. The incidents occurred on the second lane, the time of persistent incidents was set to 10 minutes. The Latin Square Analyses were performed using the collected data with the traffic volume, with the vehicle speed or with the occupancy rate. As a result in this study, in case of detecting the traffic situations with Latin Square Analysis, it will be more successful to apply traffic volume to detect the traffic situations than to apply other factors.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.74-80
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• 2009

Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.1
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• pp.63-70
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• 2023

Due to the spread of high-definition black boxes and the introduction of mobile applications such as 'Smart Citizens Report' and 'Safety Report', the number of public interest reports for violations of Traffic Law has increased rapidly, resulting in shortage of police personnel to handle them. In this paper, we describe the development of a system that can automatically detect lane violations which account for the largest proportion of public interest reporting videos for violations of traffic laws, using deep learning algorithms. In this study, a method for recognizing a vehicle and a solid line object using a YOLO model and a Lanenet model, a method for tracking an object individually using a deep sort algorithm, and a method for detecting lane change violations by recognizing the overlapping range of a vehicle object's bounding box and a solid line object are described. Using this system, it is expected that the shortage of police personnel in charge will be resolved.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3D
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• pp.461-467
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• 2006

To detect individual vehicular speed, double loop detection technique has been widely used. This paper investigates four methodologies to measure individual speed using only a single loop sensor in a traveling lane. Two methods developed earlier include estimating the speed by means of (Case 1) the slop of inductance wave form generated by the sensor and (Case 2) the average vehicle lengths. Two other methods are newly developed through this study, which are estimations by measuring (Case 3) the mean of wheelbases using the sensor installed traversal to the traveling lane and (Case 4) the mean of wheel tracks by the sensor installed diagonally to the traveling lane. These four methodologies were field-tested and their accuracy of speed output was compared statistically. This study used Equality Coefficient and Mean Absolute Percentage Error for the assessment. It was found that the method (Case 1) was best accurate, followed by method (Case 4), (Case 2), and (Case 3).

• Journal of Platform Technology
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• v.11 no.6
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• pp.106-115
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• 2023

In this paper, we propose a sensor data sharing system for the safe and smooth operation of autonomous vehicles on two-way single lanes in traffic-isolated areas and implement the core module, the situational awareness technology. Two-way single lanes pose challenges for autonomous vehicles, particularly when encountering parked vehicles or oncoming traffic, leading to reversing issues. We introduce a system using infrastructure cameras to detect vehicles' approach, enter, and leave on twoway single lanes in real-time, transmitting this information to autonomous vehicles via V2N communication, thereby expanding the sensing range of the autonomous vehicles. The core part of the proposed system is the situational awareness of the two-way single lane using infrastructure cameras. In this paper, we implement this using object detection and tracking technology. Finally, we validate the implemented situational awareness technology using data collected from actual two-way single lanes.