• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.803-810
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• 2016

This paper presents a study of localization methods based on particle filter using 2D laser sensor measurements and road feature map information, for autonomous vehicles. In order to navigate in an urban environment, an autonomous vehicle should be able to estimate the location of the ego-vehicle with reasonable accuracy. In this study, road features such as curbs and road markings are detected to construct a grid-based feature map using 2D laser range finder measurements. Then, we describe a particle filter-based method for accurate positional estimation of the autonomous vehicle in real-time. Finally, the performance of the proposed method is verified through real road driving experiments, in comparison with accurate DGPS data as a reference.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.372-378
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• 2009

For effective mobility control of unmanned ground vehicles in outdoor off-road environments, terrain cover classification technology using passive sensors is vital. This paper presents a novel method far terrain classification based on color and texture information of off-road images. It uses a neural network classifier and wavelet features. We exploit the wavelet mean and energy features extracted from multi-channel wavelet transformed images and also utilize the terrain class spatial coordinates of images to include additional features. By comparing the classification performance according to applied features, the experimental results show that the proposed algorithm has a promising result and potential possibilities for autonomous navigation.

• International Journal of Highway Engineering
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• v.6 no.3 s.21
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• pp.47-54
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• 2004

The performance of road-pavement system is closely related to the constituent materials and their susceptibility to mechanical as well as physicochemical stresses. However, the influence of physical and chemical effects on the road-pavement system due to pollution intrusion has not been investigated fully. To study this topic, thu.;, the interaction of a road-pavement system with pollution sources and environments are identified and discussed preliminarily in this paper. Pollution intrusion to road-pavement system occurs by three basic mechanisms; 1) direct intrusion into pavement surface, 2) intrusion from the Right of way, and 3) physical-chemical-biological alterations. Pollution intrusion potential is closely related to material type, particle size, and climatological and topographical features. Stability and performance of road-pavement system is also directly affected by pollution intrusion. Based on these features, thus, engineers working in related to the road design, construction, and maintenance should be seriously considered this topic.

• International Journal of Highway Engineering
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• v.19 no.2
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• pp.167-174
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• 2017

PURPOSES: This study aims to analyze the impact of the implementation of a school zone traffic safety improvement project on the number of accidents involving children in these zones. METHODS : To analyze the correlation between school zone traffic safety features of roads in the zone and the number of accidents involving children, we developed an occurrence probability model of traffic accidents involving children by using a binary logistic regression model with SPSS 23.0 software. Two separate models were developed for two zones: interior block and arterial road. RESULTS :The model depicted that in the case of the interior block, shorter sidewalk width, speed bump, and an elevated crosswalk were key factors affecting the occurrence of accidents involving children. In the case of arterial roads exceeding a width of 12 m, the speed limit, roadside barriers, and red paving of road surfaces were found to be the key factors. CONCLUSIONS:The results of this study can serve as the elementary research data to help improve the effectiveness of school zone traffic safety improvement projects and school zone road repair projects in future.

• Journal of KIISE
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• v.43 no.2
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• pp.186-195
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• 2016

This paper proposes a vehicle license plate detection method in real road environments using 8 bit-MCT features and a landmark-based Adaboost method. The proposed method allows identification of the potential license plate region, and generates a saliency map that presents the license plate's location probability based on the Adaboost classification score. The candidate regions whose scores are higher than the given threshold are chosen from the saliency map. Each candidate region is adjusted by the local image variance and verified by the SVM and the histograms of the 8bit-MCT features. The proposed method achieves a detection accuracy of 85% from various road images in Korea and Europe.

• International Journal of Automotive Technology
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• v.6 no.2
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• pp.171-181
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• 2005

The purpose of this paper is two-fold: 1) A novel algorithm in order to extract lane-related information from road images is presented; 2) Design specifications of an image processing onboard unit capable of extracting lane­related information in real-time is also presented. Obtaining precise information from road images requires many features due to the effects of noise that eventually leads to long processing time. By exploiting a FPGA and DSP, we solve the problem of real-time processing. Due to the fact that image processing of road images relies largely on edge features, the FPGA is adopted in the hardware design. The schematic configuration of the FPGA is optimized in order to perform 3 $\times$ 3 Sobel edge extraction. The DSP carries out high-level image processing of recognition, decision, estimation, etc. The proposed algorithm uses edge features to define an Edge Distribution Function (EDF), which is a histogram of edge magnitude with respect to the edge orientation angle. The EDF enables the edge-related information and lane-related to be connected. The performance of the proposed system is verified through the extraction of lane-related information. The experimental results show the robustness of the proposed algorithm and a processing speed of more than 25 frames per second, which is considered quite successful.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1836-1842
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• 2015

On road networks, the clustering of moving objects is important for traffic monitoring and routes recommendation. The existing schemes find out density route by considering the number of vehicles in a road segment. Since they don’t consider the features of each road segment such as width, length, and directions in a road network, the results are not correct in some real road networks. To overcome such problems, we propose a clustering method for congested routes discovering from the trajectories of moving objects on road networks. The proposed scheme can be divided into three steps. First, it divides each road network into segments with different width, length, and directions. Second, the congested road segments are detected through analyzing the trajectories of moving objects on the road network. The saturation degree of each road segment and the average moving speed of vehicles in a road segment are computed to detect the congested road segments. Finally, we compute the final congested routes by using a clustering scheme. The experimental results showed that the proposed scheme can efficiently discover the congested routes in different directions of the roads.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.636-644
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• 2010

A method for the detection of on-road succeeding vehicles using visual characteristic features like horizontal edges, shadow, symmetry and intensity is proposed. The proposed method uses the prominent horizontal edges along with the shadow under the vehicle to generate an initial estimate of the vehicle-road surface contact. Fast symmetry detection, utilizing the edge pixels, is then performed to detect the presence of vertically symmetric object, possibly vehicle, in the region above the initially estimated vehicle-road surface contact. A window defined by the horizontal and the vertical line obtained from above along with local perspective information provides a narrow region for the final search of the vehicle. A bounding box around the vehicle is extracted from the horizontal edges, symmetry histogram and a proposed squared difference of intensity measure. Experiments have been performed on natural traffic scenes obtained from a camera mounted on the side view mirror of a host vehicle demonstrate good and reliable performance of the proposed method.

• International Journal of Internet, Broadcasting and Communication
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• v.7 no.2
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• pp.123-129
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• 2015

This paper proposes an efficient method to detect direction indicators on road surfaces to support drivers in driving safely using the Simulink model. In the proposed method, the ROIs are detected using the detection method of maximally stable extremal regions (MSER), and the road indicator regions are detected using the speeded up robust features (SURF) matching method for the corresponding point matching of the detected ROIs and the road indicator templates. Experiments on various road satiations show that the processing time of about 0.32 sec per frame was required, and a detection rate of 91% was achieved.

• Journal of Korean Society of Transportation
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• v.8 no.2
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• pp.7-25
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• 1990

In road traffic, road circumstances, vehicle, and driver are closely related each other. When road facilities are established in road planning, only road structure has been considered. However, relatively little work has been done regarding the relation between road circumstances and human with respect to a driver. This dissertation focuses on analysis of driver's visual characteristics to improve road circumstances. In this study, driver's visual characteristics are measured with eye-mark recorder and analyzed statistically. This study includes that visual characteristics, visual range, visual time, distribution of fixation duration, and visual moving angle with respect to road circumstances are established qualitatively and quantitatively by driving testing vehicle on streets, roads and high-ways. The main features of this study are : The driver's visual ranges are different over 10% depending on lane in multi-lanes. The visual range on two-lanes is more than twice as big as that on multi-lanes at 85% of whole vision. The right and left visual ranges by as big as that on multi-lanes at 85% of whole vision. The right and left visual ranges by as big as that on multi-lanes at 85% of whole vision. The right and left visual ranges by as big as that on multi-lanes at 85% of whole vision. The right and left visual ranges by speed are $34^{\circ}$ for 30-50km/hr, $28^{\circ}$ for 50-70km/hr, $22^{\circ}$ for 70-90km/hr and 16^{\circ} for over 90km/hr at 95% of visual rate. Accordingly, increasing speed results in narrow visual range.