• Title/Summary/Keyword: road vehicle

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Forward Vehicle Detection Algorithm Using Column Detection and Bird's-Eye View Mapping Based on Stereo Vision (스테레오 비전기반의 컬럼 검출과 조감도 맵핑을 이용한 전방 차량 검출 알고리즘)

  • Lee, Chung-Hee;Lim, Young-Chul;Kwon, Soon;Kim, Jong-Hwan
    • The KIPS Transactions:PartB
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    • v.18B no.5
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    • pp.255-264
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    • 2011
  • In this paper, we propose a forward vehicle detection algorithm using column detection and bird's-eye view mapping based on stereo vision. The algorithm can detect forward vehicles robustly in real complex traffic situations. The algorithm consists of the three steps, namely road feature-based column detection, bird's-eye view mapping-based obstacle segmentation, obstacle area remerging and vehicle verification. First, we extract a road feature using maximum frequent values in v-disparity map. And we perform a column detection using the road feature as a new criterion. The road feature is more appropriate criterion than the median value because it is not affected by a road traffic situation, for example the changing of obstacle size or the number of obstacles. But there are still multiple obstacles in the obstacle areas. Thus, we perform a bird's-eye view mapping-based obstacle segmentation to divide obstacle accurately. We can segment obstacle easily because a bird's-eye view mapping can represent the position of obstacle on planar plane using depth map and camera information. Additionally, we perform obstacle area remerging processing because a segmented obstacle area may be same obstacle. Finally, we verify the obstacles whether those are vehicles or not using a depth map and gray image. We conduct experiments to prove the vehicle detection performance by applying our algorithm to real complex traffic situations.

Real Time Road Lane Detection with RANSAC and HSV Color Transformation

  • Kim, Kwang Baek;Song, Doo Heon
    • Journal of information and communication convergence engineering
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    • v.15 no.3
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    • pp.187-192
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    • 2017
  • Autonomous driving vehicle research demands complex road and lane understanding such as lane departure warning, adaptive cruise control, lane keeping and centering, lane change and turn assist, and driving under complex road conditions. A fast and robust road lane detection subsystem is a basic but important building block for this type of research. In this paper, we propose a method that performs road lane detection from black box input. The proposed system applies Random Sample Consensus to find the best model of road lanes passing through divided regions of the input image under HSV color model. HSV color model is chosen since it explicitly separates chromaticity and luminosity and the narrower hue distribution greatly assists in later segmentation of the frames by limiting color saturation. The implemented method was successful in lane detection on real world on-board testing, exhibiting 86.21% accuracy with 4.3% standard deviation in real time.

A Development and Application of Driving Simulator for Road Safety Analysis (도로안전성 분석을 위한 도로주행 시뮬레이터 개발 및 응용)

  • Kim Jong-min;Noh Kwan-sub
    • Proceedings of the Korea Society for Simulation Conference
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    • 2005.11a
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    • pp.138-143
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    • 2005
  • In order to reduce traffic accident, the interaction between drivers and roads should be studied in drivers' behaviour standpoints, and then this must be applied to the establishment of the road design standard. The K-ROADS(KICT-Road Analysis Driving Simulator) was developed to analyze and evaluate the road safety at the project HuRoSAS(Human & Road Safety Analysis System), since 2003. This has two distinct functions. One is the visual system which has 360 degree F.O.V. to reduce a dead angle on black spots as at-grade intersection. The other is the motion system which reproduce high frequency vibration made in irregular road surface and vehicle's motion. The K-ROADS has been used the study on the effect of alternatives of speed hump, and the study on the interior wall design of long tunnel to safety standpoints.

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Comparisons of Traffic Collisions between Expressways and Rural Roads in Truck Drivers

  • Lee, Sangbok;Jeong, Byung Yong
    • Safety and Health at Work
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    • v.7 no.1
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    • pp.38-42
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    • 2016
  • Background: Truck driving is known as one of the occupations with the highest accident rate. This study investigates the characteristics of traffic collisions according to road types (expressway and rural road). Methods: Classifying 267 accidents into expressway and rural road, we analyzed them based on driver characteristics (age, working experience, size of employment), time characteristics (day of accident, time, weather), and accident characteristics (accident causes, accident locations, accident types, driving conditions). Results: When we compared the accidents by road conditions, no differences were found between the driver characteristics. However, from the accident characteristics, the injured person distributions were different by the road conditions. In particular, driving while drowsy is shown to be highly related with the accident characteristics. Conclusion: This study can be used as a guideline and a base line to develop a plan of action to prevent traffic accidents. It can also help to prepare formal regulations about a truck driver's vehicle maintenance and driving attitude for a precaution on road accidents.

Clustering based Routing Algorithm for Efficient Emergency Messages Transmission in VANET (차량 통신 네트워크에서 효율적인 긴급 메시지 전파를 위한 클러스터링 기반의 라우팅 알고리즘)

  • Kim, Jun-Su;Ryu, Min-Woo;Cha, Si-Ho;Lee, Jong-Eon;Cho, Kuk-Hyun
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.13 no.8
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    • pp.3672-3679
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    • 2012
  • Vehicle Ad hoc Network (VANET) is next-generation network technology to provide various services using V2V (Vehicle-to-Vehicle) and V2I (Vehicle-to-Infrastructure). In VANET, many researchers proposed various studies for the safety of drivers. In particular, using the emergency message to increase the efficiency of traffic safety have been actively studied. In order to efficiently transmit to moving vehicle, to send a quick message to as many nodes is very important via broadcasting belong to communication range of vehicle nodes. However, existing studies have suggested a message for transmission to the communication node through indiscriminate broadcasting and broadcast storm problems, thereby decreasing the overall performance has caused the problem. In addition, theses problems has decreasing performance of overall network in various form of road and high density of vehicle node as urban area. Therefore, this paper proposed Clustering based Routing Algorithm (CBRA) to efficiently transmit emergency message in high density of vehicle as urban area. The CBRA managed moving vehicle via clustering when vehicle transmit emergency messages. In addition, we resolve linkage problem between vehicles according to various form of road. The CBRA resolve link brokage problem according to various form of road as urban using clustering. In addition, we resolve broadcasting storm problem and improving efficacy using selection flooding method. simulation results using ns-2 revealed that the proposed CBRA performs much better than the existing routing protocols.

Realization Software Development of Road Profile for Multi-axial Road Simulator (다축 로드 시뮬레이터의 노면 프로파일 재현 소프트웨어 개발)

  • 정상화;류신호;김우영;양성모;김택현
    • Transactions of the Korean Society of Automotive Engineers
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    • v.10 no.5
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    • pp.190-198
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    • 2002
  • Full scale durability test in the laboratory is an essential of any fatigue life evaluation of components or structures of the automotive vehicle. Component testing is particularly important in today's highly competitive industries where the design to reduce weight and production costs must be balanced with the necessity to avoid expensive service failure. Generally, hydraulic road simulator is used to carry out the fatigue test and the vibration test. In this paper, the algorithm and software to realize the real road profile are developed. The operation software for simultaneously controlled multi-axial road simulator is developed and the input and output data are displayed window based PC controller in the real time. Futhermore, the software to generate the real road profile are developed. The validity of the software are verified by applying the belgian road, the city road, the highway, and the gravel road. The results of the above experiment show that the real road profiles are realized well after 10th iteration.

An Effect of the Complexity in Vehicle Dynamic Models on the Analysis of Vehicle Dynamic Behaviors: Model Comparison and Validation (차량 모델의 복잡성이 차량동력학 해석에 미치는 영향 : 모델의 비교 및 검증)

  • 배상우;윤중락;이장무;탁태오
    • Transactions of the Korean Society of Automotive Engineers
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    • v.8 no.6
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    • pp.267-278
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    • 2000
  • Vehicle dynamic models in handing and stability analysis are divided into three groups: bicycle model, roll axis model and full vehicle model. Bicycle model is a simple linear model, which hag two wheels with load transfer being ignored. Roll axis model treats left and right wheels independently. In this model, load transfer has a great effect on nonlinearity of tire model. Effects of suspension system can be analyzed by using full vehicle model, which is included suspension stroke motions. In this paper, these models are validated and compared through comparison with road test, and the effects of suspension kinematics and compliance characteristics on vehicle motion are analyzed. In handling and stability analysis, roll axis model can simulate the real vehicle motion more accurately than full vehicle model. Compliance steer has a significant effect, but the effect of suspension kinematics is negligible.

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A Development of New Vehicle Model for Yaw Rate Estimation (요각속도 추정을 위한 새로운 차량 모델의 개발)

  • Bae, Sang-Woo;Shin, Moo-Hyun;Kim, Dae-Kyun;Lee, Jang-Moo;Lee, Jae-Hyung;Tak, Tae-Oh
    • Proceedings of the KSME Conference
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    • 2001.06b
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    • pp.565-570
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    • 2001
  • Vehicle dynamics control (VDC) system requires more information on driving conditions compared with ABS and/or TCS. In order to develop the VDC system, tire slip angles, vehicle side-slip angle, and vehicle lateral velocity as well as road friction coefficient are needed. Since there are not any cheap and reliable sensors, recent researches on parameter estimation have given rise to a number of parameter estimation techniques. This paper presents new vehicle model to estimate vehicle's yaw rate. This model is improved from the conventional 2 degrees of freedom vehicle model, so-called bicycle model, taking nonlinear effects into account. These nonlinear effects are: (i) tyre nonlinearity; (ii) lateral load transfer during cornering; (iii) variable gear ratio with respect to vehicle velocity. Estimation results are validated with the experimental results.

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Effects of traffic characteristics on pavement responses at the road intersection

  • Yang, Qun;Dai, Jingwang
    • Structural Engineering and Mechanics
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    • v.47 no.4
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    • pp.531-544
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    • 2013
  • Compared with pavement structures of ordinary road sections, pavement structures in the intersection are exposed to more complex traffic characteristics which may exacerbates pavement distresses such as fatigue-cracking, shoving, shear deformation and rutting. Based on a field survey about traffic characteristics in the intersection conducted in Shanghai China, a three dimensional dynamic finite-element model was developed for evaluating the mechanistic responses in the pavement structures under different traffic characteristics, namely uniform speed, acceleration and deceleration. The results from this study indicated that : (1) traffic characteristics have significant effects on the distributions of the maximum principal strain (MPS) and the maximum shear stress (MSS) at the pavement surface; (2) vehicle acceleration or deceleration substantially impact the MPS and MSS at pavement surface and could increase the magnitude of them by 20 percent to 260 percent; (3) in the vertical direction, with the increase of vehicle deceleration rate, the location of the MPS peak value and the MSS peak value changes from the sub-surface layer to the pavement surface.

Speed Control of a Permanent Magnet Synchronous Motor for Steering System Using Fuzzy Algorithm (퍼지 제어 알고리즘을 이용한 차량 조향 장치용 표면 부착형 영구자석 동기 전동기의 속도제어)

  • Ban, Dong-Hoon;Park, Jong-Oh;Lim, Young-Do
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.6
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    • pp.526-531
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    • 2012
  • This paper, we describe the vector control of surface mounted PMSM (Permanent Magnet Synchronous Motor) using the fuzzy controller which is suggested algorithm. In these days, when vehicle is operated or not, whether the road is covered or not, the sensitivity of the steering column is not stable. To make up for it, the PI gain of a steering column controller is adjusted by experience. It becomes the price because it need a lot of sensor. Also it is difficult to implement robust control because we need a lot of parameters for variable road conditions which are the off road, the on road, a low battery voltage, a high battery voltage, a vehicle speed. In this paper, we propose fuzzy controller using the suggested algorithm which suitable for steering system. We test the fuzzy controller with the various condition. We get the good performance of fuzzy controller even if it is nonlinear system. We check a robust the fuzzy controller using the suggested algorithm.