• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.4
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• pp.180-189
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• 2009

Currently, most automobile companies are interested in research on intelligent autonomous vehicle. They are mainly focused on driver's intelligent assistant and driver replacement. In order to develop an autonomous vehicle, lateral and longitudinal control is necessary. This paper presents a lateral and longitudinal control system for autonomous vehicle that has only mono-vision camera. For lane detection, we present a new lane detection algorithm using clothoid parabolic road model. The proposed algorithm in compared with three other methods such as virtual line method, gradient method and hough transform method, in terms of lane detection ratio. For adaptive control, we apply a vanishing point estimation to fuzzy control. In order to improve handling and stability of the vehicle, the modeling errors between steering angle and predicted vanishing point are controlled to be minimized. So, we established a fuzzy rule of membership functions of inputs (vanishing point and differential vanishing point) and output (steering angle). For simulation, we developed 1/8 size robot (equipped with mono-vision system) of the actual vehicle and tested it in the athletics track of 400 meter. Through the test, we prove that our proposed method outperforms 98 % in terms of detection rate in normal condition. Compared with virtual line method, gradient method and hough transform method, our method also has good performance in the case of clear, fog and rain weather.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.1
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• pp.63-68
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• 2004

In this paper, we propose a method about the extraction of vehicle and tracking trajectory for moving vehicle tracking system in road. This system applied to the monitoring system of the traffic flow for ATMS(advanced traffic management system) of ITS(intelligent transport system). Also, this system can solve the problem of maintenance of loop sensor. And we detected vehicle using differential image analysis. Because of the road environment changes by real time. Therefore, the method to use background image is not suitable. And we used Kalman filter and innovation value and variable search area for vehicle tracking system. Previous method using fixed search area is sensitive to the moving trajectory and the speed of vehicle. Simulation results show that proposed method increases the possibility of traffic measurement more than fixed area traffic measurement system.

• Journal of the Korean Society of Hazard Mitigation
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• v.6 no.2 s.21
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• pp.37-44
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• 2006

Any vehicle and equipment whose total weight is more than 40ton and its axle weight is 10ton or above is banned to cross any bridge in our country under section 54 in the Highway law. This restriction results from the accumulation and application of safety factors about which there is type specification in the "standard design vehicle". And in "standard design vehicle", Vehicle load to bridge is assumed concentrating one. Based on this restriction, there is an issue that military tank which has a total weight of 51ton (63ton in case of the US tank) can not cross any bridge. However, many research and practical examples concerned manifest that it is possible for military tanks to cross these bridges. The reasons of this issue in the current Highway law's provisions are analyzed in this paper. Correspondingly, feasibility of military tanks passing these bridges are discussed here. At last, considering economical efficiency and practicability for military, several suggestions and improving measures are put forward. This research has certain reality significance to guide bridge design considering the passage of military heavy vehicles.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.2
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• pp.114-128
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• 2019

Recently, the interest in the safety of autonomous vehicles has globally been increasing. Also, there is controversy over the reliability and safety about autonomous vehicle. In Korea, the K-City which is a test-bed for testing autonomous vehicles has been constructing. There is a need for test scenarios for autonomous vehicle test in terms of safety. The purpose of this study is to develop the evaluation scenario for autonomous vehicle at community roads in K-City by using crash data collected by the Korea National Police Agency and a text-mining technique. As a result, 24 scenarios were developed in order to test autonomous vehicle in community roads. Finally, the logical and concrete scenario forms were derived based on the Pegasus 5-layer format.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.2
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• pp.514-521
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• 2021

When calculating an intersection collision speed using a formula, it is very difficult to grasp the degree of deceleration of a vehicle after the collision unless there is road surface trace in the entire section where each vehicle moved from the point of collision to their final positions after the collision. A vehicle's motion trajectory shows an irregular curve after a collision due to the effects of inertia based on the driving characteristics of the vehicle, the eccentric force according to the collision site, and the collision speed. Therefore, it is very important to set the appropriate departure angle after a collision for accurate collision speed analysis. In this study, based on experimental collision data using a computer simulation (PC-Crash), the correlation between an appropriate vehicle departure angle and the post-collision speed was analyzed, and then, a regression analysis model was derived. Through this, we propose a method to calculate collision speed by applying only the vehicle departure angle in some types of collisions for traffic accidents at intersections.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.6A
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• pp.989-999
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• 2006

In this paper, numerical analysis method to perform linear dynamic analysis of bridge considering the road surface roughness and bridge-vehicle interaction when vehicle is moving on bridge is presented. The vehicle and bridge are modeled as three-dimension where contact length of tire and pitching of tandem spring are considered and single truck with 2-axles and 3- axles, and tractor-trailer with 5-axles are modeled as 7-D.O.F., 8-D.O.F., and 14-D.O.F., respectively. Dynamic equations of vehicle are derived from the Lagrange's equation and solution of the equation is obtained by Newmark-${\beta}$ method. The surface roughness of bridge deck for this analysis is generated from power spectral density (PSD) function. Beam element for the main girder, shell element for concrete deck and rigid link between main girder and concrete deck are used. The equations of the motion of bridges are solved by mode-superposition procedures. The proposed procedure is validated by comparing the results with the experimental data by Whittemore and Fenves.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.5
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• pp.574-580
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• 2016

In this paper, we will introduce the system that can control multiple vehicles on the road through Single Board Computers and V2I (Vehicle-To-Infrastructure). Also, we will propose the group evasive maneuver decision algorithm, which plays a critical role in deciding whether the vehicles in the system have to conduct evasive maneuvers to avoid obstacles on the road. In order to test this system, we have utilized Wi-Fi and TCP/IP for establishing the communication between multiple vehicles and the relay server, and observed their driving states on the road with obstacles. During the experiments, we have discovered that our original decision algorithm possesses high failure rate when there is frequency interference in ISM (Industrial Scientific Medical) band. In order to reduce this failure rate, we have implemented the data transition detector. This paper will focus on how the use of data transition detector can affect the reliability of the system under the frequency interference of ISM band. If this technology is improved and applied in the field, we will effectively deal with such dangerous situations as multiple collision accidents through vehicle-to-vehicle communication or vehicle-to-infrastructure communication. Furthermore, this can be applied to the autonomous driving technologies. This can be used as the reference data for the development of the similar system.

• International Journal of Highway Engineering
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• v.10 no.3
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• pp.97-107
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• 2008

I study for design criteria and research about Interchange diverging area of express highway and freeway, the most recent, at interchange diversion of express highway and freeway, design criteria and researches are focus on safety guarantee a point of view movement dynamics of vehicle and road geometric as to transition section, deceleration section, curve radius, nose section, outflow angle etc, that is, design criteria and research of Interchange diverging area have not consider a point of view movement dynamics of vehicle and road geometric and driver, so that I will be focus characteristic of runing speed on trasion curve. and I will consider vehicle running speed characteristics and study problem of Interchange diverging area design criteria. For this study, First, analysis meaning about theory of now design criteria, Second, look at vehicle running speed and traffic accident characteristics of Interchange diverging area, Third, propose new deceleration transition curve design method get along vehicle running speed characteristics of Interchange diverging area. new deceleration transition curve design method put out new outcoums, that is, I definite cause to safety new deceleration transition curve design method better than pressently, used design criteria of Interchange diverging area, especially, deceleration transition curve design criteria produced good result in the running speed 50km/h, 40km/h, that is inertia better than inertia of present used design criteria. and deceleration transition curve is extended better than present transition curve criteria, so that new deceleration transition curve design method safety is good better than the past method safety.

• Journal of the HCI Society of Korea
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• v.14 no.2
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• pp.49-60
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• 2019

With the appearance of self-driving cars and electric cars, the automobile industry is rapidly changing. In the midst of these changes, HMI studies are becoming more important as to how the driver obtains safety and convenience with controlling the vehicle. This study sought to understand how automobile manufacturers understand the driving situation, and how they define and limit driver interaction. For this, prior studies about HMI were reviewed and 15 participants performed an on-road study to drive vehicles from five manufacturers with using their interfaces. The results of the study confirmed that buttons and switches that are easily controlled by the user while driving were different from manufacturer to manufacturer. And there are some buttons that are more intensively controlled and others that are difficult to control while driving. It was able to derive 'selection and concentration' from Audi's vehicle, 'optimization of the driving ' from BMW's, 'simple and minimize' from Benz's vehicle, 'remove the manual distraction' from the vehicle of Lexus, and 'visual stability' from KIA's vehicle as the distinctive keywords for the HMI. This shows that each manufacturer has a different definition and interpretation of the driver's driving control area. This study has a distinct value in that it has identified the characteristics of vehicle-specific HMI in actual driving conditions, which is not apparent in appearance. It is expected that this research approach can be useful to see differences in interaction through actual driving despite changes in driving environment such as vehicle platooning and self-driving technology.

• Journal of Korean Society of Environmental Engineers
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• v.28 no.12
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• pp.1293-1303
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• 2006

This paper represents a comparison the difference between existence and nonexistence of soundproof trees for road traffic noise. Also we suggested that the simple equation has been derived using a single regression analysis for predicting levels of $Leq_{th}$ at a given distance from a road in terms of the flow rate, the mean speed of the traffic, and the percentage of the type vehicles in the existence and nonexistence of soundproof trees. We classified a vehicle into four and analyzed contribution rate to traffic volume. As a result, the order showed as followed: light vehicle>medium vehicle>heavy vehicle>motorcycle. However, the results of analyzing contribution rate with between traffic volume and traffic noise by the each type showed as followed; Motorcycle>Light vehicle>Medium vehicle>Heavy vehicle. This study showed that the most a lof of traffic volumes of the three vehicles(light vehicle, medium vehicle and motorcycle) and heavy vehicle were existed in 67 km/h and 61 km/h of car speed, respectively. The total traffic noise to the mean car speed decreased because of the inflow a lot of traffic volumes between 2016 and 2388 in the range of 67 km/h of light vehicle speed, in traffic composition of 4.75% heavy vehicles, and 1.11% motorcycle. the final result for this study showed that statistical paired t-test for between existence and nonexistence of soundproof trees was significant(p<0.05) and the difference between daytime and night in the location of the nonexistence of plant communities with the independent sample T-test was significant(p<0.05). However, the independent sample T-test for analyzing the variance of traffic noise between daytime and night was not significant(p>0.05).