• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.597-602
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• 2012

In this paper, a manual and automatic steering system for electric vehicles capable of manned and unmanned driving is proposed. The automatic steering systems, EPS, MDPS, used in conventional engine based car includes the problem of handle lock phenomenon while driving of overloading, therefore it has a drawback to apply to manned and unmanned electric vehicles. By using electronic clutch and pulleys, the proposed manual and automatic steering mechanism was designed so that it is possible to convert from manual to automatic steering mode. To experiment the performance of the proposed steering system, we made an experimental setup of an electric vehicle. We confirmed that the proposed manual and automatic steering system was useful for manned and unmanned electric vehicles.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1100-1107
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• 2011

The light-rail system which is recently being built in Korea is a train control system based on driverless operation, and the train control system for urban maglev train under construction at the moment in Youngjong-Do, Incheon is pushed ahead based on driverless operation. In this paper, it compares train operation cases with manned operation and unmanned operation to examine system requirements for unmanned driving on train and detects system requirements of automatic train operation device for unmanned operation by analyzing unmanned operation cases which are currently operating or planed project and also introduces automatic train operation of urban maglev train and verifies whether the system for unmanned driving meets the requirements.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.5
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• pp.249-256
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• 2000

This paper deals with the control of the lateral motion of a mobile vehicle. A mobile vehicle using in this experiment is able to adapt many unmanned automatic driving system, for example, like a automated product transporting system. This vehicle is consist of the two servomotors. One is used to accelerate this vehicle and the another is used to change this lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral motion of the vehicle. Therefore, the main aim of this paper is investigate the possibility of applying adaptive fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. Fuzzy control rules are derived by modelling an expert's driving actions. Experiments are performed using a mobile vehicle with sensing units, a microprocessor and a host computer.

• Journal of Auto-vehicle Safety Association
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• v.4 no.2
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• pp.32-36
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• 2012

The Automatic unmanned target object carrying system (AUTOCS) is developed for testing road vehicle radar and vision sensor. It is important for the target to reflect the realistic target characteristics when developing ASV or ADAS products. The AUTOCS is developed to move the pedestrian or motorcycle target for desired speed and position. The AUTOCS is designed that only payload target which is a manikin or a motorcycle is detected by the sensor not the AUTOCS itself. In order for the AUTOCS to have low exposure to radar, the AUTOCS is stealthy shaped to have low RCS(Radar Cross Section). For deceiving vision sensor, the AUTOCS has a specially designed pattern on outside skin which resembles the asphalt pattern. The AUTOCS has three driving modes which are remote control, path following and replay. The AUTOCS V.1 is tested to verify the radar detect characteristics, and the AUTOCS successfully demonstrated that it is not detected by a car radar. The result is presented in this paper.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.04a
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• pp.47-56
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• 2000

In this study, as the preliminary step for developing an unmanned vehicle to deliver a container-box, we designed and implemented Automatic Guided Vehicle(AGV) Simulator for the purpose of Port Facilities Automation. It is preferable to research the intelligent AGV for delivery all day long. For complementing AGV simulator driving, we used multiple-sensor systems with vision, ultrasonic, IR and adapted the high-speed wireless LAN that satisfies the IEEE 802.11 Standard for bi-directional communication between main processor in AGV and Host computer. Here, we mounted on bottom frame in AGV Pentium-III processor, which combine and compute the information from each sensor system and control the AGV driving, and used the 80C196KC micro-controller to control the actuating and steering motors.

• Journal of Korean Port Research
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• v.14 no.2
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• pp.199-207
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• 2000

In this study, as the preliminary step for developing an unmanned vehicle to deliver a container-box, we designed and implemented Automatic Guided Vehicle(AGV) Simulator for the purpose of Port Facilities Automation. It is preferable to research the intelligent AGV for delivery all day long. For complementing AGV simulator driving, we used multiple-sensor systems with vision, ultrasonic, IR and adapted the high-speed wireless LAN that satisfies the IEEE 802.11 Standard for bi-directional communication between main processor in AGV and Host computer. Here, we mounted on bottom frame in AGV Pentium-III processor, which combine and compute the information from each sensor system and control the AGV driving, and used the 80C196KC micro-controller to control the actuating and steering motors.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.775-780
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• 2008

In this paper, unmanned driving of robotic vehicle using magnetic marker is proposed. One of the most important component of autonomous vehicle is to detect the position of a magnetic marker on the road. In order to calculate the precise position of a magnet embedded on the road, the relation of magnetic field and a sensor is analyzed, and a new position sensing system using arrayed magnetic sensor is proposed. Also, the steering control system using a stepping motor is developed for driving by automatic mode as well as manual mode. For the verification of usability, the developed robotic vehicle is tested on magnetic road.

• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.126.2-126
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• 2001

This paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance through a tele-operated system is suggested. But autonomous system is one of the most difficult research topics from the point of view of several constrains on mobility, speed of vehicle and lack of environmental information. In these days, however, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. This tendency is toward to the unmanned vehicle or the tele-operated vehicle ultimately. This paper describes the motion system ...

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2019.05a
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• pp.139-141
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• 2019

This paper proposes the application of LoRa network, which has been under various research recently, to use control system for the transfer of Unmanned Vehicle. LoRa( Long Range) has a wide coverage of up to30 km, and is characterized by large-scale low-power long-distance radio communication. LoRa has already been studied in various industries. It is also proposed to study various functions by utilizing LoRa network and applying it to the control system of the uninhabited entity.