• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.141-144
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• 1996

This study deals with the problem of the recognition of the preceding vehicles by image processing. The purpose of this study is the development of the equipment to prevent a collision with preceding vehicles during driving the vehicle. In order to decrease the processing time and increase reliability, at first, the traffic lane is extracted. It is determined by detecting road edges and calculating their tangent. After the traffic lane is gotten, the position of the vehicle is searched inside the lane. The features used to detect the vehicles in the algorithm are shadow of the vehicle, vertical edges, horizontal edges, and symmetrical segment. The preceding vehicles are extracted successfully by this method.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2008년도 춘계학술대회 논문집
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• pp.37-40
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• 2008

We have concentrated on the performance improvement of each part for durability, safety and cost of high pressure storage system for fuel cell vehicle so far. But for the mass production of fuel cell vehicle, it is necessary to evaluate durability and safety in system module. We built the standard to evaluate and collision safety of high pressure storage system for fuel cell vehicle, and could verify reliability of high pressure storage system.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2007년도 추계학술대회 논문집
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• pp.71-74
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• 2007

We have concentrated on the performance improvement of each part for durability, safety and cost of high pressure storage system for fuel cell vehicle so far. But for the mass production of fuel cell vehicle, it is necessary to evaluate durability and safety in system module. We built the standard to evaluate vibration and collision safety of high pressure storage system for fuel cell vehicle, and could verify reliability of high pressure storage system.

• 자동차안전학회지
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• 제7권3호
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• pp.25-29
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• 2015

Research for Vehicle-to-Vehicle communication has been progressed in order to prevent accidents. In this paper, we decided the events that has high frequency accident of between vehicles on the road and we was arranged possible accident scenarios of each event; EEBL, LCW, BSD, FCW, PCW, IMA. When the event occurs between vehicles, we studied how to evaluate whether the information transmitted safely.

• 한국항공우주학회지
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• 제33권10호
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• pp.104-110
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• 2005

본 논문에서는 보다 빠른 속도의 무인주행과 이를 가능케하는 안전한 항법구현에 주력하여 시스템을 개발하고 알고리즘을 적용한 결과를 보이고 있다. 또한 본 논문에서는 9개의 초음파 센서를 사용하여 가상역장 알고리즘을 적용한 험로주행용 차량의 무인주행에 적용한 시스템의 구성과 적용방법을 기술하고 실차실험을 통한 시스템의 성능과 향후 연구방향을 제시하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 추계학술대회 논문집
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• pp.587-588
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• 2006

• 한국항공우주학회지
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• 제50권11호
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• pp.763-770
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• 2022

다수의 드론이 운용되는 환경에서 경로점이 겹칠 때 충돌이 발생할 수 있으며 이를 대비한 충돌 회피는 필수적이다. 다수의 드론이 여러 임무를 수행하는 경우 드론의 경로가 복잡하고 충돌 예상점이 너무 많아 경로계획 단계에서 충돌을 회피하는 경로를 생성하는 방법을 사용하는 것은 적합하지 않다. 본 논문에서는 일반적으로 사용하는 경로 생성 알고리즘을 통해 경로를 생성하고, 그 경로에서 속도 프로파일 최적화를 이용한 충돌 회피 방법을 제안한다. 드론의 경로 간 충돌 예상점에서 드론 사이의 안전거리를 고려하였고, 경로 구간에 속도 프로파일을 할당하도록 설계하였다. 최적화 문제는 드론 간 거리에 대한 식을 비행시간을 변수로 두어 정의하였다. 선형화와 컨벡스화를 통해 구속 조건을 구성하고, 다수 드론 운용 환경에서 SQP(Sequential Quadratic Programming)알고리즘과 컨벡스 최적화 기법의 연산시간을 비교하였다. 마지막으로 20대 드론 운용 환경에서 컨벡스 최적화를 수행한 결과가 본 연구에서 제시한 다수 드론 운용에 적합한지 확인하였다.

• 대한조선학회논문집
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• 제60권3호
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• pp.155-164
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• 2023

About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed.

• 대한기계학회논문집A
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• 제27권7호
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• pp.1146-1151
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• 2003

In this paper, results of an analysis of driving behavior characteristics and a driver-adaptive control algorithm for adaptive cruise control systems have been described. The analysis has been performed based on real-world driving data. The vehicle longitudinal control algorithm developed in our previous research has been extended based on the analysis to incorporate the driving characteristics of the human drivers into the control algorithm and to achieve natural vehicle behavior of the adaptive cruise controlled vehicle that would feel comfortable to the human driver. A driving characteristic parameters estimation algorithm has been developed. The driving characteristics parameters of a human driver have been estimated during manual driving using the recursive least-square algorithm and then the estimated ones have been used in the controller adaptation. The vehicle following characteristics of the adaptive cruise control vehicles with and without the driving behavior parameter estimation algorithm have been compared to those of the manual driving. It has been shown that the vehicle following behavior of the controlled vehicle with the adaptive control algorithm is quite close to that of the human controlled vehicles. Therefore, it can be expected that the more natural and more comfortable vehicle behavior would be achieved by the use of the driver adaptive cruise control algorithm.

• 한국전자통신학회논문지
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• 제16권5호
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• pp.969-974
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• 2021

우리나라는 국토교통 7대 신산업 중 하나로 무인 항공기의 하나의 종류인 드론 산업을 선정하여 드론 산업활성화를 위해 드론특별자유화구역을 선정하고 드론 관련 법안을 신설, 개정하는 등의 노력을 하고 있다. 이러한 노력을 통해 향후 드론 택배, 드론 택시 등이 운용될 것으로 보인다. 이에 드론과 고정익, 회전익 등의 기존 항공기들과의 다자간 충돌 회피 시스템을 구축하여 발생 가능한 드론과 항공기간 공중 충돌에 대비하여야 한다. 이에. 그 방안을 제시하려 한다.