• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.11
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• pp.2745-2752
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• 2014

In recent years, Transport Demand Management has been conducted for the efficient management of transport. In ITS applications in particular, the prerequisite is accurate and reliable positioning. However, the major problems are satellite signal outage, and multipath. This paper proposes that outage and multipath measurement can be detected and estimated using elevation angle and signal to noise ratio data association relation in stand-alone GPS. In order to verify the performance of the proposed method, it is then evaluated by the car test. the evaluation test environment has low accuracy and unreliable positioning because of signal outage or multipath such as steep hill and high buildings. In the evaluation test result, 918times abnormal signal occurred and it was confirmed that the proposed method showed more improved 9.48m(RMS) horizontal positioning error than without proposed method.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.14-19
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• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.

• Journal of the Korean Association of Geographic Information Studies
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• v.3 no.3
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• pp.1-11
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• 2000

This study was analysed the characteristis of traveling vehicles using the collected data by DGPS receiver. These data were checked the vehicle position in every 2 seconds and compared with GIS digital map after correcting the errors. These are compared travel speed and running speed overall and analysed the stopping vehicle in the middle of travelling. The stopping frequency, stopping time and stopping factor was analysed. The X, Y coordinates positioning of DGPS received data about stopping vehicle was analysed. DGPS receiver didn't position at first but positioned it exactly as time went. This study carried out the basic study about travel characteristics with digital map and DGPS received data. Few studies which applied advanced technology like GIS & DGPS have been executed. I hope that the more study will be executed in this traffic field.

• 도로교통
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• s.97
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• pp.14-27
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• 2004

도로에 있어 교통량이 일정한 수준을 초과하여 증가되는 경우 통행시간과 운행비용이 과도하게 증대되는 혼잡현상이 발생하게 된다. 이러한 혼잡은 경제적 관점에서 추가분의 통행자가 기존 이용자의 통행비용을 증가시키는 유형으로 해석되고 있고, 이에 대한 대응으로 많이 사용되어 왔던 방법이 개별 통행자에게 다른 이용자들의 통행비용 증가분에 상응하는 요금을 혼잡통행료로서 부과하는 방법이다. 이와 같은 혼잡통행료는 국내의 경우 도심부로 진입하는 특정 도로에 국한하여 시행되는 것을 일반적인 것으로 인식하고 시행해왔으나(서울시 남산1, 3호 터널) 국외의 경우에는 환경보호 및 수요조절 측면에서 고속도로까지 확대 시행하고 있는 사례를 찾아볼 수 있다. 이에 본 연구에서는 국내의 고속도로 요금체계 현황에서 혼잡 통행료의 도입방안 및 가능성을 검토하고자 한다. 고속도로의 현행 통행료 부과 방법 및 제도를 고려할 때 통행요금에 혼잡통행료를 도입할 경우 1)시간대별 차등요금제, 2)폐쇄식 및 개방식 구간에서의 차등요금제, 3)노선별, 구간별 차등요금제, 4)요일별, 계절별 차등요금제를 고려할 수 있다. 현재의 고속도로에서 혼잡통행료를 도입할 경우 현행 이부요금제의 주행요금에 혼잡통행료 개념을 도입하는 것이 타당할 것으로 검토된다. 시간대별 차등요금제는 그 시간대를 주간(06시~24시)과 야간(24시~06시)으로 구분함이 타당할 것으로 판단되고 폐쇄식 구간의 경우 혼잡도를 고려한 주행요금을 이용거리에 비례하여 부과하며 개방식 구간의 경우 최단 이용거리를 기준으로 혼잡도를 고려한 주행요금을 부과하는 것이 타당할 것으로 판단된다. 또한 혼잡도를 고려한 주행요금을 부과하는데 있어 노선별, 구간별 차등을 두는 것이 바람직할 것으로 기대된다. 그러나 요일별 차등요금제는 주 5일 근무제가 확산됨에 따라 증가하는 비업무 승용차의 통행에 의해 고속도로의 비효율적인 운영이 발생할 경우를 제외하고는 적용하지 않는 것이 타당할 것으로 검토된다.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.2
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• pp.161-168
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• 2015

Recently, due to various environmental problems such as global warming, increases of international oil prices, exhaustion of resource, a paradigm of world automobile market is rapidly changing from conventional vehicles using internal combustion engine to eco-friendly vehicles using electric power such as EV, HEV, PHEV and FCEV. Generally, in order to measure fuel consumption and pollutant emissions of cars, chassis dynamometer tests are performed on various driving cycles before actual driving test. There are many driving cycles for performance evaluation of conventional vehicles. However, there is a lack of researches on driving cycle for EV. In this study, the urban driving cycle for performance evaluation of electric vehicles was developed. This study is composed of two parts. In the part 1, the urban driving cycle 'GUDC-EV(Gwacheon-city Urban Driving Cycle for Electric Vehicles)' was developed by using driving data, which were obtained through actual driving experiment, and statistic analysis with chronological table. In this paper part 2, in order to verify the developed driving cycle GUDC-EV, virtual EV platforms were configured and simulations were performed with actual driving data using In addition, simulation results were compared with existing driving cycles such as FTP-72, NEDC and Japan 10-15.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.1
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• pp.43-56
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• 2013

Personal Rapid Transit(PRT), which is one of the next generation convergence transport technology, PRT system requires operation technology for controlling diverse vehicles and dealing with a variety of abnormal driving situations on a large scale trackway structures in expected operational area more efficiently and reliably. Before developing PRT control technology, it is essential that multiple testing procedures stepwise with building small scale test-tracks and develop real unmanned-vehicles. However, it is expected that the experiments demand huge amount of time and physical cost. Thus, simulation in virtual environment is efficient to develop wireless based control technology for multiple PRT vehicles prior to building real-test environment. In this paper, we propose a VR-based integrated simulator which physics engine is applied so that it enables simulation of front-wheel-steering PRT system rather than simple rail track system. The proposed simulator is also developed that it can reflect geographical features, infrastructures and network topology of expected driving region.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.117-126
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• 2014

Recently, due to various environmental problems such as global warming, increasing of international oil prices and exhaustion of resource, a paradigm of world automobile market is rapidly changing from vehicles using internal combustion engine to eco-friendly vehicles using electric power such as EV (Electric Vehicle), HEV (Hybrid Electric Vehicle), PHEV (Plug-in Hybrid electric Vehicle) and FCEV (Fuel Cell Electric Vehicle). There are many driving cycles for performance evaluation of conventional vehicles. However there is a lack of researches on driving cycle for EV. This study is composed of part 1 and part 2. In this paper part 1, in order to develop urban driving cycle for performance evaluation of electric vehicles, Gwacheon-city patrol route of police patrol car was selected. Actual driving test was performed using EV. The driving data such as velocity, time, GPS information etc. were recorded. GUDC-EV (Gwacheon-city Urban Driving Cycle for Electric Vehicles) including road gradient was developed through the results of analyzing recorded data. Reliability of the driving cycle development method was substantiated through comparison of electricity performance. In the second part of this study, the developed driving cycle was compared to simulation result of the existing urban driving cycle. Verification of the developed driving cycle for EV performance evaluation was described.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.3
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• pp.53-59
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• 2010

The Developing & Producing of Eco-Friendly vehicle have been more incremented, as People appreciate the importance of Earth Environment Conservation. The needs of Neighborhood Electric Vehicle(NEV) that suits Current people's short drive distance is incremented. In this Paper, we define Neighborhood Electric Vehicle through out National Highway Traffic Safety Administration of United States of America's regulation and explain motor and battery of primary constituents of that. We used MATLAB and ADVISOR 200 programs for Simulation, and propsed NEV's Model that tow people can be got in. In this Model, the battery is Lead-acid battery(72V, 85Ah) and the motor is 8kW permanent magnet synchronous motor(PM motor). We compared change of driving range of NEV through out non-changing speed Driving(10km/h, 20km/h, 30km/h, 40km/h) and Manhattan driving schedule.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.51-55
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• 2015

In this paper, we proposed scheme that obtain diversity gain in the cooperative communication to mitigate, applied to the effects of fading in the vehicle communication. Relay used bus that can available in the city environment. In addition, we applied the double rayleigh fading environment so that can applied in real-environments. Therefore, proposed scheme through this paper applied to vehicle communication, user can acquire a high quality service and the operation efficiency of the network is improved. Finally, performance of the proposed protocol is analyzed in terms of bit error rate.