• Journal of Korea Society of Industrial Information Systems
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• v.26 no.1
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• pp.31-40
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• 2021

The important goal of the unmanned vehicle technology is on controlling the direction and speed of the vehicle with information acquired from various sensors, without the intervention of the driver, until the vehicle reaches to its destination. In this paper, our focus is on developing an unmanned conveyance system by exploiting low-cost sensing technology for indoor factories or warehouses, where the moving range of the vehicle is limited. To this end, we propose an architecture of a scalable automated conveyance system. Our proposed system includes a number of unmanned conveyance vehicles, and the efficient control mechanism of the vehicles without neither conflicts nor deadlock between the vehicles being simultaneously moved. By implementing the real prototype of the system, we successfully verify the efficiency and functionality of the proposed system.

• Proceedings of the Korea Contents Association Conference
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• 2011.05a
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• pp.523-524
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• 2011

본 논문에서는 무인 자동화 주차시스템 개발을 위하여 차량이 스스로 주차공간을 판단하여 주차가 가능하게 하는 자동 주차 알고리즘을 제안한다. 제안 알고리즘은 차량이 주행 중에 주차 공간의 크기를 판단하고, 주차 공간에 따라 일렬 후진주차, 평행 후진주차, 주차 불가능을 차량이 스스로 판단 후 자동으로 주차를 하게 한다. 자동주차가 가능하게 하기 위해 4개의 적외선 센서를 장착하여 센서의 세기를 거리로 환산하고, 센서를 통하여 얻어진 데이터를 이용한다. 설계된 주차 알고리즘의 성능을 테스트하기 위해 8개의 주차 공간에서 실험을 진행하였다. 8개의 주차 공간에서 상황에 따른 자동 주차를 실시하였고, 테스트 결과 95% 이상의 자동 주차 성공률을 보이는 것을 확인할 수 있었다.

• Journal of Korea Multimedia Society
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• v.7 no.1
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• pp.35-43
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• 2004

In this paper, we proposed a vehicle recognition and electronic toll collection system with detection and classification of vehicle identification mark and emblem as well as recognition of vehicle license plate to unman toll fee collection system or incoming/outcoming vehicles to an institution. In the proposed algorithm, we first process pre-processing step such as noise reduction and thinning from the rear side input image of vehicle and detect vehicle mark, emblem and license plate region using intensity variation informations, template masking and labeling operation. And then, we classify the detected vehicle features regions into vehicle mark and emblem as well as recognize characters and numbers of vehicle license plate using hybrid and seven segment pattern vector. To show the efficiency of the proposed algorithm, we tested it on real vehicle images of implemented vehicle recognition system in highway toll gate and found that the proposed method shows good feature detection/classification performance regardless of irregular environment conditions as well as noise, size, and location of vehicles. And also, the proposed algorithm may be utilized for catching criminal vehicles, unmanned toll collection system, and unmanned checking incoming/outcoming vehicles to an institution.

• Journal of Digital Convergence
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• v.13 no.1
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• pp.297-304
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• 2015

Recently, the demand for a PRT(Personal Rapid Transit) system based on autonomous navigation is increasing. Accordingly, the applicability investigations of the PRT system on rail tracks or roadways have been widely studied. In the case of unmanned vehicle operations without physical guideways on roadways, to monitor the position of the vehicle in real time is very important for stable, robust and reliable guidance of an autonomous vehicle. The Global Positioning System (GPS) has been commercially used for vehicle positioning. However, it cannot be applied in environments as tunnels or interiors of buildings. The PRT navigation system based on magnetic markers reference sensing that can overcome these environmental restrictions and the vehicle dynamics model for its H/W configuration are presented in this study. In addition, the design of a control S/W dedicated for unmanned operation of a PRT vehicle and its prototype implementation for experimental validation on a pilot network were successfully achieved.

• The Transactions of the Korea Information Processing Society
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• v.3 no.5
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• pp.1037-1045
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• 1996

In this paper, the parallel model for stereo camera is employed to find the heralding angle and the distance between a leading vehicle and the following vehicle, BART(Binocular Autonomous Research Team vehicle). Two TDNNs (Time Delay Neural Network) such as S-TDNN and A-TDNN are introduced to control BART. S-TDNN controls the speed of the following vehicle while A-TDNN controls the steering angle of BATR. A human drives BART to collect data which are used for training the said neural networks. The trained networks performed the vehicle tracking function satisfactorily under the same driving conditions performed by the human driver. The neural network approach has good portability which decreases costs and saves development time for the different types of vehicles.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.105-106
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• 2015

무인 자율 자동차는 사람이 차량 제어에 개입할 수 있는 일반적인 '무인 자동차'와는 달리 센서, 메라와 같은 '장애물 인식장치'와 GPS모듈 과 같은 '자동 항법 장치'를 기반으로 조향, 변속, 가속, 브레이크를 도로환경에 맞춰 스스로 제어해 목적지까지 주행할 수 있는 차량을 의미한다. 따라서 무인 자율 주행 자동차에는 차량제어기술, 차선인식기술, 충돌 회피 기술 등이 필요 하며 이를 위해 각종 센서뿐만 아니라 센서 네트워크, 컴퓨터비전, 인공지능 등의 다양한 기술들이 접목되어야 한다. 본 논문은 소형 무인자동차의 제작을 통한 알고리즘과 그 평가에 대해서 나타낼 것이다.

• Electronics and Telecommunications Trends
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• v.26 no.6
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• pp.47-57
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• 2011

DARPA 무인차 대회 우승과 구글 자율주행 자동차로 유명한 세바스찬 스런 스탠포드대 교수는 18살이 되던 해에 가장 친한 친구를 교통사고로 잃었고, 그것을 계기로 계기로 무인차 개발에 나서게 되었다고 한다. 현재 대부분의 교통사고는 운전자의 과실로 발생하며, 기계의 보조나 자동제어가 있다면 대부분 예방할 수 있다. 또한 자동으로 차선을 유지하고 차간거리를 유지하게 해준다면 도로의 교통 수용량을 2배 내지 3배로 높일 수 있으며, 도로에서 보내는 시간과 연료를 절약할 수 있다. 현재 지능형 자동차 및 도로 인프라 기술은 이러한 운전자의 안전성, 편의성, 교통 효율성, 에너지 절약을 달성하기 위한 자동차와 인프라 간의 협력형 ITS(C-ITS: cooperative ITS) 방향으로 기술개발이 이루어지고 있으며, 본 고에서는 이와 관련된 차량 자동유도 요소 기술 및 동향에 대해서 살펴본다.

• ICROS
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• v.18 no.4
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• pp.46-54
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• 2012

차량 간 통신 또는 차량과 인프라 간의 통신을 기반으로 자동차를 스마트화 또는 무인화 하려는 기술들이 지속적으로 개발되고 있다. 이러한 시스템의 안전성을 보장할 수 있는 신뢰도를 검증할 수 있는 방법들이 활발하게 개발되고 있다. 특히 제어기의 강인성과 고장감지의 신뢰도와 같은 관점에서 개발되는 알고리즘의 성능을 검증하는 방법에 대해서 살펴보고자 한다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.207-208
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• 2016

By according to increase the research for autonomous vehicle in automobile industries, the efficient of autonomous cargo truck instead of conventional driver cargo truck will be analyzed in logistics areas. The inland transportation has been serious problem such as traffic accident, traffic congestion in downtown, air pollution, noise and etc. even if it have a great effect to logistics industries. Especially there have to be improved its transportation schedule and sleepy driving in night which induced heavy accident in highway. In this study, the effectiveness of autonomous cargo truck will be analysed by considering the logistics cost including social effects.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.5
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• pp.2360-2366
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• 2011

The Unmanned Ground Vehicle is comprised of four systems of obstacle detection: The navigation system, vehicle controlling system, obstacle detecting and an integration system that use the various sensors. The research introduced utilizes 6 lasers to recognize obstacles. The system operates an avoidance system within the unmanned ground vehicle, using six lasers. The Unmanned Ground Vehicle's parallel parking and right angle parking is in development using algorithms. This algorithms' certification is intended to be installed in the encoder, in the GPS. By using the Laser Scannerfor the position's calculation, errors are both reduced and minimized, so the tire's slip minimized to the point where the vehicle had a limit of about 5Km/h.