• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.3-6
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• 2007

전 세계적으로 차량의 급속한 증가로 인해 지능형교통시스템에 대한 연구가 활발히 진행 되고있다. 그중 차량의 자율주행에 관한 연구가 한 분야를 차지한다. 그리고 차량의 자율주행은 경로 인식이 기본적인 요소이다. 기존의 경로인식은 3축 자계 센서로 자석마커의 3차원의 데이터를 분석하여 인식하였다. 그러나 본 논문에서는 Magnetic Wire와 자기거리계를 이용하여 측면 이탈거리를 계측하여 주행하는 시스템을 제안한다. 그리고 기존 자율주행 차량의 시스템과 비교하고 제안하는 시스템이 저사양의 하드웨어와 간단한 알고리즘으로 자율주행이 가능함을 실험을 통해 검증하고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.3
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• pp.343-348
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• 2007

Development of autonomous vehicle system that use magnetic position meter research of intelligence transportation system is progressed worldwide active by fast increase of vehicles. Among them, research about autonomous of vehicles occupies field. And autonomous of vehicles is element that path recognition is basic. Existent magnetic base autonomous system analyzes three-dimensional data of magnet marker to 3 axises magnetic sensor and recognized route. But because using Magnetic Wire and Magnetic Position Meter in treatise that see, measure side lateral error and propose system that driving. And system that compare with system of autonomous vehicles and propose wishes to verify by hardware of that specification and simple algorithm through an experiment that autonomous is available.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.435-440
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• 2012

Recently autonomous navigation systems are taken great attention in real industry. The ability to performing desired tasks in rough, changing, unstructured and uncertain environments without continuous human assistance is needed in autonomous navigation systems including autonomous robots. Industrial Mobile robot can be required wireless network communications for the purpose of navigation information sharing. According to these backgrounds, in this paper, we develop sensor network and wireless network-based autonomous navigation systems, and provide experimental results in order to show the validity of the developed systems.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.6
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• pp.299-312
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• 2021

Autonomous vehicles using V2X can drive safely information on areas outside the sensor coverage of autonomous vehicles conventional autonomous vehicles. As V2X technology has emerged as a key component of autonomous vehicles, research on V2X security is actively underway research on risk analysis due to failure of V2X communication is insufficient. In this paper, the service scenario and function of autonomous driving system V2X were derived by presenting the intersection scenario of the autonomous vehicle, the malfunction was defined by analyzing the hazard of V2X. he ISO26262 Part3 process was used to analyze the risk of malfunction of autonomous vehicle V2X. In addition, a fault injection scenario was presented to verify the fail-safe of the simulation-based intersection scenario.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.4
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• pp.112-123
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• 2018

The C-ARS(Cooperative Automated Roadway System) refers to a road infrastructure system that links automated vehicles with road infrastructure and communicates with each other via V2X communication to support automated vehicles. The purpose of this study is to suggest a performance evaluation method of C-ARS service. This study exemplifies the 'Work zone information service' among I2V service that provide information to automated vehicles in road infrastructure. First, we define the requirements and service scope needed to check the use case analysis and service performance of the service, and propose an evaluation system for performance evaluation of these services. In addition, the evaluation system was used to verify the feasibility of evaluation through the field test of 'Work zone information service'.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.1
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• pp.91-104
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• 2022

The operational design domain (ODD) of autonomous vehicles needs to be expanded on highways and urban roads in light of the substantial commercialization of Level 3 autonomous vehicles. Therefore, this study developed a specific infrastructure autonomous vehicle-based cooperative driving service to ensure the driving safety of autonomous vehicles on city roads. The traffic operation efficiency, safety evaluation, and core evaluation indices for each service were selected and analyzed to study the effect of each service. The result of the analysis confirmed that the traffic operation efficiency and safety of autonomous vehicles were improved through the V2X communication-based autonomous cooperative driving service. On the whole, the significance of this study is in deriving the effect of the autonomous cooperative driving service based on V2X communication on urban roads with interrupting traffic flow.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.07a
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• pp.123-126
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• 2018

자율 주행 자동차는 다수의 센서와 ECU 등으로 구성된 분산 시스템이다. 이 시스템은 다양한 시간적 제약사항들을 갖는 자율주행 응용들을 구동하며 각 응용들에 대한 시간적 제약사항 위반을 탐지해야한다. 이러한 분산 시스템에서 응용들 간의 통신을 위해 사용되는 미들웨어들 중 대표적인 것은 DDS이다. DDS는 높은 확장성을 지원하는 발행-구독 통신 모델을 기반으로 하며, 실시간성을 고려한 다양한 QoS 정책들을 제공한다. 하지만 DDS는 자율주행 응용이 요구하는 시간적 제약사항들 중 deadline과 correlation 제약 사항에 대한 위반 여부를 탐지하지 못한다. 본 논문은 DDS 기반 시스템에서 deadline과 correlation 제약 사항 위반 여부를 런타임에서 탐지하는 기법을 제안한다. 본 연구진은 제안된 기법을 DDS의 구현들 중 하나인 Vortex 사의 OpenSplice 기반 시스템에 구현하였다. 실험을 통해 검증한 결과, deadline과 correlation 제약 사항에 대한 위반 여부를 적은 오버헤드와 함께 성공적으로 탐지하였다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.329-336
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• 2008

Nowadays with advancement in technology and aging society, the number of disabled citizens is increasing. The disabled citizens always need a caretaker for daily life routines especially for mobility. In future, the need is considered to increase more. To reduce the burden from the disabled, various devices for healthcare are introduced using computer technology. The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.2
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• pp.129-143
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• 2019

As the importance of autonomous vehicle safety is emphasized, the application of ISO-26262, a development verification guideline for improving safety and reliability, and the safety verification of autonomous vehicles are becoming increasingly important, in particular, SAE standard level 3 or higher level autonomous vehicles detect and decision the surrounding environment instead of the human driver. Therefore, if there is and failure or malfunction in the autonomous driving function, safety may be seriously affected. So autonomous vehicles, it is essential to apply and verity the safety concept against failure and malfunctions. In this study, we study the fault injection scenarios for safety evaluation and verification of autonomous vehicles using ISO-26262 part3 process and STPA were studied and safety measures for safety concept design were studied through simulation bases fault injection test.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.3
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• pp.175-189
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• 2023

Fault detection and diagnosis (FDI) algorithms are actively being researched for ensuring the integrity and reliability of environment perception sensors in autonomous vehicles. In this paper, a fault detection algorithm based on a multi-sensor perception system composed of radar, camera, and lidar is proposed to guarantee the safety of an autonomous vehicle's perception system. The algorithm utilizes reference generation filters and residual generation filters based on finite impulse response (FIR) filter estimates. By analyzing the residuals generated from the filtered sensor observations and the estimated state errors of individual objects, the algorithm detects faults in the environment perception sensors. The proposed algorithm was evaluated by comparing its performance with a Kalman filter-based algorithm through numerical simulations in a virtual environment. This research could help to ensure the safety and reliability of autonomous vehicles and to enhance the integrity of their environment perception sensors.