• Journal of IKEEE
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• v.25 no.3
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• pp.425-429
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• 2021

Vehicle platooning in automated connected vehicle systems is an efficient transportation operation model that not only significantly reduces computational load and networking overhead of the central system but also improves traffic flow. For efficient platoon group management, it is important to maintain the platoon group size appropriately and to control the merge request of a new vehicle and other group member vehicle. In this paper, we present a merger control scheme that accepts or rejects merge requests based on the current group size and the priority of vehicles. The proposed method was analyzed and validated through mathematical models based on Markov chains. Performance evaluation shows that the proposed scheme properly manages the load of the central system.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.6-12
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• 2023

For the commercialization and standardization of autonomous vehicles, demand for rigorous safety criteria has been increased over the world. In Korea, the number of extraordinary service permission for automated vehicles has risen since Hyundai Motor Company got its initial license in March 2016. Nevertheless, licensing standards and evaluation factors are still insufficient for operating on public roadways. To assure driving safety, it is significant to verify whether or not the vehicle's decision is similar to human driving. This paper validates the safety of the autonomous vehicle by drawing scenario-based comparisons between manual driving and autonomous driving. In consideration of real traffic situations and safety priority, seven scenarios were chosen and classified into basic and advanced scenarios. All scenarios and safety factors are constructed based on existing ADAS requirements and investigated via a computer simulation and actual experiment. The input data was collected by an experimental vehicle test on the SNU FMTC test track located at Siheung. Then the offline simulation was conducted to verify the output was appropriate and comparable to the manual driving data.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.4
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• pp.68-80
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• 2016

This study proposes the traffic prediction and optimal traffic control system based on cell transmission model and genetic algorithm in cloud environment. The proposed prediction and control system consists of four parts. 1) Data preprocessing module detects and imputes the corrupted data and missing data points. 2) Data-driven traffic prediction module predicts the future traffic state using Multi-level K-Nearest Neighbor (MK-NN) Algorithm with stored historical data in SQL database. 3) Online traffic simulation module simulates the future traffic state in various situations including accident, road work, and extreme weather condition with predicted traffic data by MK-NN. 4) Optimal road control module produces the control strategy for large road network with cell transmission model and genetic algorithm. The results show that proposed system can effectively reduce the Vehicle Hours Traveled upto 60%.

• Journal of Advanced Navigation Technology
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• v.24 no.6
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• pp.521-526
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• 2020

In this paper, we propose a design method and process for hybrid V2X communication platform that combines WAVE communication and LTE-V2X communication which are C-ITS communication protocols for vehicle environments and Legacy LTE communication which is a commercial mobile communication for evaluating the autonomous platooning platform of commercial vehicles. For a safe and efficient autonomous platooning platform, an low-latency communication function based on C-ITS communication is required, and to control it, commercial communication functions such as Legacy LTE, which can be connected at all times, are required. In order to evaluate such a system, the evaluation equipment must have the same level of communication performance or higher. The main design contents presented in this paper will be applied to the implementation of hybrid V2X terminals for functional evaluation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.8
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• pp.1483-1490
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• 2009

This parer is presented multiple path-planning of unmanned autonomous forklift using modified genetic algorithm and fuzzy inference system. There are a task-level feedback method and a method that path is dynamically replaned in realtime while the autonomous vehicles are moving by means of an optimal algorithm for existing multiple path-planning. However, such methods cause malfunctions and inefficiency in the sense of time and energy, and path-planning should be dynamically replanned in realtime. To solve these problems, we propose multiple path-planning using modified genetic algorithm and fuzzy inference system and show the performance with autonomous vehicles. For experiment, we designed and built two autonomous mobile vehicles that equipped with the same driving control part used in actual autonomous forklift, and test the proposed multiple path-planning algorithm. Experimental result that actual autonomous mobile vehicle, we verified that fast optimized path-planning and efficient collision avoidance are possible.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.13 no.1
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• pp.99-108
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• 2014

Recently, the interest in autonomous vehicle which is an aggregate of the automotive control technology is increasing. In particular, researches on the self-localization technology that is directly connected with stable driving of autonomous vehicle have been performed. Various dead reckoning technologies which are solutions for resolving the limitation of GPS have been introduced. However, the conventional dead reckoning technologies have two disadvantages to apply on the autonomous vehicle. First one is that the expensive sensors must be equipped additionally. The other one is that the accuracy of self-localization decreases caused by wheel slip when the vehicle's motion changed rapidly. Based on this background, in this paper, the wheel speed sensor which is equipped on most of vehicles was used and the dead reckoning algorithm considering wheel slip ratio was developed for autonomous vehicle. Finally, in order to evaluate the performance of developed algorithm, the various simulation were conducted and the results were compared with the conventional algorithm.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.683-686
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• 1999

이동로봇은 주행성을 가지며 설정된 이동 경로에 따라 목적지까지 자율적으로 이동하기 위해서는 이동로봇의 실제 위치에 대한 정확한 정보가 확보되어야 한다. 정보확보를 위해서 보통 엔코더, 자이로센서, 비젼센서, 레이저 거리등의 센서를 주로 사용한다. 본 연구에서 주행중인 이동로봇의 위치는 상대센서인 엔코더를 통해 측정된 운동변화량과 출발점에서 이동로봇의 위치로부터 자기유도 주행방법에 의해 계산된다. 이들 상대센서는 이동로봇의 실제 이동에 따라 주행거리 및 주행 방향 변화를 항상 측정할 수 있으므로, 전체 주행구간에 걸쳐 이동로봇의 위치를 연속적으로 측정할 수 있다는 장점이 있으나, 상대센서 측정값에 발생된 오차가 위치 평가값이 연속적으로 누적되므로 실제 위치에 대한 오차가 발생하는 단점이 있다. 즉, 바닥의 미끄럼, 요철, 로봇의 요동(Vibration)등 큰 오차의 요인이 된다. 본 연구에서는 위치를 직접 추정하지 않고 엔코드에서 나온 위치오차, Heading 오차, 자체 엔코드오차 그리고, 자이로 오차와 지자기 센서 오차를 Extended Kalman Filter를 통해 추정하여 이 오차를 다시 위치 계산과 Heading에 되돌려 줌으로서 오차를 보정하는 방법을 제시한다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.6
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• pp.867-874
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• 2021

The IoT (Internet of Things) technology is rapidly becoming an important consideration in many engineering fields in the current 4th industrial era. In recent years, the concepts of digital shipbuilding and smart factories have been adopted as trends in shipyards. However, there is active interest in research on implementing autonomous driving in autonomous vehicles and airplanes, which is currently available in commercial form in a limited capacity. The present study is regarding the path-tracking performance of a boat to accomplish an autonomous driving mission using a flight controller (FC) and real-time kinematic (RTK) global positioning system (GPS) based on an open-source Ardupilot; an actual sea test is also performed using this system on a calm lake. The boat's mission is to evaluate the maneuverability of the self-driving process to a specific point and returning to the home position. For a given speed, the difference between the preset mission trajectory and actual operational trajectory was analyzed, and a series of studies were conducted on the applicability of the system to ships. In addition, the movements and maneuverability of the OmniX-type hull with four propellers were investigated, and the driving path-tracking performance was observed to increase by a maximum of 48%.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.5
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• pp.162-177
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• 2020

The perception of traffic environment based on various sensors in autonomous driving system has a direct relationship with driving safety. Recently, as the perception model based on deep neural network is used due to the development of machine learning/in-depth neural network technology, a the perception model training and high quality of a training dataset are required. However, there are several realistic difficulties to collect data on all situations that may occur in self-driving. The performance of the perception model may be deteriorated due to the difference between the overseas and domestic traffic environments, and data on bad weather where the sensors can not operate normally can not guarantee the qualitative part. Therefore, it is necessary to build a virtual road environment in the simulator rather than the actual road to collect the traning data. In this paper, a training dataset collection process is suggested by diversifying the weather, illumination, sensor position, type and counts of vehicles in the simulator environment that simulates the domestic road situation according to the domestic situation. In order to achieve better performance, the authors changed the domain of image to be closer to due diligence and diversified. And the performance evaluation was conducted on the test data collected in the actual road environment, and the performance was similar to that of the model learned only by the actual environmental data.

• Information and Communications Magazine
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• v.33 no.4
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• pp.17-26
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• 2016

본 논문에서는 차량 내에서 중요성이 증가하고 있는 전기전자 시스템을 효율적으로 설계하기 위해서 진행되고 있는 E/E 아키텍처 설계에 대해서 소개한다. 먼저 차세대 E/E 아키텍처를 설계하기 위한 요소기술로 와이어링 하네스의 설계, 표준회로를 적용한 표준제어기, 소프트웨어 플랫폼 및 E/E 아키텍처 평가기술에 대해서 각각 설명하였다. 다음으로 E/E 아키텍처 설계를 위해서 필요한 차량용 내부 네트워크 기술에 대한 최근의 국제표준화 동향을 살펴보고 세부기술에 대해서 소개하였다. 마지막으로 시스템레벨에서의 최적화를 고려하여 설계한 차세대 E/E 아키텍처의 설계방안에 대해서 기술하였다.