• Proceedings of the Korean Society of Computer Information Conference
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• 2020.07a
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• pp.677-678
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• 2020

본 연구는 자율주행 시대에 자동차의 외부통제를 가능하게 하는데 목적이 있다. 자율주행 자동차의 외부통제를 하기 위해 교통경찰 수신호를 사용한다. 교통이라는 특별한 상황을 고려하여 실시간 객체 검출이 가능한 YOLO모델을 사용하였고, 수신호 데이터 학습을 위해 Data Argumentation 기법을 사용하여 데이터를 확보한 후 이를 바탕으로 YOLO모델을 학습하였다. 학습된 YOLO모델을 이용하여 교통의 흐름에서 교통 통제자를 실시간으로 검출하였다. 이후 검출된 객체를 이용하여 객체 확인 알고리즘과 수신호 의미파악 알고리즘을 사용하여 수신호의 의미를 파악하고 이를 사용자에게 전달한다. 이와 같은 시스템을 통해 자율주행 자동차에 돌발 상황 발생 시 보다 정확하고 빠르게 교통의 흐름을 정상화 할 수 있는 장점이 있다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.01a
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• pp.301-302
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• 2022

최근 지상 통로에 차량 통행 공간과 보행자 통행 공간이 분리되어있지 않은 공원형 아파트가 증가하고 있다. 이로 인해 택배 차량의 아파트 단지 안으로 진입을 통제하는 아파트가 늘어나고 있다. 현재는 이러한 상황에서 택배기사들이 직접 손수레를 끌고 아파트 안으로 들어가거나, 수령인이 직접 아파트 입구에서 택배를 수령하는 방법으로 문제를 해결 해 왔다. 본 논문은 이러한 불편함을 개선하기 위해 아파트 입구에서 집 앞까지 인공지능 기술과 카메라, 라이다센서를 이용하여 자율주행으로 택배를 운반 해줄 수 있는 '자율주행 택배 운반 로봇' 기술을 제안한다. 기존의 사람이 직접 택배를 집 앞까지 운반하는 방식이 아닌 자율주행 로봇을 이용한 방식으로 택배기사들의 과로로 인한 사고를 예방하고, 아파트 입주민들의 불편도 줄어들 것이다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.07a
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• pp.615-616
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• 2023

본 논문은 자율주행 자동차의 보안 취약성과 이를 해결하기 위한 솔루션에 대한 조사를 다루고 있다. 자동차의 자율주행 및 초연결성이 대두됨에 따라 보안 위협이 점점 중요해지는 현실을 직면하고 있다. 본 논문은 다양한 취약성을 카테고리 별로 다루고, 해당 취약성에 대응하기 위한 보안 솔루션과 현재 연구 개발 중인 솔루션들을 소개하고 있다. 그러나 아직 해결되지 않은 과제들이 산적해 있으며, 연구와 개발이 계속되어야 안전하고 신뢰성 있는 초연결 자율주행 자동차를 구현할 수 있을 것으로 기대한다.

• Journal of Korean Society of Transportation
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• v.35 no.4
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• pp.332-347
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• 2017

Analysis of the interaction between the automated vehicles and manual vehicles is very important in analyzing the performance of automated cooperative driving environments. In particular, the automated vehicle platooning can affect the driving behavior of adjacent manual vehicles. The purpose of this study is to analyze the lane change behavior of the manual vehicles in automated vehicle platonning environment and to conduct the experiment and questionnaire surveys in three stages. In the first stage, a video questionnaire survey was conducted, and responsive behaviors of manual vehicles were investigated. In second stage, the driving simulator experiments were conducted to investigate the lane change behaviors of in automated vehicle platonning environments. To analyze the lane change behavior of the manual vehicles, lane change durations and acceleration noise, which are indicators of traffic flow stability, were used. The driving behavior of manual vehicles were compared across different market penetration rates (MPR) of automated vehicles and human factors. Lastly, NASA-TLX (NASA Task Load Index) was used to evaluate the workload of the manual vehicle drivers. As a result of the analysis, it was identified that manual vehicle drivers had psychological burdens while driving in automated vehicle platonning environments. Lane change durations were longer when the MPR of the automated vehicles increased, and acceleration noise were increased in the case of 30-40 years old or female drivers. The results from this study can be used as a fundamental for more realistic traffic simulations reflecting the interaction between the automated vehicles and manual vehicles. It is also expected to effectively support the establishment of valuable transportation management strategy in automated vehicle environments.

• Broadcasting and Media Magazine
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• v.24 no.1
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• pp.13-22
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• 2019

전통적인 자동차는 운전자의 판단과 조작에 의해서만 움직여야 하나 최근 자율주행자동차가 선을 보이고 있으며, 미래에는 운전자의 조작 없이 자동차가 스스로 목적지를 찾아가는 완전자율주행자동차 시대가 올 것으로 예견된다. 본 고에서는 자율주행자동차의 출현에 따른 지상파 방송의 역할을 제시한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.626-631
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• 2007

Autonomous robots performing desired tasks in rough, changing, unstructured environments without continuous human assistance must have the ability to cope with its surroundings whether this be certain or not. The development of algorithms deriving useful conclusions from uncertain information obtained by various sensors may be the first for it. Recently ontology is taken great attention as a method useful for the representation and processing of knowledge. In this paper, we propose an ontology-based navigation algorithm for autonomous robots, and provide computer simulation results in order to show the validity of the proposed algorithm.

• Proceedings of the Korean Society of Computer Information Conference
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• 2019.07a
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• pp.237-238
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• 2019

현시대에 자율주행 기술이 자동차를 단순 이동수단에서 이동성을 확보한 생활공간으로 자동차의 근본적인 개념을 변화시켜 새로운 산업 패러다임적 가치뿐 아니라, 사회 경제적 변혁을 예고하고 있다. 이미 전 세계적인 기업들은 자율주행 시스템을 구축하고 개발하여 실제 생활에서 활용도 하고 있다. 그럼에도 불구하고 상용화를 하기 위해선 아직 법/제도의 부재, 안정성, 가격 등 여러부분에서 문제점들을 극복해야한다. 본 과제인 라인트레이서와 GPS를 활용한 자율주행시스템이 목적지를 지정하면 자율적으로 길이나 도로를 따라 이동하면서 장애물을 피해가게 만들어 안정성을 확보하고 이동하는 시간에 개인 여가 시간이나 생산적인 활동을 할수 있게 만들어 삶의 질 개선에 기여할 것이다. 이러한 기술들을 적극 활용하여 목적지를 설정하면 자율주행 하는 자동차로 설정하였고, 장애물 감지와 현재 방향 감지를 추가하였다. 장애물 감지와 방향 그리고 위치를 수신받기 위해 5개의 센서를 활용하였고 한번에 구동을 시키기 위해 센서 쉴드를 활용하여 기능을 확장 시켰다.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.1
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• pp.172-191
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• 2023

This study was undertaken to strategize the mixed traffic operation of autonomous vehicles in the pilot zone. This was achieved by analyzing the changes expected when autonomous vehicles are mixed in the autonomous vehicle pilot zone. Although finding a safe and efficient traffic operation strategy is required for the pilot zone to serve as a test bed for autonomous vehicles, there is no available operation strategy based on the mixture of autonomous vehicles. In order to presents a traffic operation strategies for each period of autonomous vehicle introduction, traffic efficiency and safety analysis was performed according to the autonomous vehicle market percentage rate. Based on the analysis results, the introduction stage was divided into introductory stage, transition period, and stable period based on the autonomous vehicle market share of 30% and 70%. This study presents the following traffic operation strategies. Considering the traffic flow operation strategy, we suggest the advancement of the existing road infrastructure at the introductory stage, and operating an autonomous driving lane and the mileage system during the transition period. We also propose expanding the operation of autonomous driving lanes and easing the speed limit during the stable period. In the traffic safety strategy, we present a manual and legal system for responding to autonomous vehicle accidents in the introductory stage, an analysis of the causes of autonomous vehicle accidents and the implementation of preventive policies in the transition period, and the advancement of the autonomous system and the reinforcement of the security system during the stable period. Through the traffic operation strategy presented in this study, we foresee the possibility of preemptively responding to the changes of traffic flow and traffic safety expected due to the mixture of autonomous vehicles in the autonomous vehicle pilot zone in the future.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.6
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• pp.264-279
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• 2021

Most automated vehicle evaluation scenarios are developed based on the typical driving situations that automated vehicles will face. However, various situations occur during actual driving, and sometimes complex judgments are required. This study is to define a situation that requires complex judgment for safer driving of an automated vehicle as a dilemma situation, and to suggest a driving strategy necessary to secure driving safety in each situation. To this end, we defined dilemma situations based on the automated vehicle ethics guidelines, the criteria for recognition of error rate in automobile accidents, and suggestions from the automated vehicle developers. In addition, in the defined dilemma situations, the factors affecting movement for establishing driving strategies were explored, and the priorities of factors affecting driving according to the Road Traffic Act and driving strategies were derived accordingly.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.814-819
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• 2010

This paper is presented to study the error minimization of angular velocity for AGV(autonomous ground vehicle). The error minimization of angular velocity is related to localization technique which is the most important technique for autonomous vehicle. Accelerometer, yaw gyro and electronic compass have been used to measure angular velocity. And methods for error minimization of angular velocity have been actively studied through probabilistic methods and sensor fusion for AGVs. However, those sensors still occure accumulated error by mathematical error, system characters of each sensor, and computational cost are increased greatly when several sensor are used to correct accumulated error. Therefore, this paper studies about error minimization of angular velocity that just uses encoder and gyro. To experiment, we use autonomous vehicle which is made by ourselves. In experimental result, we verified that the localization error of proposed method has even less than the localization errors which we just used encoder and gyro respectively.