• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.4
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• pp.81-90
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• 2016

As an autonomous driving vehicle (AV) need to cope with external road conditions by itself, its perception performance for road environment should be better than that of a human driver. A vision sensor, one of AV sensors, performs lane detection function to percept road environment for performing safe vehicle steering, which relates to define vehicle heading and lane departure prevention. Performance standards for a vision sensor in an ADAS(Advanced Driver Assistance System) focus on the function of 'driver assistance', not on the perception of 'independent situation'. So the performance requirements for a vision sensor in AV may different from those in an ADAS. In assuming that an AV keep previous steering due to lane detection failure, this study calculated lane departure distances between the AV location following curved road alignment and the other one driving to the straight in a curved section. We analysed lane departure distance and time with respect to the allowance of lane detection malfunction of an AV vision sensor. With the results, we found that an AV would encounter a critical lane departure situation if a vision sensor loses lane detection over 1 second. Therefore, it is concluded that the performance standards for an AV should contain more severe lane departure situations than those of an ADAS.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.3
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• pp.9-23
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• 2015

A lane change maneuver which has a high driver cognitive workload and skills sometimes leads to severe traffic accidents. In this study, the Advanced Lane Change Assist System (ALCAS) was developed to assist with the automatic lane changes in merging sections which is mainly based on an automatic control algorithm for detecting an available gap, determining the Optimal Lane Change Start Point (OLCSP) in various traffic conditions, and positioning the merging vehicle at the OLCSP safely by longitudinal automatic controlling. The analysis of lane change behavior and modeling of fundamental lane change feature were performed for determining the default parameters and the boundary conditions of the algorithm. The algorithm was composed of six steps with closed-loop. In order to confirm the algorithm performance, numerical scenario tests were performed in various surrounding vehicles conditions. Moreover, feasibility of the developed system was verified in microscopic traffic simulation(VISSIM 5.3 version). The results showed that merging vehicles using the system had a tendency to find the OLCSP readily and precisely, so improved merging performance was observed when the system was applied. The system is also effective even during increases in vehicle volume of the mainline.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.4
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• pp.200-208
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• 2022

In this study, an automatic information collection system and geographic information construction algorithm for the transportation disadvantaged using electric mobility aids are implemented using an object recognition model. Recognizes objects that the disabled person encounters while moving, and acquires coordinate information. It provides an improved route selection map compared to the existing geographic information for the disabled. Data collection consists of a total of four layers including the HW layer. It collects image information and location information, transmits them to the server, recognizes, and extracts data necessary for geographic information generation through the process of classification. A driving experiment is conducted in an actual barrier-free zone, and during this process, it is confirmed how efficiently the algorithm for collecting actual data and generating geographic information is generated.The geographic information processing performance was confirmed to be 70.92 EA/s in the first round, 70.69 EA/s in the second round, and 70.98 EA/s in the third round, with an average of 70.86 EA/s in three experiments, and it took about 4 seconds to be reflected in the actual geographic information. From the experimental results, it was confirmed that the walking weak using electric mobility aids can drive safely using new geographic information provided faster than now.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3D
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• pp.453-459
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• 2006

This paper presents an experimental evaluation of wandering effect on asphalt concrete pavement responses. A laser-based wandering system has been developed and its performance is verified under various field conditions. The portable wandering system composed of two laser sensors with Position Sensitive Devices can allow one to measure the distance between laser sensors and tire edges of moving vehicle. Therefore, lateral position of each wheel on the pavement can be determined in a real time manner. Pavement responses due to different loading paths are investigated using a roll over test which is carried out on one of asphalt surfaced pavements in the Korea Highway Corporation test road. The pavement section (A5) consists of 5 cm thick surface course; 7 cm intermediate course; and 18 mm base course, and is heavily instrumented with strain gauges, vertical soil pressure cells and thermo-couples. From the center of wheel paths, seven equally-spaced lateral loading paths are carefully selected over an 140 cm wandering zone. Test results show that lateral horizontal strains in both surface and intermediate courses are mostly compressive right under the loading path and tensile strains start to develop as the loading offset becomes 40 cm from the wheel path. The development of the vertical stresses in the top layers of subbase and anti-frost is found to be minimal once the loading offset becomes 50 cm.

• Journal of Internet of Things and Convergence
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• v.10 no.2
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• pp.69-75
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• 2024

This paper proposes an IoT-based indoor autonomous driving system that applies SLAM (Simultaneous Localization And Mapping) and Navigation techniques in a ROS (Robot Operating System) environment based on TurtleBot3. The proposed autonomous driving system can be applied to indoor autonomous wheelchairs and robots. In this study, the operation was verified by applying it to an indoor self-driving wheelchair. The proposed autonomous driving system provides two functions. First, indoor environment information is collected and stored, which allows the wheelchair to recognize obstacles. By performing navigation using the map created through this, the rider can move to the desired location through autonomous driving of the wheelchair. Second, it provides the ability to track and move a specific logo through image recognition using OpenCV. Through this, information services can be received from guides wearing uniforms with the organization's unique logo. The proposed system is expected to provide convenience to passengers by improving mobility, safety, and usability over existing wheelchairs.

• Journal of the Institute of Convergence Signal Processing
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• v.9 no.3
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• pp.188-194
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• 2008

We propose the new method for the traffic signs recognition that is one of the DAS(Driving assistance system) in the intelligent vehicle. Our approach estimates a varied degree by using a geometric method from the varied traffic signs in noise, rotation and size, and extracts the recognition symbol from the compensated traffic sign for a recognition by using the sequential color-based clustering. This proposed clustering method classify the traffic sign into the attention, regulation, indication, and auxiliary class. Also, The circular tracing method is used for the final traffic sign recognition. To evaluate the effectiveness of the proposed method, varied traffic signs were built. As a result, The proposed method show that the 95 % recognition rate for a single variation, and 93 % recognition rate for a mixed variation.

• Journal of Advanced Navigation Technology
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• v.22 no.4
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• pp.302-310
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• 2018

To realize the self-driving technology, there have been various system designs based on the related V2X standards, especially the IEEE 802.11p and WAVE standard supporting the WLAN V2X communication. On the other hand, the new standard IEEE 802.11ba defining supplementary wake-up radio operation is now under standardization targeting the low power operation, and it includes the V2P operation in use cases. However, if IEEE 802.11ba is used with the IEEE 802.11ba for V2X operation, the additional transmission procedure of wake-up frame in IEEE 802.11ba may cause the congestion problem and fails to meet the delay requirement. In this paper, the system structure of the combination of IEEE 802.11ba with the 802.11p is studied. In addition, based on the analysis and simulation, the considerations and improvements for effective low-power V2P communication in future self-driving technology using IEEE 802.11ba are proposed.

• International Journal of Highway Engineering
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• v.13 no.3
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• pp.185-193
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• 2011

As a Lift axle is an additional axle installed mostly in heavy freight truck, It"s introduced for the purpose of cost saving, such as logistics, fuel, tire wear and prevention of the pavement damage. However, the Effects of a lift axle are anecdotal and they have occurred often that a lift axle is used improperly by expectations of some drivers. For these reasons, this study conducts a field experiment in order to identifying the change rate of fuel consumption due to an a Lift axle using, develops the fuel consumption model of field data, and then compares the effects of a Lift axle using through application of the model. As a result, fuel consumption decreased in loading conditions that are both empty and full when not using a lift axle.

• Therapeutic Science for Rehabilitation
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• v.5 no.2
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• pp.35-47
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• 2016

Objective: The aim of this study was to identify the driving rehabilitation for on-road driving through a systematic review. Methods: We systematically examined papers published in journals from December 2014 to January 2015, using CINAH, Embase, Pubmed, PsycINFO, and The Cochrane Library. Eventually, 15 studies were included in the analyses. Results: The evidence of 15 studies was from levels I, III, and V. The subjects included in the analyses were patients with stroke(40.0%), older driver(20.0%), traumatic brain injury(20.0%), acquired brain injury(13.3%) and spinal cord injury(6.7%). The intervention types were driving simulator training(53.3%), cognitive skills training(26.6%), off-road educational training(6.7%), adaptation of assistive device(6.7%), and behind-the-wheel training(6.7%). The effects of driving rehabilitation were different depending on the types of intervention. However, driving simulator training showed significant improvement of on-road assessments in all studies included this study. Conclusions: Driving rehabilitation for on-road driving has been used in various types. Specially, the effect of the driving simulator training has been proved by many studies. Future studies are to be required with client from a range of diagnostic groups to establish evidence-based interventions and determine their effectiveness in improving on-road driving.