• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.17 no.2 s.105
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• pp.184-192
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• 2006

Synthetic Aperture Radars(SAR) are used mainly for high-resolution imaging of the terrain. This paper describes the $16{\times}16$ array antenna designed for an X-band, automobile-based SAR(AutoSAR) system. This antenna has the structure of several layers such as radome, radiators, slots, feed network, and honeycomb cores. Each layer is adhesively bonded to meet different combination of structural and electrical design requirements. Using the Strip-Slot-Foam-Inverted-Patch(SSFIP) structure and honeycomb cores, a wide bandwidth and a structural hardness were achieved. Measurement results were compared with simulation results. It was observed that this antenna had a bandwidth of 1.7 GHz, side-lobe levels of less than -20 dB, half-power beamwidth of $5^{\circ}$ and $5^{\circ}$, and gains of 25.0 dBi. The observed results show that the designed array antenna will be applicable to the wideband SAR system.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.10
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• pp.1151-1156
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• 2012

In this paper, the baseband filter is proposed in order to maintain a constant sensitivity regardless of distances for 77 GHz automotive radar system. Using existing DCOC loop circuit can remove DC offset and also cancel differences of received power depending on the distance. Measured results show that the maximum gain is 51 dB and high pass cutoff frequency can be tuned from 5 kHz to 15 kHz. The slope of high pass filter can be tuned from -10 to -40 dB/decade for the distance compensation. The measured NF and IIP3 are 26 dB and +4.5 dBm with 4.3 mA at 1.0 V supply voltage, respectively. The fabricated die size $500{\mu}m{\times}1,050{\mu}m$ excluding the in/out pads.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.6
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• pp.331-345
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• 2021

Virtual testing is considered a major requirement for the safety verification of autonomous driving functions. For virtual testing, both the autonomous vehicle and the driving environment should be modeled appropriately. In particular, a realistic modeling of the perception sensor system such as the one having a camera and radar is important. However, research on modeling to consistently generate realistic perception results is lacking. Therefore, this paper presents a sensor modeling method to provide realistic object detection results in a MILS (Model in the Loop Simulation) environment. First, the key parameters for modeling are defined, and the object detection characteristics of actual cameras and radar sensors are analyzed. Then, the detection characteristics of a sensor modeled in a simulation environment, based on the analysis results, are validated through a correlation coefficient analysis that considers an actual sensor.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.1
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• pp.55-69
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• 2017

Recently, the IoT (Internet of Things) environment is being developed rapidly through network which is linked to intellectual objects. Through the IoT, it is possible for human to intercommunicate with objects and objects to objects. Also, the IoT provides artificial intelligent service mixed with knowledge of situational awareness. One of the industries based on the IoT is a car industry. Nowadays, a self-driving vehicle which is not only fuel-efficient, smooth for traffic, but also puts top priority on eventual safety for humans became the most important conversation topic. Since several years ago, a research on the recognition of the surrounding environment for self-driving vehicles using sensors, lidar, camera, and radar techniques has been progressed actively. Currently, based on the WAVE (Wireless Access in Vehicular Environment), the research is being boosted by forming networking between vehicles, vehicle and infrastructures. In this paper, a research on the recognition of a traffic signs on highway was processed as a part of the awareness of the surrounding environment for self-driving vehicles. Through the traffic signs which have features of fixed standard and installation location, we provided a learning theory and a corresponding results of experiment about the way that a vehicle is aware of traffic signs and additional informations on it.

• IEMEK Journal of Embedded Systems and Applications
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• v.11 no.1
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• pp.29-37
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• 2016

We propose vehicular spread spectrum (SS) radar robust to mutual interference using zero correlation zone (ZCZ) code. SS radar schemes have been employed for vehicular radar systems due to their outstanding correlation property. However, this superiority is based on a premise that timing among codes is completely synchronized. In the practical driving environment, timing mismatch among radar signals is inevitable because the radar signals of several vehicles are independently transmitted at each different location and each timing and thus each radar signal is received at different timing. This timing offset is the main cause of orthogonality destruction among codes and thus radar signals from other vehicles become mutual interference. In order to solve this problem, we find out the new property of ZCZ code which maintains the complete orthogonality except to timing offset corresponding to chips (pulses) of multiple of 4 and employ ZCZ code to SS radar systems. Simulation results show the proposed scheme achieve better performance compared with the conventional SS radar scheme using pseudo code or gold code.

• Journal of Auto-vehicle Safety Association
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• v.4 no.2
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• pp.32-36
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• 2012

The Automatic unmanned target object carrying system (AUTOCS) is developed for testing road vehicle radar and vision sensor. It is important for the target to reflect the realistic target characteristics when developing ASV or ADAS products. The AUTOCS is developed to move the pedestrian or motorcycle target for desired speed and position. The AUTOCS is designed that only payload target which is a manikin or a motorcycle is detected by the sensor not the AUTOCS itself. In order for the AUTOCS to have low exposure to radar, the AUTOCS is stealthy shaped to have low RCS(Radar Cross Section). For deceiving vision sensor, the AUTOCS has a specially designed pattern on outside skin which resembles the asphalt pattern. The AUTOCS has three driving modes which are remote control, path following and replay. The AUTOCS V.1 is tested to verify the radar detect characteristics, and the AUTOCS successfully demonstrated that it is not detected by a car radar. The result is presented in this paper.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.591-598
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• 2016

The final step of driving a car is parking, which is the most difficult part for people learning to drive. Parking in narrow parking spaces is difficult for both ordinary drivers and beginners. To solve this problem, the development of SPAS (Smart Parking Assist System), ACC (Automatic Control System) improves the convenience of drivers. In addition, parking assistance systems have been developed to recognize more accurately the surrounding environment to the driver using the ultrasound, camera, thermal camera, and radar. This paper proposes the reverse turning radius to process images as if the camera is located in the center of the vehicle regardless of the actual camera position. In addition, it generates the parking guidelines through verification using the vehicle.

• Proceedings of the KSRS Conference
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• 2006.03a
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• pp.15-18
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• 2006

도로의 정보를 취득하기 위하여 제작된 도로 안정성 조사 분석 차량(RoSSAV)은 도로의 3차원 정보를 취득하는 한 방법으로 레이저 스캐너를 사용한다. 레이저 스캐너로부터 취득된 도로의 3차원 정보는 많은 목적으로 활용할 수 있는 매우 유용한 정보이나, 도로의 3차원 정보를 사용자가 육안으로 확인할 수 있도록 영상으로 편집을 하게 되면, 현실감 있는 영상이 생성되기는 어렵다. 이를 보완하기 위하여 본 연구에서는 레이저 스캐너로부터 얻은 정보와는 별도로 CCD 카메라로 도로 전방 영상을 촬영하였고, 이 두 가지 데이터를 합성하여 현실감 있는 3차원 도로영상을 생성하는 기법을 연구 개발하였다. 레이더 영상과 CCD 영상의 합성은 레이저 데이터가 가지고 있는 3차원의 위치에 해당하는 CCD영상에서의 영상점을 찾아 이 점에서의 RGB 밴드의 밝기값을 찾아내어 이를 레이저 데이터에 기록, 적용시키는 것을 의미한다. 이 방법을 사용하기 위해서는 영상간의 관계모델을 수립할 필요가 있으며, 본 연구에서는 직접선형변환(DLT) 모델을 사용하였다. 이 모델을 이용하기 위해 레이저 데이터를 영상으로 편집하였고 이 영상과 CCD영상과 일치하는 지점을 육안으로 찾아 각 영상별로 DLT센서모델에 필요한 개수의 기준점을 제작하여 실행하였다. 실험 결과 영상은 기준점의 정확도에 따라 약간의 차이는 있으나 합성 전의 레이저 데이터 영상에 비해 실세계에 가까운 색깔을 나타냄이 확인되었다.

• Proceedings of KOSOMES biannual meeting
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• 2007.11a
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• pp.87-89
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• 2007

선행 연구개발한 집단감시 디지털 시스템(Group Digital Surveillance System for Fishery Safety and Security, GDSS- F2S)은 대단위 양식장에 침입하는 도적을 방어하기 위하여 레이더 추적정보와 적아식별 정보를 제공하는 시스템이다. 그러나 GDSS-F2S에서 제공하는 두 가지 정보만으로는 도적행위를 입증할 수 있는 법적 증거자료로 미흡하다. 본 논문에서는 이러한 문제점 해결방안의 하나로 CCD 카메라를 이용한 영상획득 장치를 개발하여 GDSS-F2S에 부가한 연구내용을 기술한다. 영상획득 장치 개발에 앞서, 실험지역의 지리적인 특성을 고려한 도적침입 예상경로 분석과 도적행위 시나리오를 기반으로 유효한 대응수단을 검토한 결과, 영상획득 장치가 유효한 대응수단임을 확인하였다. 영상획득 장치는 저가이변서 성능이 우수한 0.0001 룩스의 초저조도 CCD 카메라와 부가장치를 이용하여 개발하였다. 6개월 이상의 장기 현장실험을 통하여 본 연구에서 개발한 시스템을 평가한 결과, 주간은 물론 1 미터 앞도 식별할 수 없는 야간에도 차량의 행동과 번호판 및 사람의 행동과 인상착의 등의 영상정보를 확보할 수 있었다.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.224-232
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• 2015

In order to develop an active safety system which avoids or mitigates collisions with preceding vehicles such as autonomous emergency braking (AEB), accurate state estimation of the nearby vehicles is very important. In this paper, an algorithm is proposed using 3 dynamic models to better estimate the state of a vehicle which has various dynamic patterns in both longitudinal and lateral direction. In particular, the proposed algorithm is based on the Interacting Multiple Model (IMM) method which employs three different dynamic models, in cruise mode, lateral maneuver mode and longitudinal maneuver mode. In addition, a Probabilistic Data Association Filter (PDAF) is utilized as a data association algorithm which can improve the reliability of the measurement under a clutter environment. In order to verify the performance of the proposed method, it is simulated in comparison with a Kalman filter method which employs a single dynamic model. Finally, the proposed method is validated using radar data obtained from the field test in the proving ground.