• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.5
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• pp.218-232
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• 2022

Researches are underway to use a radar sensor, a sensor used for object recognition in vehicles, for position estimation. In particular, a method of classifying dynamic and static objects using the Doppler velocity, the output from the radar sensor, and calculating ego-motion using only static objects has been researched recently. Also, for the existing dynamic object classification, several methods using RANSAC or robust filtering has been proposed. Still, a classification method with higher performance is needed due to the nature of the position estimation, in which even a single failure causes large effects. Hence, in this paper, we propose a method to improve the classification performance compared to existing methods through tracking and filtering of dynamic objects. Additionally, the method used a GMPHD filter to maximize tracking performance. In effect, the method showed higher performance in terms of classification accuracy compared to existing methods, and especially shows that the failure of the RANSAC could be prevented.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1879-1885
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• 2017

This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

• Korean Journal of Construction Engineering and Management
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• v.13 no.6
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• pp.13-23
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• 2012

While Category 1 and Category 2 bridges are intensively inspected and carefully managed, many small bridges that are not in the Category 1 and 2 are often forgotten until they decay in serious condition. Since many of these small bridges located in the populated city, failure of them would cause huge negative impact on the community. This paper focuses on the small size concrete bridges for timely repair and rehabilitation work for the effective operation and management. Test bed is developed to define the key parameters to forecast the long term performance of the bridges, mostly concrete box bridges. Key parameters suggested in this paper are cumulative fatigue due to repetitive heavy traffic loads and the acid attacks for concrete material deterioration. The cumulative fatigue is measured by the use of the mileage concept. For the long term data collection and inspection, stable and easy to use data collection system is installed as a test bed. The contribution of this research work is on the development of the test bed to define the key parameters of bridge deterioration.

• The Journal of Bigdata
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• v.4 no.2
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• pp.159-173
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• 2019

Last-Mile delivery optimization plays a key role in the urban supply chain operation, which is the most expensive and time-consuming and most complicated part of the whole delivery process. The urban consolidation center (UCC) is regarded as a significant asset for supporting customer demand in the last-mile delivery service. It is the key benefit of UCC to improve the load balance of vehicles and to reduce the total traveling distance by finding the better route with the well-organized multi-leg vehicle journey in the urban area. This paper presents the model using multiple scenario analysis integrated with mathematical optimization techniques using Geographic Information System (GIS). The model aims to find the best solution for the distribution network consisted of DC and UCC, which is applied to the case of Ulaanbaatar Mongolia. The proposed methodology integrates two sub-models, location-allocation model and vehicle routing problem. The multiple scenarios devised by selecting locations of UCC are compared considering the general performance and delivery patterns together. It has been adopted to make better decisions the quantitative metrics such as the economic value of capital cost, operating cost, and balance of using available resources. The result of this research may help the manager or public authorities who should design the distribution network for the last mile delivery service optimization using UCC within the urban area.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8C
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• pp.721-730
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• 2012

In this paper the problem of a moving control of an automatic guided vehicle(AGV) which transports a dead body to a designated cinerator safely in a crematorium, an special indoor environment, will be discussed. Since a method of burying guided lines in the floor is not proper to such an environment, a method of moving control of an AGV based on infrared ray sensors is now proposed. With this approach, the AGV emits infrared ray to the landmarks adheres to the ceiling to find a moving direction and then moves that direction by recognizing them. One of the typical problems for this method is that dead zone and/or overlapping zone may exist when the landmarks are deployed. To resolve this problem, an algorithm of recognizing double landmarks at each time is applied to minimize occurrences of sensing error. In addition, at the turning area to entering the designated cinerator, to fit an AGV with the entrance of the designated cinerator, an algorithm of controlling the velocity of both the inner and outer wheel of it. The functional correctness of our proposed algorithm has been verified by using a prototype vehicle. Our real AGV system has been applied to a crematorium and it moves automatically within an allowable range of location error.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.9 s.351
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• pp.49-59
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• 2006

DAS(Driver Assistance Systems) support the driver's decision making to increase safety and comfort by issuing the naming signals or even exert the active control in case of dangerous conditions. Most previous research and products intend to offer only a single warning service like the lane departure warning, collision warning, lane change assistance, etc. Although these functions elevate the driving safety and convenience to a certain degree, New type of DAS will be developed to integrate all the important functions with an efficient HMI (Human-Machine Interface) framework for various driving conditions. We propose an all-around sensing based on the integrated DAS that can also remove the blind spots using 2 cameras and 8 sonars, recognize the driving environment by lane and vehicle detection, construct a novel birds-eye HMI for easy comprehension. it can give proper warning in case of imminent danger.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.12 no.1
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• pp.121-135
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• 2013

This paper propose an efficient algorithm for selecting electric bus charging facility location. In nature, the optimal charging facility location problem is similar to Set Covering Problem. Set Covering Problem is the problem of covering all the rows of an $m{\times}n$ matrix of ones and zeros by a subset of columns with a minimal cost. It has many practical applications of modeling of real world problems. The Set Covering Problem has been proven to be NP-Complete. In order to overcome the computational complexity involved in seeking optimal solutions, this paper present an enhanced greedy algorithm and simulated annealing algorithm. In this paper, we apply the developed algorithm to Seoul's public bus system.

• International Journal of Highway Engineering
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• v.9 no.4
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• pp.33-43
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• 2007

Because usually signal controllers on the crosswalks of mid-block provide pedestrian signals every cycle based on the fixed signal plan, pedestrian signals are provided even when there is no pedestrian demand. Consequently, signal is operated inefficiently and this may cause drivels to experience useless delay or violate the signal. Even though recently pushbuttons have been installed to improve the efficiency of pedestrian signal control in the crosswalks of mid-block and the pedestrian safety. they are not spread out national-wide in Korea because of the cost of the pushbutton equipments and the lack of an acknowledgement of the efficiency of the pushbutton. In this study, the effectiveness of the pushbutton on saving the vehicle delay was verified through before and after study in 4 study sites using a traffic micro-simulation model, VISSIM. To evaluate the viability of the pushbutton, a benefit/cost analysis was also performed for 4 study sites. It was found that B/C ratio of all of 4 study sites was greater than 1. The sensitivity analysis for the traffic volume and pedestrian volume were performed to identify the impact of the both volume on the operation of pushbutton. And, a benefit/cost analysis was performed for all scenarios. It was found that when the pedestrian volume is greater than 90ped/h, the pedestrian signal was operated same as the fixed signal plan. That is, there is no benefit of pushbutton at all once the pedestrian volume is greater than 90ped/h. When the pedestrian volume is equal to or less than 90ped/h and the traffic volume is greater than 2,500veh/h, B/C ratio is greater than 1. Also it was found that as traffic volume increases and pedestrian volume decreases, the benefit increases. In this study, the criteria for installation of pushbutton on the crosswalks of mid-block are developed through the sensitivity analysis and benefit/cost analysis. The results of this study may be used as a criteria for expansion of pushbutton system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.6
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• pp.1237-1242
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• 2017

Computer vision is coming more interesting with new imaging sensors' new capabilities which enable it to understand more its surrounding environment by imitating human vision system with artificial intelligence techniques. In this paper, we made experiments with Kinect camera, a new depth sensor for object detection and distance measurement functions, most essential functions in computer vision such as for unmanned or manned vehicles, robots, drones, etc. Therefore, Kinect camera is used here to estimate the position or the location of objects in its field of view and measure the distance from them to its depth sensor in an accuracy way by checking whether that the detected object is real object or not to reduce processing time ignoring pixels which are not part of real object. Tests showed promising results with such low-cost range sensor, Kinect camera which can be used for object detection and distance measurement which are fundamental functions in computer vision applications for further processing.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.11
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• pp.79-88
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• 1999

In this paper we address the tracking method which tracks only target object in image sequence including moving object. We use a contour tracking algorithm based on intensity and motion boundaries. The motion of the moving object contour in the image is assumed to be well describable by an affine motion model with a translation, a change in scale and a rotation. The moving object contour is represented by B-spline, the position and motion of which is estimated along the image sequence. we use pattern recognition to identify target object. In order to use linear Kalman Filters we decompose the estimation process into two filters. One is estimating the affine motion parameters and the other the shape of moving object contour. In some experiments with dial plate we show that this method enables us to obtain the robust motion estimates and tracking trajectories even in case of including obstructive object.