• Annual Conference of KIPS
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• 2018.05a
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• pp.409-411
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• 2018

자율주행차에서 경로계획기법은 지도, 목적지 경로와 다른 정적/동적 장애물에 대한 예측 정보를 바탕으로, 안전하고, 합법적이며 효율적으로 차량을 조종하는 목표를 가진다. 고속도로 환경에서, 차량이 차선을 유지하고, 다른 차량들과 충돌을 회피하며, 더 느리게 움직이는 트래픽을 지나쳐 효율적이면서 안전한 경로를 생성하는 기법이 요구된다. 본 연구에서는, 시스템의 행위를 모델링하는 기법 중의 하나인 유한상태기계를 적용하였다. 시뮬레이터를 통해, 급가속/감속과, 충돌 없이, 차선을 유지/변경을 힐 수 있음을 보였다. 자율주행차의 고속도로 주행의 경우, 유한상태기계를 적용하여, 효율적이고 안전한 경로계획을 수행할 수 있다.

• 한국도로학회지:도로
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• v.19 no.1
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• pp.44-47
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• 2017

• Journal of IKEEE
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• v.16 no.4
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• pp.349-355
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• 2012

Information technology improves convenience, safety, and performance of automobiles. Recently, a lot of algorithms are studied to provide safety and environment information for driving, and lane detection algorithm is one of them. In this paper, we propose a lane detection algorithm that reduces the amount of calculation by reducing region of interest (ROI) after preprocessing. The proposed algorithm reduces the area of ROI a lot by determining the candidate regions near lane boundaries as V-ROI so that the amount of calculation is reduced. In addition, the amount of calculation can be maintained almost the same regardless of the resolutions of the input images by compressing the images since the lane detection algorithm does not require high resolution. The proposed algorithm is implemented using C++ and OpenCV library and is verified to work at 30 fps for realtime operation.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2008.11a
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• pp.800-803
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• 2008

Road is one of the infrastructure facilities, on which lines include various information for guiding a smooth traffic flow. This line marking work is continually removed and re-marked during maintenance. However, some problems exist when the line marking work is conducted. Traditional methods of using grinders and torches have risk of repetitive skill, and workers are exposed directly to the hazardous situations. Moreover, even though the equipment has developed, the line removing work induces environmental contamination and pollution line on the road. Therefore, this study can become one of the eco-friendly cleaning technologies using dry ice blaster equipment, and the new development of equipment will improve method of pavement marking removal. Also, it can introduce innovative automation in construction.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.7 no.5
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• pp.159-169
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• 2008

The aim of this paper is to research the changes of social welfare by internalizing external cost, especially the maintenance cost. Main target of this paper is the Cheonan$\sim$Nonsan Line, where private capital highway, national highway and local road are competing against each other. Considering the realistic difficulties in applying the First Best pricing, this paper applied the Second Best pricing, applying the maintenance cost, in lieu of the already mentioned. The demand functions of the toll roads were built through regression analysis. By reflecting the maintenance cost to the toll fee, It was able to confirm the variation of social welfare deriving from the traffic assign change but also the aspects of toll revenue at the same time. Result of applying the Second Best pricing shows merely a small change in social welfare. However, in the aspect of finance, it is analyzed that there will be about 13 billion won worth of financial effectiveness which will contribute to the reduction of the national financial support.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.166-166
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• 2004

운전자 보조시스템에는 적응순항제어 (adaptive cruise control), 차선변경 (lane change), 충돌경고 (collision warning), 충돌회피 (collision avoidance), 및 자동주차 (automatic parking) 등이 있다. 이런 운전자 보조시스템은 어떤 목적을 가지고 있다. 운전자의 부담을 줄이고 안전을 위하여 차량의 주행방향에 있는 장애물이나 차량을 감지하여 차량간의 안전거리론 유지하고 자동차가 일정 속도를 유지하도록 한다. 운전자 보조시스템의 효율은 센서들로부터 얻어진 정보의 해석에 달려있다.(중략)

• Journal of the Korean GEO-environmental Society
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• v.13 no.12
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• pp.81-89
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• 2012

The existing tunnel in urban area can be enlarged because of requirement of road-widening by traffic growth. The protector with rectangular cross section can be set up in the tunnel, which will be constructed for enlargement of width, to solve traffic jam around the tunnel. It is impossible to install the rockbolt in the lower area of tunnel due to a limited space between the protector and cutting surface. The objective of this study is to suggest the method of shotcrete thickness increase instead of rockbolt installation in the side wall of tunnel for the stability of tunnel. Numerical analysis was performed to evaluate displacement at the crown of tunnel, convergence of tunnel, and stress in shotcrete lining in 3-lane and 4-lane NATM tunnels enlarged from 2-lane conventional tunnel. There were three types of analysis condition, rockbolt installation, no rockbolt installation, and increase of shotcrete thickness without rockbolt in the side wall of tunnel. There was no difference on the displacement at the crown and the convergence of upper tunnel. In the lower tunnel, the convergence in case of no rockbolt installation was larger as maximum 1.3mm than that in case of rockbolt installation. The stress in shotcrete lining in case of no rockbolt installation was larger as maximum 1.3MPa than that in case of rockbolt installation. Numerical analysis was performed to compare the behavior of shotcrete with rockbolt with that of shotcrete, which its thickness was increased, without rockbolt. The shotcrete has an increase of 20%(250mm ${\rightarrow}$ 300mm, 4-lane tunnel)~25%(200mm ${\rightarrow}$ 250mm, 3-lane tunnel) in its thickness to reduce the stress in shotcrete lining. The behavior of shotcrete lining increased the shotcrete thickness by 20%~25% was similar to that of existing shotcrete lining with rockbolt.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2009.05a
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• pp.77-81
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• 2009

논문은 지능형 자동차 개발을 위한 마이크로마우스를 활용한 차량-도로 간 통신, 모터제어, 영상처리와 물체감지 센서들을 활용한 도로 상황정보 인식 시스템 등을 활용하여 지능형 자동차의 운행을 구현하고 테스트 할 수 있다. 이를 활용하여 검증된 기술들을 실제 차량에 적용하기 위해서 다양한 실험과 테스트를 실시한다. 또한 누구나 쉽게 간단한 마이크로 컨트롤러를 통한 지능형 자동차를 위한 다양한 아이디어를 접목할 수 있도록 시스템을 설계한다. 이를 활용하여 영상처리를 통한 차선인식과, 직진 좌회전 및 도로의 교통표시마크를 읽어 들여 차체를 컨트롤하고 차량-도로간 통신을 이용해서 신호등의 정보를 입력받아 교차로를 안전하게 통과하게 된다. 또한 앞 차량을 인식하여 자동으로 속도조절과 차량 간 거리를 유지하는 시스템을 구현한다.

• Proceedings of the Korean Society for Rock Mechanics Conference
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• 2002.03a
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• pp.19-26
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• 2002

서울시에 건설될 새로운 내부 남부순한 도로는 제2 성산대교와 서쪽의 주요 고속화 도로를 연결하는 초고속 도로망을 구축할 것이다. 노선연장은 지하구조물 10.4km를 포함하여 총 34.8km에 달한다. 도로망이 완성되면 수도 서울 중심가의 심한 교통체증은 상당부분 완화 될 것이다. 공사비 7000억원에 이르는 대규모의 서울 남부순환 도로는 3차선 병렬터널 3개 공구를 포함하는 것으로 계획되어졌다. 이들 터널은 3차선, 일방향, 병렬터널로서 계곡부를 관통하며 굴착공법은 대부분 발파공법으로 계획되어져 있다. 가장 긴 관악터널은 지질조건이 복잡하며 따라서, 이런 지반에 적용성이 좋은 발파공법에 의한 굴착으로 계획되어졌다. 특히, 갱구부는 지질상태가 매우 불량하여 풍화암 자연상태로 설계하는 것이 불가능하였다. 설계자들은 터널 화재와 교통사고 등과 같은 터널내에서의 긴급상황에 대한 최적의 대책 수립에 중점을 두어야만 했다. 관악 터널 상부에 위치한 수로관을 통과하는 방법을 찾는 것이 당면 최대 관건이었다. 또한, 갱구부 주변지역의 환경을 보존하고 현장의 자연적인 아름다움 을 유지하기 위하여 굴착량을 최소화하는 공법선정이 중요하였다.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.6
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• pp.222-230
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• 1999

A fixed type driving simulator is constructed with a car body, beam projector, operation software , driving scenario, and audio equipments. With the simulator, the cognitive effects of fatigue due to two hour continuous driving of a straight road is investigated . The effects of alcohol on driving performance is also studied. The braking operation and lane keeping performance due to fatigue and alcohol are investigated. Changes of vehicle motion due to these effects are verified by computer simulation.