• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.21-27
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• 2023

This paper presents a simulation tool for developing and evaluating automated driving systems' lane change algorithm in urban congested traffic. The behavior of surrounding vehicles was modeled based on driver driving data measured in urban congested traffic. Surrounding vehicles are divided into aggressive vehicles and non-aggressive vehicles. The degree of aggressiveness is determined according to the lateral position to initiate interaction with the vehicle in the next lane. In addition, the desired velocity and desired time gap of each vehicle are all randomly assigned. The simulation was conducted by reflecting the cognitive limitations and control performance of the autonomous vehicle. It was possible to confirm the change in the lane change performance according to the variation of the lane change decision algorithm.

• Journal of Auto-vehicle Safety Association
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• v.15 no.3
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• pp.17-26
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• 2023

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.687-690
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• 2015

Forward collision warning systems(FCWS) and lane change assist systems(LCAS) need regions of interest for detecting lanes and objects as road regions. Watershed segmentation is effective algorithm that classify the road. That algorithm is split results appear differently depending on Watershed line with local minimum in the early part of the seed. If not road regions or vehicles combined the road's seed, It segment road with the others. For compensate the that defect, It has to adaptive change by road environment. The method is that image segmentate the several of regions of interest. Then It is set in a straight line that is detected in regions of interest. If It was detected cars on seed, seed is adjusted the location. And If It wasn't include the line, seed is adjusted the length for final decision the seed. We can detect the road region using the final seed that selected according to the road environment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.259-260
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• 2012

• Proceedings of the Korea Multimedia Society Conference
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• 2002.11b
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• pp.470-473
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• 2002

기존 차량 트래픽 시스템 관련 연구들은 신호등체계 보다 차선변경을 중요시하고, 차량의 목적지 없이 랜덤으로 주행함으로 사실성이 저하된다. 본 논문에서는 차량 트래픽의 사실성을 높이기 위해 신호등체계를 도입하고 출발지와 목적지 등을 부여한다. 또한 출발지점과 목적지점의 차량 트래픽률을 제어하고, 출발지점에서 목적지점까지의 최적경로를 찾아 주행하는 방법에 대해 설계하고 구현한다.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.6
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• pp.49-58
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• 2014

This paper proposes a new assessment and reliability validation method of Lane Departure Assistance System based on DGPS-GIS by measuring lanes with camera vision. Assessment of lane departure is performed with yaw speed measurement and determination method for false alarm of ISO 17361 and performance validation is executed after generating departure warning boundary line by considering deviation error of LDAS using DGPS. Distance between the wheel and the lane is obtained through line abstraction using Hough transformation of the lane image with camera vision. Evaluation validation is obtained by comparing this value with the distance obtained with LDAS. The experimental result shows that the error of the extracted distance of the LDAS is within 5 cm. Also it proves performance of LDAS based on DGPS-GIS and assures effectiveness of the proposed validation method for system reliability using camera vision.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.6
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• pp.194-207
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• 2000

In this paper, we suggest a vision-based lane change control system, which can be applied on the straight road, without additional sensors such as a yaw rate sensor and a lateral accelerometer. In order to reduce the image processing time, we predict a reference line position during lane change using the lateral dynamics and the inverse perspective mapping. The sliding mode control algorithm with a boundary layer is adopted to overcome variations of parameters that significantly affects a vehicle`s lateral dynamics and to reduce chattering phenomenon. However, applying the sliding mode control to the system with a long sampling interval, the stability of a control system may seriously be affected by the sampling interval. Therefore, in this paper, a look ahead offset has been used instead of a lateral offset to reduce the effect of the long sampling interval due to the image processing time. The control algorithm is developed to follow the desired trajectory designed in advance. In the design of the desired trajectory, we take account of the constraints of lateral acceleration and lateral jerk for ride comfort. The performance of the suggested control system is evaluated in simulations as well as field tests.

• Journal of Advanced Navigation Technology
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• v.15 no.1
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• pp.130-139
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• 2011

In this paper, vehicle tracking algorithm using hue transformation in HIS color model is proposed. the proposed algorithm is installed on the road of the two horizontal virtual data sampling lines. The difference images are detected between the frame and the frame, respectively and also detected in the vehicle by using the hue color distribution to determine identity and lane changes. To examine the effectiveness of proposed algorithm, identification and velocity measurement for driving vehicle are evaluated. this evaluated results is shown by hue data of vehicle passing of two virtual data sample lines, and the velocity measurement for driving vehicle is less than 0.4% comparing with existing vehicle speed meter system.

• Journal of the Korea Society of Computer and Information
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• v.17 no.11
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• pp.19-26
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• 2012

Reversible lanes in urban intersections is used to efficiently control vehicles, reduce traffic congestion and increase the capacity of a roadway. But by far traffic control systems in urban intersections are simple and manually operated by police officers. In this study, we present a hybrid algorithm that intelligently resolve the moving direction of reversible lanes to efficiently manage the flow of traffic at intersection. The proposed algorithm consists of three stages:(i) fuzzy inference method to get the efficiency of moving direction, (ii) a provisional decision whether to change the reversible lane to different direction, (iii) a final evaluation criterion for changing the directions of the reversible lanes. The fuzzy inference results of efficiency are shown by using matlab application.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.1
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• pp.167-175
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• 2006

Directional stability is important performance in vehicle and tire design. The current methods to analyze this is generally based on linear concept. Using the existing concept, it cannot realistically explain the subjective assessment at all because it is hard to practically represent the nonlinear behaviour of a complex vehicle system in reality. In this paper, new method to analyze directional stability is introduced. At first, directional stability of vehicle is categorized into yaw, rear axle, and roll stability. In order to objectify these items, driver perceptual parameters based on subjective assessment are used. Using the perceptual parameters, it can successfully explain the transient maneuver of vehicle and extract objective parameters for directional stability. Finally, these objective parameters are successfully validated through two handling tests, lane change and severe lane change. The correlation results show that there exists a good correlation between subjective assessment and the proposed objective parameters.