• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.6
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• pp.230-245
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• 2023

The importance of evaluating the safety of Automated Vehicles (AV) is increasing with the advances in autonomous driving technology. Accordingly, an evaluation scenario that defines in advance the situations AV may face while driving is being used to conduct efficient stability evaluation. On the other hand, the single scenarios currently used in conventional evaluations address limited situations within short segments. As a result, there are limitations in evaluating continuous situations that occur on real roads. Therefore, this study developed a set of multiple scenarios that allow for continuous evaluation across entire sections of roads with diverse geometric structures to assess the safety of AV. In particular, the conditions for connecting individual scenarios were defined, and a methodology was proposed for developing concrete multiple scenarios based on the scenario evaluation procedure of the PEGASUS project. Furthermore, a simulation was performed to validate the practicality of these multiple scenarios.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.389-395
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• 2022

In order to ensure reliability the high-level automated driving such as Advanced Driver Assistance System (ADAS) and universal robot taxi provided by autonomous driving systems, the operation with high integrity must be generated within the defined Operation Design Domain (ODD). For this, the position and posture accuracy requirements of autonomous driving systems based on the safety driving requirements for autonomous vehicles and domestic road geometry standard are necessarily demanded. This paper presents localization requirements for safe road driving of autonomous ground vehicles based on the requirements of the positioning system installed on autonomous vehicle systems, the domestic road geometry standard and the dimensions of the vehicle to be designed. Based on this, 4 Protection Levels (PLs) such as longitudinal, lateral, vertical PLs, and attitude PL are calculated. The calculated results reveal that the PLs are more strict to urban roads than highways. The defined requirements can be used as a basis for guaranteeing the minimum reliability of the designed autonomous driving system on roads.

• Journal of the Korean Society of Systems Engineering
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• v.11 no.2
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• pp.137-146
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• 2015

This paper addresses the definition of the driver's functions for an automated vehicle of level 3, as defined by the Society of Automotive Engineers. By combining the constituent systems surrounding the automated vehicles in specific use cases, their interactions could be refined in a stepwise approach. This approach enables traceability of interactions between drivers, automated driving systems, and other constituent systems.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.10
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• pp.1287-1296
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• 2014

This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.2
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• pp.101-106
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• 2024

For the commercialization of automated vehicles, it is necessary to create various scenarios that can evaluate driving safety and establish a data system that can verify them. Depending on the vehicle's ODD (Operational Design Domain), there are numerous scenarios with various parameters indicating vehicle driving conditions, but no systematic methodology has been proposed to create and combine scenarios to test them. Therefore, projects are actively underway abroad to establish a scenario library for real-world testing or simulation of autonomous vehicles. However, since it is difficult to obtain data, research is being conducted based on simulations that simulate real road. Therefore, in this study, parameters calculated through individual vehicle trajectory data extracted based on roadside CCTV image-based driving environment DB was proposed through the extracted data. This study can be used as basic data for safety standards for scenarios representing various driving behaviors.

• Journal of the Korea Society of Computer and Information
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• v.20 no.2
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• pp.55-62
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• 2015

In this paper, we proposed the method that enabling warning through real-time analysis of dangerous driving behavior, improving driving habits and safe driving using the digital tachograph. Most of traffic accidents and green drive are closely related of driving habits. These wrong driving habits need to be improved by the real-time analysis, warning and automated method of driving habits. We confirmed the proposed that the method will help support eco-driving, safe driving through real-time analysis of driving behavior and warning through the method implementation and experiment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.703-707
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• 2000

This paper studied on the lateral motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But, if the gantry crane is unmanned, it is automatically controlled without any human operation. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to these problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane are derived. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and the yaw angle. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.336-336
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• 2000

This paper studied on the yaw motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But if the gantry crane is unmanned, it is automatically controlled without any human operation. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• Journal of Korean Society of Transportation
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• v.26 no.3
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• pp.85-95
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• 2008

The purpose of this study is to reduce a high speed driving, it is a large scale traffic accident as the most dangerous fact on the highway. So traffic accidents related to high speed driving, a number of automated speed enforcement system has been established up to now. At present automated speed enforcement system in Korea control overspeed vehicle only in the specific spot. Because the drivers generally recognize the previous stated fact. therefore, we need speed control by new system. it is necessary to establish the automated traffic enforcement system based on the travel time speed. In conclusion, we obtain the desired results about automated traffic enforcement system based on the travel time speed. it is important that the number of traffic accidents has decreased and try to secure the safety of traffic.

• Journal of Auto-vehicle Safety Association
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• v.14 no.1
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• pp.6-13
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• 2022

The Ministry of Land, Infrastructure and Transport (MoLIT) and the Korean Automobile Testing and Research Institute (KATRI) are supporting the development of Lv.3 automated vehicle (hereinafter, AV) technology by constructing an automated driving pilot city (as known as K-City) equipped with total 5 evaluation environments (urban, motorway, suburban, community road, and autonomous parking facility) which is a test bed exclusively for AV (2017~2018). An upgrade project is in a progress to materialize harsh environments such as bad weather (rain, fog, etc.) and reproduction of communication jamming (GPS blocking, etc.) with the purpose of supporting the development of Lv.4 connected & automated vehicle (hereinafter, CAV) technology (2019~2022). We intend to proactively establish a national level standard for CAV test-bed and test road requirements, test method, etc. for establishment of a road map for the construction of the test bed which is being promoted step by step and analyze and, when required, benchmark the case of China that has announced and is utilizing it. Through this, we plan to define standardized requirements (evaluation facility, evaluation system, etc.) on the test bed for the development of Lv.4/4+ CAV technology and utilize the same for the design and construction of a test bed, establishment of a road map for the construction of a real car-based test environment related to the support for autonomous driving service substantiation, etc. through provision of an evaluation environment utilizing K-City, and the establishment of a K-City upgrade strategies, etc.