• 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 Auto-vehicle Safety Association
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• v.9 no.4
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• pp.32-37
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• 2017

For automated vehicles, the integrity and fault tolerance of environment perception sensor have been an important issue. This paper presents radar, vision, lidar(laser radar) fusion-based fault detection algorithm for autonomous vehicles. In this paper, characteristics of each sensor are shown. And the error of states of moving targets estimated by each sensor is analyzed to present the method to detect fault of environment sensors by characteristic of this error. Each estimation of moving targets isperformed by EKF/IMM method. To guarantee the reliability of fault detection algorithm of environment sensor, various driving data in several types of road is analyzed.

• Journal of Auto-vehicle Safety Association
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• v.11 no.4
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• pp.50-56
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• 2019

Recently, automobile industries have developed ADAS, smart cars, connected cars, automated driving systems, which use a variety of sensor systems - ultrasonics, cameras, lidars and radars - and communication systems. It is necessary to examine the electromagnetic immunity of vehicles equipped with those systems. The electromagnetic immunity tests are carried out in an electromagnetic semi anechoic chamber, which is cut off from the outside. It is difficult to create test environments in which the radar sensor systems of vehicles work properly in the test chamber. In this study, test jigs were designed and tested and as a result they are shown to be effective to create test environments for electromagnetic immunity tests of vehicles equipped with radar sensors. We also proposed additional safety standards for immunity tests of vehicles with radar systems that currently do not exist.

• Journal of the Korean Society for Railway
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• v.4 no.1
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• pp.1-8
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• 2001

In this paper, the dynamics and stability of the automated guideway transit (AGT) vehicles with rubber tires are investigated. Two types of AGT systems are considered: the bogie-type and steering-type systems. The critical speeds for the dynamic instability of lateral and yawing motions are investigated by use of the Routh-Hurwitz's stability criterion. It is shown that the bogie-type AGT vehicles are likely to be stable within the range of practical operating speed, whereas it is not true for the steering-type AGT vehicles. It is also shown that the control performance of steering-type AGT vehicles can be improved by choosing proper steering gains of the closed-loop steering control system.

• 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.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.4
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• pp.112-123
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• 2018

The C-ARS(Cooperative Automated Roadway System) refers to a road infrastructure system that links automated vehicles with road infrastructure and communicates with each other via V2X communication to support automated vehicles. The purpose of this study is to suggest a performance evaluation method of C-ARS service. This study exemplifies the 'Work zone information service' among I2V service that provide information to automated vehicles in road infrastructure. First, we define the requirements and service scope needed to check the use case analysis and service performance of the service, and propose an evaluation system for performance evaluation of these services. In addition, the evaluation system was used to verify the feasibility of evaluation through the field test of 'Work zone information service'.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.6
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• pp.77-91
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• 2023

Recently, there has been a worldwide increase in research and development on automated vehicles for commercialization. It is expected that the use of level 3 autonomous vehicles on continuous-flow roads will be introduced and will increase. Consequently, various studies have been conducted to investigate the impact of mixed traffic flow with automated vehicles based on the market penetration rate (MPR). However, these studies have been conducted independently, and the results have shown different trends. Therefore, this study attempted a quantitative analysis of the impact of automated vehicles on mixed traffic flow on uninterrupted roads through a meta-analysis. The results showed that the effect size estimated from an MPR of 75% or higher was statistically significant.

• Journal of the Korea Society for Simulation
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• v.14 no.3
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• pp.109-118
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• 2005

The purpose of this paper is to analyze transport ability of AGV(Automated Guided Vehicle) and SHC(SHuttle Carrier). The main difference between two types of transport vehicles is that AGV depends on container crane or transfer crane to do loading/unloading container, but SHC is very independent to it. Therefore, the transport ability of SHC is expected to be higher than AGV. So, in this paper, we established simulation model to evaluate two types of transport vehicles and analyzed the results. Simulation model was established to automated container terminal with perpendicular yard layout, and applied closed loop operation of transport vehicle between apron and stacking yard. In the result, SHC showed very superior than AGV aspect of container crane productivity and vehicle fleets.

• Proceedings of the Korea Society for Simulation Conference
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• 2005.05a
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• pp.57-63
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• 2005

The purpose of this paper is to analyze transport ability of AGV(Automated Guided Vehicle) and SHC(SHuttle Carrier). The main difference between two types of transport vehicles is that AGV depends on container crane or transfer crane to do loading/unloading container, but SHC is very independent to it. Therefore, the transport ability of SHC is expected to be higher than AGV, So, in this paper, we established simulation model to evaluate two types of transport vehicles and analyzed the results. Simulation model was established to automated container terminal with perpendicular yard layout, and applied closed loop operation of transport vehicle between apron and stacking yard. In the result, SHC showed very superior than AGV aspect of container crane productivity and vehicle fleets,