• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.194-198
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• 2015

In this paper, a remote emergency stop system to improve the safety of an automated driving vehicle is proposed. One of the most serious problems of the previous wireless remote emergency system is that it does not work when the wireless channel is damaged in case of an emergency because it is composed of a single communication channel. Therefore, the proposed remote emergency stop system composed of a portable wireless remote system and a stationary wireless remote system is designed and the remote emergency stop system for automated driving vehicles is developed. By applying it to an automated driving vehicle to check it's performance, the wireless remote system is tested. Emergency stops using the portable wireless remote system is tested when the stationary wireless remote system is disconnected. Also, emergency stops using the stationary wireless remote system are tested when the portable wireless remote system is disconnected. The results of the emergency stop test show a satisfactory performance.

• Journal of Auto-vehicle Safety Association
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• v.12 no.4
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• pp.61-69
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• 2020

As a sales volume of autonomous vehicle continually grows up, regulations on this new technology are being introduced around the world. For example, safety standards for the Level 3 automated driving system was promulgated in December 2019 by the Ministry of Land, Infrastructure and Transport of Korean government. In order to promote the development of autonomous vehicle technology and ensure its safety simultaneously, the regulations on the automated driving systems should be phased in to keep pace with technology progress and market expansion. However, according to SAE J3016, which is well known to classify the level of the autonomous vehicle technologies, the description for classification is rather abstract. Therefore it is necessary to describe the automated driving system in more detail in terms of the 'Level.' In this study, the functions and characteristics of automated driving system are carefully classified at each level based on the commentary in the Informal Working Group (IWG) of the UN WP29. In particular, regarding the Level 4, technical issues are characterized with respect to vehicle tasks, driver tasks, system performance and regulations. The important features of the autonomous vehicles to meet Level 4 are explored on the viewpoints of driver replacement, emergency response and connected driving performance.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.44 no.4
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• pp.145-153
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• 2021

Automated Guided Vehicle (AGV) is commonly used in manufacturing plant, warehouse, distribution center, and terminal. AGV is self-driven vehicle used to transport material between workstations in the shop floor without the help of an operator, and AGV includes a material transfer system located on the top and driving system at the bottom to move the vehicle as desired. For navigation, AGV mostly uses lane paths, signal paths or signal beacons. Various predominant sensors are also used in the AGV. However, in the conventional AGV, there is a problem of not turning or damaging nearby objects or AGV in a narrow space. In this paper, a new driving system is proposed to move the vehicle in a narrow space. In the proposed driving system, two sets of the combined steering-drive unit are adopted to solve the above problem. A prototype of AGV with the new driving system is developed for the comparative analysis with the conventional AGV. In addition, the experimental result shows the improved performance of the new driving system in the maximum speed, braking distance and positioning precision tests.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.6
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• pp.299-310
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• 2022

The ability of an automated driving system is based on vehicle sensors, judgment and control algorithms, etc. The safety of automated driving system is highly related to the operational status of the road network and compliant road infrastructure. The safe operation of automated driving necessitates continuous monitoring to determine if the road and traffic conditions are suitable and safe. This paper presents a node and link system to build a road monitoring system by considering the ODD(Operational Design Domain) characteristics. Considering scalability, the design is based on the existing ITS standard node-link system, and a method for expressing the monitoring target as a node and a link is presented. We further present a technique to classify and manage hazard risk into five levels, and a method to utilize node and link information when searching for and controlling the optimal route. Furthermore, we introduce an example of system implementation based on the proposed node and link system for Sejong City.

• Journal of Auto-vehicle Safety Association
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• v.8 no.4
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• pp.31-37
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• 2016

Since real road experiments have many restrictions, a multi-vehicle traffic simulator can be an effective tool to develop and evaluate fully automated driving systems. This paper presents multi-vehicle environment simulation tool to develop and evaluate motorway automated driving systems. The proposed simulation tool consists of following two main parts: surrounding vehicle model and environment sensor model. The surrounding vehicle model is designed to quickly generate rational complex traffic situations of motorway. The environment sensor model depicts uncertainty of environment sensor. As a result, various traffic situations with uncertainty of environment sensor can be proposed by the multi-vehicle environment simulation tool. An application to automated driving system has been conducted. A lane changing algorithm is evaluated by performance indexes from the multi-vehicle environment simulation tool.

• Journal of Auto-vehicle Safety Association
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• v.13 no.3
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• pp.102-110
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• 2021

As an alternative to solving safety, environments, and aging problems, ADS (Automated driving system) in the global automotive market is actively being developed as a new growth industry. In time for the appearance of ADS, relevant regulations and assessment programs must also be developed. For example, safety standards for the Level 3 automated driving system were promulgated in December 2019 by the Ministry of Land, Infrastructure and Transport of Korean government. However, assessment programs such as KNCAP for autonomous functions of ADS have not yet been introduced in Korea as well as globally. The autonomous driving functions of ADS at Level 3 or higher must be capable to recognize, judge and respond to objects and events in a wide variety of complex situations. In this paper, we examined and studied the complex situations, considerations and assessment items that ADS must respond to in the interest of safety for passengers, pedestrians and other road users. We hope this paper will be helpful to develop an execution program in the future.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.293-298
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• 2005

In this paper, we introduced a simulator to visualize the driving scenery of newly developed train called the K-AGT(Korea Automated Guideway Transit). The simulator consists of mainly two parts; control system and display system. In the control system, user can control the driving speed of the K-AGT, the driving environment(day and night), the operation of the train door and the screen door and user's views(driver's view, left window view, right window view, passenger's view). In the display system, immersive driving scenery generated by stereoscopic head mount display system and 3 channel PDP display system are displayed. We are expect to utilize the system to share the idea among customer, designer and constructor and verify the operating condition of the K-AGT intuitively.

• 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.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.99-105
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• 2021

Vehicle occupant postures are anticipated to vary more widely during automated driving and to become more significant in terms of the autonomous vehicle safety. Experimental and computational approaches are needed to investigate and evaluate occupant behaviors during automated driving in general. However the validity and effect of such occupant postures are unknown, thus it is necessary to examine occupant behaviors and injury countermeasures for various occupant postures. This study was focused on the development and evaluation of restraint system model for occupant behavior examinations in the first step according to autonomous vehicle occupant safety. The finite element models of dummy and restraint system were set up and simulation results showed overall model performance and safety tolerances of different reclined occupant postures during frontal impact loading.

• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.311-317
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• 2024

Large-scale three-wheeled cleaning robots are utilized to clean large spaces such as warehouses and manufacturing plants where significant floor contamination occurs. Although there are autonomous cleaning robots, user-operated cleaning robots are often preferred because they are easy to repair and inexpensive. Therefore, workers have to spend extra time on cleaning, which reduces work efficiency. In this paper, we propose an autonomous driving system designed to automate the operation while maintaining the structure of existing cleaning robots. The contributions of this paper are as follows: 1) Hardware modules that control the driving and steering components. 2) A LiDAR-based autonomous driving system and path point generation system considering the mechanical characteristics of the cleaning robot. 3) The proposed system is implemented on an actual cleaning robot and driving tests are performed. As a result, when path planning is performed to cover the cleaning area, the average RMSE for each straight path is 0.0802 m, which is smaller than the minimum cleaning overlap of 0.3 m that occurs during the straight cleaning of the robot. This shows that the proposed system effectively covers the entire cleaning area.