• Title/Summary/Keyword: Automated driving system

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Method for Constructing a Railway by using a Guide-way for a Rubber-wheeled automated Transit System (안내궤도를 이용한 고무차륜 경량전철 AGT 궤도부설공법)

  • Kang, Nam-Hun;Lee, An-Ho;Lee, Il-Wha;Kim, Chang-Hwan
    • Proceedings of the KSR Conference
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    • 2011.05a
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    • pp.1793-1798
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    • 2011
  • The railway structure for a rubber-wheeled automated guide-way transit system consists of a driveway and a guide-way. The most important factor of this system is the driveway and the guide-way aligned with each other, especially for curves and inclines section. The conventional construction method caused many problems such as discordancy by constructing the driveway before constructing the guide-way. Therefore, in this paper we introduce a new method of constructing a railway for a rubber-wheeled light rail vehicle; the new method of constructing the guide-way beforehand as a preceding process. The new method for AGT railway system can simplify the construction process and thus the construction costs may be reduced. It should also improve the driving performance and the comfortability in operating of a light rail vehicle.

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A Study of the Obstacle Detection System Using Virtual Bumper(1) (Virtual Bumper를 이용한 장애물감지에 관한 연구(I))

  • 최성락;김선호;박경택;유득신
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 1999.10a
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    • pp.315-320
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    • 1999
  • Obstacle Detection System(ODS) is a essential system for automated vehicle, such as AGV(Automatic Guided Vehicle), mobile robot. Automated vehicle must have a capability to detect and to avoid obstacles to guarantee a safe driving condition. To implement obstacle detection system, virtual bumper concept adapted. Like real bumper in a car, such as in the truck, it protects vehicle from collision using laser distance sensor. When an obstacle(such as other vehicle, building, etc) intrudes this virtual bumper area, a virtual force is calculated and produces necessary strategy to be able to avoid collision. In this paper, simplified virtual bumper concept is presented, and various problems when happens to implement are discussed.

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An Adaptive ROI Decision for Real-time Performance in an Autonomous Driving Perception Module (자율주행 인지 모듈의 실시간 성능을 위한 적응형 관심 영역 판단)

  • Lee, Ayoung;Lee, Hojoon;Yi, Kyongsu
    • Journal of Auto-vehicle Safety Association
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    • v.14 no.2
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    • pp.20-25
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    • 2022
  • This paper represents an adaptive Region of Interest (ROI) decision for real-time performance in an autonomous driving perception module. Since the whole automated driving system consists of numerous modules and subdivisions of module occur, it is necessary to consider the characteristics, complexity, and limitations of each module. Furthermore, Light Detection And Ranging (Lidar) sensors require a considerable amount of time. In view of these limitations, division of submodule is inevitable to represent high real-time performance for stable system. This paper proposes ROI to reduce the number of data respect to computation time. ROI is set by a road's design speed and the corresponding ROI is applied differently to each vehicle considering its speed. The simulation model is constructed by ROS, and overall data analysis is conducted by Matlab. The algorithm is validated using real-time driving data in urban environment, and the result shows that ROI provides low computational costs.

Radar, Vision, Lidar Fusion-based Environment Sensor Fault Detection Algorithm for Automated Vehicles (레이더, 비전, 라이더 융합 기반 자율주행 환경 인지 센서 고장 진단)

  • Choi, Seungrhi;Jeong, Yonghwan;Lee, Myungsu;Yi, Kyongsu
    • 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.

Development and Performance of Automated Calibration System of Sound Level Meters (소음계 교정 자동화 시스템 개발 및 성능평가)

  • 김용태;조문재;이용봉;서재갑;서상준
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 1998.04a
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    • pp.704-709
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    • 1998
  • An automated calibration system of sound level meters was developed and tested. As a standard sound source, the speaker unit(Forstex FE208) cabineted by 440 * 390 * 490 mm$^{3}$(LHW) volume wood box was adopted. Including this source, the driving part was found out to have a good linearity of sound pressure output vs AC input. We use the Hybrid-Bisect, /Newton-Raphson method modified by the linearity as searching algorithm. Personal computer and program do the control, measurements, and calculations and finally do the accumulation of useful data and results. Several trials of automatic calibration using this developed system give reliable results.

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Development and Performance of Automated Calibration System of Sound Level Meters (소음계 교정 자동화 시스템 개발 및 성능평가)

  • 김용태;조문재;이용봉;서재갑
    • Journal of KSNVE
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    • v.8 no.5
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    • pp.879-886
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    • 1998
  • An automated calibration system of sound level meters was developed and tested. As a standard sound source, the speaker unit(Forstex FE208) cabineted by 440$\times$390$\times$490 $\textrm{mm}^3$(LHW) volume wood box was adopted. Including this source, the driving part was found out to have a good linearity of sound pressure output vs AC voltage input. The Hybrid-Bisect/Newton-Raphson method modified by the linearity was adopted as a searching algorithm. Uisng GPIB interface, the console PC make the control, measurements, and calculations and finally make the accumulation of useful data and results automatically by the instructon in the program coded by C languate. Several trials of automatic calibration using this developed system give the reliable results.

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A Development of Parallel Type Hybrid Drivetrain System for Transit Bus Part 2 : A Development of Advanced Shift Control Algorithm for Hybrid Vehicle with Automated Manual Transmission (버스용 병렬형 하이브리드 동력전달계의 개발(II) 제2편 : 자동화변속기가 장착된 하이브리드 차량의 향상된 변속 제어 알고리듬 개발)

  • 조한상;조성태;이장무;박영일
    • Transactions of the Korean Society of Automotive Engineers
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    • v.7 no.5
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    • pp.96-106
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    • 1999
  • In this study, the advanced shift control algorithm for parallel type hybrid drivetrain system with automated manual transmission(AMT) is proposed. The AMT can be easily realized by mounting the pneumatic actuators and sensors on the clutch and shift levers of the conventional manual transmission. By using the electronic-controlled AMT, engine and induction machine, it is possible to achieve the integrated control of overall system for the efficiency and the performance of the vehicle. Performing the speed control of the induction machine and the engine, the synchronization at gear shifting and the smooth engagement of clutch can be guaranteed. And it enables to reduce the shift shock and shorten the shift time. Hence, it results in the improvement of shift quality and the driving comfort of the vehicle. Dynamometer-based experiments are carried out to prove the validity of the proposed shift control algorithm.

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An Analysis for the Characteristics of Railroad Central Control Center and the Duty of the Operator (Focused on AREX C.C.C.) (철도 종합관제실 특성 및 관제사의 직무 분석 (공항철도 종합관제실을 중심으로))

  • Kim, Jung-Gon;Lee, Won-Young
    • Proceedings of the KSR Conference
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    • 2008.11b
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    • pp.1955-1963
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    • 2008
  • How can a train move? While a car is driven by a driver who gets the traffic information and takes the road, a train is operated on the designated(or predetermined) track by the operator or the control center. There have been a great deal of changes and evolutions in the railroad environment. Along with these transitions, there have been also a considerable amount of changes in the control center. There has been no detailed analysis for the control center even though its importance has been recognized. It goes without saying that CCC(Central Control Center)'s importance as the core of the train driving system. Such an importance is true for the automated driving system such as the light rail system. Therefore this paper analyzes the CCC of AREX(Airport Express) from the various aspects, i.e., organization, personnel assignment, the way of working, qualification and job analysis for the operator.

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Analysis of Factors Affecting the Take-over Time of Automated Vehicles Using a Meta-analysis (메타분석을 이용한 자율주행차 제어권 전환 소요시간 영향요인 도출)

  • Lee, Kyeongjin;Park, Sungho;Park, Giok;Park, Jangho;Yun, Ilsoo
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.21 no.4
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    • pp.167-189
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    • 2022
  • In the case of SAE autonomous driving levels 2 and 3, since complete autonomous driving is impossible, the take-over process is essential, and take-over time(TOT) is the most important factor in determining the safety of the autonomous driving system. Accordingly, research on TOT is being actively conducted, but each research is independently conducted and general conclusions that integrate various research results are required. Therefore, in this study, the factors affecting TOT were analyzed using meta-analysis, which integrates the results of individual studies and presents an integrated opinion. As a result of meta-analysis, a total of 10 influencing factors were selected, and most of them were related to the non-driving related task(NDRT) type. In addition, implications for the future research direction of take-over and NDRT were presented.

LiDAR Static Obstacle Map based Position Correction Algorithm for Urban Autonomous Driving (도심 자율주행을 위한 라이다 정지 장애물 지도 기반 위치 보정 알고리즘)

  • Noh, Hanseok;Lee, Hyunsung;Yi, Kyongsu
    • Journal of Auto-vehicle Safety Association
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    • v.14 no.2
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    • pp.39-44
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    • 2022
  • This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.