• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.6
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• pp.177-193
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• 2022

In the near future, it is expected that the use of autonomous mobility-on-demand services will increase. Considering its complicated service components, including vehicle convenience, driving and matching speed, and platform convenience, the priorities of them will need to be determined for a successful establishment. In this context, this study examined the importance rank of each service component through an online survey of potential users of autonomous mobility-on-demand services. As a result of the AHP (Analytic Hierarchy Process) with respect to the upper-level components, driving and matching speed component is selected as most important, followed by platform convenience and vehicle convenience. Mean rank analysis with respect to lower-level components showed that the in-vehicle congestion level of vehicle convenience, waiting time of driving and matching speed, and pre-booking availability of platform convenience each ranked first. Additional analysis regarding each group was conducted to establish a group-specific strategy. As a result, it would be better to focus on a vehicle than a mobile platform when designing services for the region with a high proportion of the older. Moreover, it is recommended to speed up the driving and matching speeds more than the current public transport, alleviate in-vehicle congestion, and enable the users to book the schedule in advance.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.198-208
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• 2022

In this paper, an autonomous driving system is implemented for the Segye AI Robot Race Competition that multiple vehicles drive simultaneously. By utilizing the ERP42-racing platform, RTK-GPS, and LiDAR sensors provided in the competition, we propose an autonomous driving system that can drive safely and quickly in a road environment with multiple vehicles. This system consists of a recognition, judgement, and control parts. In the recognition stage, vehicle localization and obstacle detection through waypoint-based LiDAR ROI were performed. In the judgement stage, target velocity setting and obstacle avoidance judgement are determined in consideration of the straight/curved section and the distance between the vehicle and the neighboring vehicle. In the control stage, adaptive cruise longitudinal velocity control based on safe distance and lateral velocity control based on pure-pursuit are performed. To overcome the limited experimental environment, simulation and partial actual experiments were conducted together to develop and verify the proposed algorithms. After that, we participated in the Segye AI Robot Race Competition and performed autonomous driving racing with verified algorithms.

• Journal of the Korea Society of Computer and Information
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• v.27 no.11
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• pp.107-114
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• 2022

In this paper, proposes a delivery robot that can be autonomous driving learning. The proposed robot is designed to be used in park-type apartments without ground parking facilities. Compared to the existing apartments with complex ground and underground routes, park-type apartments have a standardized movement path, allowing the robot to run stably, making it suitable for students' initial education environment. The delivery robot is configured to enable delivery of parcels through machine learning technology for route learning and autonomous driving using cameras and LiDAR sensors. In addition, the control MCU was designed by separating it into three parts to enable learning by level, and it was confirmed that it can be used as a delivery robot for learning through operation tests such as autonomous driving and obstacle recognition. In the future, we plan to develop it into an educational delivery robot for various delivery services by linking with the precision indoor location information recognition technology and the public technology platform of the apartment.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.299-307
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• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.8
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• pp.4123-4141
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• 2019

Autonomous driving technology is divided into 0~5 levels. Of these, Level 5 is a fully autonomous vehicle that does not require a person to drive at all. The automobile industry has been trying to develop Level 5 to satisfy safety, but commercialization has not yet been achieved. In order to commercialize autonomous unmanned vehicles, there are several problems to be solved for driving safety. To solve one of these, this paper proposes 'A Deep Learning Part-diagnosis Platform(DLPP) based on an In-vehicle On-board gateway for an Autonomous Vehicle' that diagnoses not only the parts of a vehicle and the sensors belonging to the parts, but also the influence upon other parts when a certain fault happens. The DLPP consists of an In-vehicle On-board gateway(IOG) and a Part Self-diagnosis Module(PSM). Though an existing vehicle gateway was used for the translation of messages happening in a vehicle, the IOG not only has the translation function of an existing gateway but also judges whether a fault happened in a sensor or parts by using a Loopback. The payloads which are used to judge a sensor as normal in the IOG is transferred to the PSM for self-diagnosis. The Part Self-diagnosis Module(PSM) diagnoses parts itself by using the payloads transferred from the IOG. Because the PSM is designed based on an LSTM algorithm, it diagnoses a vehicle's fault by considering the correlation between previous diagnosis result and current measured parts data.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.6
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• pp.639-645
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• 2018

This paper is intended to develop a decision model that can be applied to autonomous vehicles and autonomous mobile vehicles. The developed module has an independent configuration for application in various driving environments and is based on a platform for organically operating them. Each module is studied for decision making on lane changes and for securing safety through reinforcement learning using a deep learning technique. The autonomous mobile moving body operating to change the driving state has a characteristic where the next operation of the mobile body can be determined only if the definition of the speed determination model (according to its functions) and the lane change decision are correctly preceded. Also, if all the moving bodies traveling on a general road are equipped with an autonomous driving function, it is difficult to consider the factors that may occur between each mobile unit from unexpected environmental changes. Considering these factors, we applied the decision model to the platform and studied the lane change decision system for implementation of the platform. We studied the decision model using a modular learning method to reduce system complexity, to reduce the learning time, and to consider model replacement.

• Journal of Advanced Navigation Technology
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• v.24 no.6
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• pp.521-526
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• 2020

In this paper, we propose a design method and process for hybrid V2X communication platform that combines WAVE communication and LTE-V2X communication which are C-ITS communication protocols for vehicle environments and Legacy LTE communication which is a commercial mobile communication for evaluating the autonomous platooning platform of commercial vehicles. For a safe and efficient autonomous platooning platform, an low-latency communication function based on C-ITS communication is required, and to control it, commercial communication functions such as Legacy LTE, which can be connected at all times, are required. In order to evaluate such a system, the evaluation equipment must have the same level of communication performance or higher. The main design contents presented in this paper will be applied to the implementation of hybrid V2X terminals for functional evaluation.

• The Journal of Korea Robotics Society
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• v.16 no.4
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• pp.327-335
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• 2021

In this paper, we propose an embedded robot system based on "ROS2 on Yocto" that can support various robots. We developed a lightweight OS based on the Yocto Project as a next-generation robot platform targeting cloud robotics. Yocto Project was adopted for portability and scalability in both software and hardware, and ROS2 was adopted and optimized considering a low specification embedded hardware system. We developed SLAM, navigation, path planning, and motion for the proposed robot system validation. For verification of software packages, we applied it to home cleaning robot and indoor delivery robot that were already commercialized by LG Electronics and verified they can do autonomous driving, obstacle recognition, and avoidance driving. Memory usage and network I/O have been improved by applying the binary launch method based on shell and mmap application as opposed to the conventional Python method. Finally, we verified the possibility of mass production and commercialization of the proposed system through performance evaluation from CPU and memory perspective.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.5
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• pp.273-280
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• 2022

Along with the advancement of deep learning technology, securing high-quality dataset for verification of developed technology is emerging as an important issue, and developing robust deep learning models to the domestic road environment is focused by many research groups. Especially, unlike expressways and automobile-only roads, in the complex city driving environment, various dynamic objects such as motorbikes, electric kickboards, large buses/truck, freight cars, pedestrians, and traffic lights are mixed in city road. In this paper, we built our dataset through multi camera-based processing (collection, refinement, and annotation) including the various objects in the city road and estimated quality and validity of our dataset by using YOLO-based model in object detection. Then, quantitative evaluation of our dataset is performed by comparing with the public dataset and qualitative evaluation of it is performed by comparing with experiment results using open platform. We generated our 2D dataset based on annotation rules of KITTI/COCO dataset, and compared the performance with the public dataset using the evaluation rules of KITTI/COCO dataset. As a result of comparison with public dataset, our dataset shows about 3 to 53% higher performance and thus the effectiveness of our dataset was validated.

• Journal of Advanced Navigation Technology
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• v.24 no.3
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• pp.212-217
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• 2020

Recently, with the interest in the 4th industrial revolution, the demand for autonomous driving technology is increasing. V2X communication technology is a core technology for autonomous vehicles that exchanges information with objects such as vehicles, infrastructure, networks, and pedestrians through wired and wireless networks. In this paper, we present the results of the hybrid V2X communication system, which is a hybrid design of WAVE and LTE, and the coverage test to confirm the performance of the system. Through coverage measurement, we show that the hybrid V2X communication performance is superior to the existing LTE or WAVE single communication system in communication coverage, so it can be effectively applied to autonomous driving services.