• International Journal of Automotive Technology
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• v.7 no.2
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• pp.227-235
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• 2006

In this paper a robust image processing method with modified Otsu algorithm to recognize the road lane for a real-time controlled autonomous vehicle is presented. The main objective of a proposed method is to drive an autonomous vehicle safely irrespective of road image qualities. For the steering of real-time controlled autonomous vehicle, a detection area is predefined by lane segment, with previously obtained frame data, and the edges are detected on the basis of a lane width. For stable as well as psudo-robust autonomous driving with "good", "shady" or even "bad" road profiles, the variable threshold with modified Otsu algorithm in the image histogram, is utilized to obtain a binary image from each frame. Also Hough transform is utilized to extract the lane segment. Whether the image is "good", "shady" or "bad", always robust and reliable edges are obtained from the algorithms applied in this paper in a real-time basis. For verifying the adaptability of the proposed algorithm, a miniature vehicle with a camera is constructed and tested with various road conditions. Also, various highway road images are analyzed with proposed algorithm to prove its usefulness.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.196-196
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• 2000

This paper describes a lateral guidance system of an autonomous vehicle, using a neural network model of magneto-resistive sensor and magnetic fields. The model equation was compared with experimental sensing data. We found that the experimental result has a negligible difference from the modeling equation result. We verified that the modeling equation can be used in simulations. As the neural network controller acquires magnetic field values(B$\_$x/, B$\_$y/, B$\_$z/) from the three-axis, the controller outputs a steering angle. The controller uses the back-propagation algorithms of neural network. The learning pattern acquisition was obtained using computer simulation, which is more exact than human driving. The simulation program was developed in order to verify the acquisition of the teaming pattern, teaming itself, and the adequacy of the design controller. The performance of the controller can be verified through simulation. The real autonomous electric vehicle using neural network controller verified good results.

• ETRI Journal
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• v.37 no.3
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• pp.617-625
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• 2015

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.

• Journal of the Korean Society of Systems Engineering
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• v.18 no.2
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• pp.40-49
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• 2022

Remote-controlled and autonomous driving based on artificial intelligence are key elements required for unmanned combat vehicles. The required capability of such an unmanned combat vehicle should be expressed in reasonable required operational capability(ROC). To this end, in this paper, the requirements of an unmanned combat vehicle operated under a manned-unmanned teaming were analyzed. The functional requirements are remote operation and control, communication, sensor-based situational awareness, field environment recognition, autonomous return, vehicle tracking, collision prevention, fault diagnosis, and simultaneous localization and mapping. Remote-controlled and autonomous driving of unmanned combat vehicles could be achieved through the combination of these functional requirements. It is expected that the requirement analysis results presented in this study will be utilized to satisfy the military operational concept and provide reasonable technical indicators in the system development stage.

• Journal of Auto-vehicle Safety Association
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• v.16 no.2
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• pp.14-19
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• 2024

This paper describes autonomous emergency braking systems (AEB) for elderly drivers designed to consider their driving characteristics. With aging, perception-reaction time, and decision-making time increase accordingly. Without being aware of these performance degradations, however, changes in driving patterns due to increased alertness while driving lead to vehicle crashes. Therefore, it is necessary to develop an autonomous emergency braking system by incorporating the characteristics of the elderly driver. In order to enhance the driver acceptance of older people, perception-reaction time, alertness, and ride comfort need to be considered for conventional autonomous emergency braking systems (C-AEB). Proactive AEB(P-AEB) algorithm has been proposed to reflect human factor of elderly driver above. The performance of the proposed algorithm has been evaluated through MATLAB simulink simulation studies. It has been shown from the computer simulations that the proposed P-AEB algorithm enhances the driver acceptance of older people by improving ride comfort while ensuring safety of vehicle.

• Journal of Auto-vehicle Safety Association
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• v.16 no.1
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• pp.29-34
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• 2024

This paper presents a multi-label lane detection method for autonomous vehicles based on deep learning. The proposed algorithm can detect two types of lanes: center lane and normal lane. The algorithm uses a convolution neural network with an encoder-decoder architecture to extract features from input images and produce a multi-label heatmap for predicting lane's label. This architecture has the potential to detect more diverse types of lanes in that it can add the number of labels by extending the heatmap's dimension. The proposed algorithm was tested on an OpenLane dataset and achieved 85 Frames Per Second (FPS) in end to-end inference time. The results demonstrate the usability and computational efficiency of the proposed algorithm for the lane detection in autonomous vehicles.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.2
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• pp.114-128
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• 2019

Recently, the interest in the safety of autonomous vehicles has globally been increasing. Also, there is controversy over the reliability and safety about autonomous vehicle. In Korea, the K-City which is a test-bed for testing autonomous vehicles has been constructing. There is a need for test scenarios for autonomous vehicle test in terms of safety. The purpose of this study is to develop the evaluation scenario for autonomous vehicle at community roads in K-City by using crash data collected by the Korea National Police Agency and a text-mining technique. As a result, 24 scenarios were developed in order to test autonomous vehicle in community roads. Finally, the logical and concrete scenario forms were derived based on the Pegasus 5-layer format.

• The Journal of Society for e-Business Studies
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• v.24 no.2
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• pp.91-112
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• 2019

In accordance with the advent of the 5th generation (5G) communication technology, we are having a change in various communication services which converge with high technologies related to the 4th Industrial Revolution. To utilize the upcoming 5G technology effectively and practically, we analyzed the technologies which have the most potential in convergence under the introduction of 5G technology and as a result, it is a autonomous vehicle that we'll discuss the core technologies of the 4th Industrial Revolution, which can lead to service activation by being combined with 5G technology. In addition, we developed an industry-service classification of 5G-based autonomous vehicle, we provided a basis for supporting a new business and its new business model converged with 5G communication technology. Furthermore, we will create a linkage matrix with the industry-service classification system of a new autonomous vehicles. This matrix will service as a guideline for industry-service development where autonomous vehicles can be utilized actively in the next generation.

• Convergence Security Journal
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• v.18 no.4
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• pp.53-61
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• 2018

Recently 4th Industrial Revolution era has come up and autonomous vehicle gets a huge attention for its commercialization as well as development. To this end, many countries such as US, UK, Germany are looking into laws and policies related to autonomous vehicle making a new law system, laws, policies or at least modifying the existing ones. Korea is also facing commercialization and development of autonomous vehicle yet it's law system, laws and policies are far beyond comparing to those of advanced countries. This paper details current law system comparison of several countries providing differences and characteristics for the purpose of success of auto drive vehicle industry. On top of that we suggest a new law system, laws and policies and then provide directions as steps for mature implementation. In addition, we discuss how the new laws and policies can bring out successful commercialization as well as industrial success of autonomous vehicle at the points of consumers, vehicle makers, insurance companies, and government.

• Journal of Biosystems Engineering
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• v.25 no.2
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• pp.131-140
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• 2000

Spraying operation is one of the most essential in an orchard management and it is also hazardous to human body. for automatic and unmanned spraying , an autonomous travelling vehicle is demanded. In this study, a telemeter was developed using infrared beam which could detect trunks and obstacles measure distance and direction from the vehicle travelling in the orchard. The telemeter system was composed of two infrared LED transmitters and receivers, a beam scanning device for continuous object detection , two rotary encoders for angle detector, and a beam level controller for uneven soil surface. The detected distance and direction signal s were sent to personal computer which made for the system display the angular and distance measurements through I/O board. According to a field test in an apple farm, the system detected up to 10m distance under 12 V of transmitted beam intensity, however, it was recommended that the proper beam transmit intensity be 7 v at the 10 m distance, because of the negative effect to human body at 12 V. The error rate of this system was 0.92 % when the actual distance was compared to measured one. The system was feasible at the small error rate. The developed telemeter system was an important part for autonomous travelling vehicle provided the real time object recognition . A direction control system could be constructed suing the system. It is expected that the system could greatly contribute to the development of autonomous farm vehicle.