• Journal of IKEEE
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• v.23 no.1
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• pp.342-345
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• 2019

In autonomous car, significant progress has been achieved in technical aspects, but it is deadly slow to solve its various legal problems for commercialization of autonomous car. This paper surveys the road driving eligibility, a typical legal issue in autonomous car. Problems on current laws and regulations are analyzed, and some remedies are suggested. Technical development should be performed collaboratively with law and regulation revision, and understanding these legal issues would be very helpful to the engineers who develop autonomous cars.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.6-12
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• 2023

For the commercialization and standardization of autonomous vehicles, demand for rigorous safety criteria has been increased over the world. In Korea, the number of extraordinary service permission for automated vehicles has risen since Hyundai Motor Company got its initial license in March 2016. Nevertheless, licensing standards and evaluation factors are still insufficient for operating on public roadways. To assure driving safety, it is significant to verify whether or not the vehicle's decision is similar to human driving. This paper validates the safety of the autonomous vehicle by drawing scenario-based comparisons between manual driving and autonomous driving. In consideration of real traffic situations and safety priority, seven scenarios were chosen and classified into basic and advanced scenarios. All scenarios and safety factors are constructed based on existing ADAS requirements and investigated via a computer simulation and actual experiment. The input data was collected by an experimental vehicle test on the SNU FMTC test track located at Siheung. Then the offline simulation was conducted to verify the output was appropriate and comparable to the manual driving data.

• Tunnel and Underground Space
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• v.32 no.3
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• pp.231-242
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• 2022

In this study, we developed a robot operating system (ROS)-based autonomous driving robot that estimates the robot's position in underground mines and drives and returns through multiple waypoints. Autonomous driving robots utilize SLAM (Simultaneous Localization And Mapping) technology to generate global maps of driving routes in advance. Thereafter, the shape of the wall measured through the LiDAR sensor and the global map are matched, and the data are fused through the AMCL (Adaptive Monte Carlo Localization) technique to correct the robot's position. In addition, it recognizes and avoids obstacles ahead through the LiDAR sensor. Using the developed autonomous driving robot, experiments were conducted on indoor experimental sites that simulated the underground mine site. As a result, it was confirmed that the autonomous driving robot sequentially drives through the multiple waypoints, avoids obstacles, and returns stably.

• The Journal of the Convergence on Culture Technology
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• v.7 no.4
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• pp.641-652
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• 2021

Drivers have willing to do secondary tasks in situations deemed safe autonomous driving. I studied that positive notifications for secure areas could improve situation awareness and driving performance after TOR(Take over request) in autonomous driving. Comparing TOR alert only and monitoring alert conditions, participants in the positive notification condition showed higher situation awareness and driving performance. Also, in emotional assessment, the positive notification condition showed higher positive evaluation than other conditions. Due to Covid-19, I designed experiments separate online with driving videos in experiment 1 and offline using a driving simulator in experiment 2. This study has implications that presented a different perspective on autonomous driving notification design.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.120-126
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• 2010

This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.14-19
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• 2022

This paper presents motion planning algorithm that yields to intervening side lane vehicles in a congested traffic flow based on vehicle to vehicle (V2V) communication. Autonomous driving in dense traffic situation requires advanced driving performance in terms of vehicle interaction and risk mitigation. One of the most important functions necessary for congested traffic autonomous driving is to predict the lane change intention of the side lane target vehicle. However, implementing this function by using only environmental sensors has limitations. In this study, V2V communication is used to overcome the limitations and determine the intention of cut-in vehicles. Lane change intention of the intervening side lane vehicle is inferred by its longitudinal speed, steering angle, and turn signal light information received by the on-board-unit (OBU). Once the yield decision is made, the subject vehicle decelerates to generate sufficient clearance for the target vehicle to enter. Validation of the algorithm was conducted with actual autonomous test vehicles.

• 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.

• Journal of Drive and Control
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• v.20 no.4
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• pp.80-91
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• 2023

The purpose of this study is to suggest the direction for the development of intelligent agricultural machinery technology in the Republic of Korea. For this purpose, intelligent technology of agricultural machinery was divided into autonomous agricultural machinery and tractor-implement intelligent communication technology. Then, a survey and analysis of a previous study of the Republic of Korea and foreign countries were conducted. GNSS-based autonomous driving technology is still widely used worldwide, and recently, as research on camera and LiDAR-based autonomous driving is actively progressing, autonomous driving technology is becoming more advanced. ISOBUS-based technology is being developed worldwide for intelligent control of tractor-attached implements, and major global agricultural machinery manufacturers are actively applying it to their products. However, although some ISOBUS technologies are being researched in the Republic of Korea, there are no cases of application on agricultural machinery yet. Therefore, to be globally competitive in the agricultural machinery manufacturing industry, there is an urgent need to advance autonomous driving technology and commercialize agricultural machinery using ISOBUS technology.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.5
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• pp.760-767
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• 2011

To strategically select the technology priority based on the understanding of technology development trends and prospects is very important. To provide such guidance for autonomous driving technology in unmanned ground combat vehicles, this report deals with followings; 1) The core technologies for autonomous driving are reviewed. 2) And domestic and foreign policies for relevant technology development are investigated. 3) Then, to estimate the technology development trend, the published patents and research papers are analyzed. 4) Based on those analyses, domestic technology level and development prospects are expected.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.861-866
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• 2007

This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)