• KIPS Transactions on Software and Data Engineering
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• v.3 no.9
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• pp.369-374
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• 2014

Path generation methods are required for safe and efficient driving in unmanned autonomous vehicles. There are two kinds of paths: global and local. A global path consists of all the way points including the source and the destination. A local path is the trajectory that a vehicle needs to follow from a way point to the next in the global path. In this paper, we propose a novel method for local path generation through machine learning, with an effective curve function used for initializing the trajectory. First, reinforcement learning is applied to a set of candidate paths to produce the best trajectory with maximal reward. Then the optimal steering angle with respect to the trajectory is determined by training an artificial neural network. Our method outperformed existing approaches and successfully found quality paths in various experimental settings, including the cases with obstacles.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.14 no.2
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• pp.128-133
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• 2021

Currently, autonomous vehicle markets are commercializing a third-level autonomous vehicle, but there is a possibility that an accident may occur even during fully autonomous driving due to stability issues. In fact, autonomous vehicles have recorded 81 accidents. This is because, unlike level 3, autonomous vehicles after level 4 have to judge and respond to emergency situations by themselves. Therefore, this paper proposes a vehicle crisis detection system(VCDS) that collects and stores information outside the vehicle through CNN, and uses the stored information and vehicle sensor data to output the crisis situation of the vehicle as a number between 0 and 1. The VCDS consists of two modules. The vehicle external situation collection module collects surrounding vehicle and pedestrian data using a CNN-based neural network model. The vehicle crisis situation determination module detects a crisis situation in the vehicle by using the output of the vehicle external situation collection module and the vehicle internal sensor data. As a result of the experiment, the average operation time of VESCM was 55ms, R-CNN was 74ms, and CNN was 101ms. In particular, R-CNN shows similar computation time to VESCM when the number of pedestrians is small, but it takes more computation time than VESCM as the number of pedestrians increases. On average, VESCM had 25.68% faster computation time than R-CNN and 45.54% faster than CNN, and the accuracy of all three models did not decrease below 80% and showed high accuracy.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.1
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• pp.197-205
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• 2024

Development of AI and big data-based algorithms to advance and optimize the recognition and detection performance of various static/dynamic vehicles in front and around the vehicle at a time when securing driving safety is the most important point in the development and commercialization of autonomous vehicles. etc. are being studied. However, there are many research cases for recognizing the same vehicle by using the unique advantages of radar and camera, but deep learning image processing technology is not used, or only a short distance is detected as the same target due to radar performance problems. Therefore, there is a need for a convergence-based vehicle recognition method that configures a dataset that can be collected from radar equipment and camera equipment, calculates the error of the dataset, and recognizes it as the same target. In this paper, we aim to develop a technology that can link location information according to the installation location because data errors occur because it is judged as the same object depending on the installation location of the radar and CCTV (video).

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.5
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• pp.323-330
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• 2020

This paper proposes the road roughness based Braking Pressure Calculation System(BPCS) for an Autonomous Vehicle Stability. The system consists of an image normalization module that processes the front image of a vehicle to fit the input of the random forest, a Random Forest based Road Roughness Classification Module that distinguish the roughness of the road on which the vehicle is travelling by using the weather information and the front image of a vehicle as an input, and a brake pressure control module that modifies a friction coefficient applied to the vehicle according to the road roughness and determines the braking strength to maintain optimal driving according to a vehicle ahead. To verify the efficiency of the BPCS experiment was conducted with a random forest model. The result of the experiment shows that the accuracy of the random forest model was about 2% higher than that of the SVM, and that 7 features should be bagged to make an accurate random forest model. Therefore, the BPCS satisfies both real-time and accuracy in situations where the vehicle needs to brake.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2019.11a
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• pp.87-88
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• 2019

최근 기계학습 기술의 급속한 발전에 힘입어 자율주행을 위한 객체 인식 및 처리 기술 역시 비약적으로 발전하고 있다. 그러나 이러한 기계학습의 성능은 모델의 구조와 학습용 데이터의 품질에 영향을 받는다. 특히 주행환경을 잘 표현하는 학습데이터가 중요한데 전혀 새로운 도로, 주행환경, 장애물, 정적 혹은 동적 객체 등을 마주하면 정확도와 안정성에서 부정적인 영향을 받을 수 있는 것이다. 해외의 주행 데이터들에 크게 의존하고 있는 우리나라의 현실에 비춰 볼 때 국내 환경에 맞는 학습데이터를 쉽고 효율적으로 확보/관리/분석할 수 있게 하는 환경의 구축이 시급하다. 따라서 본 논문에서는 자율주행을 위한 기계학습 데이터를 효과적으로 관리하고 분석하기 위한 소프트웨어를 설계하고 개발하였다. 구체적으로는 수집된 영상들을 관리하는 기능, 영상에 존재하는 노이즈 제거 및 화질 개선 처리 기능, 학습 및 검증을 위한 메타 정보 태깅 기능, 태깅 정보의 통계적 분석 기능들을 포함한다. 개발한 소프트웨어는 우리나라에서 자체 촬영한 자율주행 학습 영상들에 대해 딥러닝 모델들을 학습하고 검증하는데 활용할 예정이다.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.1
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• pp.43-52
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• 2018

In recent years, the need of high accuracy navigation for vehicles has increased due to the development of autonomous driving vehicles and increase in land transportation convenience. This study is performed for vehicle users to achieve a performance of centimeter-level positioning accuracy by utilizing Compact Network Real-time Kinematic (RTK) that is applicable as a national-level infrastructure. To this end, medium-baseline RTK was implemented in real time to estimate accurate integer ambiguities between reference stations for reliable generation of Network RTK correction using the linear combination of carrier-phase observations and L1/L2 pseudo-range measurements. The residual tropospheric error was estimated in real time to improve the accuracy of double-differenced integer ambiguity resolution between network configuration reference stations that have at least 30 km or longer baseline distance. In addition, C++ based software was developed to enable real-time generation and broadcasting of Compact Network RTK correction information by utilizing an accurately estimated double-differenced integer ambiguity values. As a result, the horizontal and vertical 95% accuracy was 2.5cm and 5.2cm, respectively, without performance degradation due to user's position change within the network.

• Journal of Engineering Education Research
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• v.24 no.3
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• pp.50-57
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• 2021

Although the mathematics education process in AI education is a very important issue, little cases are reported in developing effective methods on AI and mathematics education at the university level. The universities cover all fields of mathematics in their curriculums, but they lack in connecting and applying the math knowledge to AI in an efficient manner. Students are hardly interested in taking many math courses and it gets worse for the students in humanities, social sciences and arts. But university education is very slow in adapting to rapidly changing new technologies in the real world. AI is a technology that is changing the paradigm of the century, so every one should be familiar with this technology but it requires fundamental math knowledge. It is not fair for the students to study all math subjects and ride on the AI train. We recognize that three key elements, SW knowledge, mathematical knowledge, and domain knowledge, are required in applying AI technology to the real world problems. This study proposes a modular approach of studying mathematics knowledge while connecting the math to different domain problems using AI techniques. We also show a modular curriculum that is developed for using math for AI-driven autonomous driving.

• Journal of Korea Multimedia Society
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• v.24 no.3
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• pp.448-459
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• 2021

In this paper, we propose a method of predicting the next-day stock price fluctuations of 10 KOSDAQ-listed companies in 5G, autonomous driving, and electricity sectors by training SVM, XGBoost, and LightGBM models from macroeconomic·financial market indicators, technical indicators, social interest indicators, and daily positive indices extracted from online news. In the three experiments to find out the usefulness of social interest indicators and daily positive indices, the average accuracy improved when each indicator and index was added to the models. In addition, when feature selection was performed to analyze the superiority of the extracted features, the average importance ranking of the social interest indicator and daily positive index was 5.45 and 1.08, respectively, it showed higher importance than the macroeconomic financial market indicators and technical indicators. With the results of these experiments, we confirmed the effectiveness of the social interest indicators as alternative data and the daily positive index for predicting stock price fluctuation.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.803-805
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• 2022

자율주행의 시대가 도래함에 따라, 딥러닝 모델에 대한 적대적 공격 위험이 함께 증가하고 있다. 카메라 기반 자율주행차량이 공격받을 경우 보행자나 표지판 등에 대한 오분류로 인해 심각한 사고로 이어질 수 있어, 자율주행 시스템에서의 적대적 공격에 대한 방어 및 보안 기술 연구가 필수적이다. 이에 본 논문에서는 GTSRB 표지판 데이터를 이용하여 각종 공격 및 방어 기법을 개발하고 제안한다. 시간 및 정확도 측면에서 성능을 비교함으로써, 자율주행에 최적인 모델을 탐구하고 더 나아가 해당 모델들의 완전자율주행을 위한 발전 방향을 제안한다.

• Journal of Drive and Control
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• v.20 no.4
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• pp.140-149
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• 2023

Wire harness is a component for efficient control when electronic parts are required such as construction machinery and electric vehicles. With emerging issues such as autonomous driving and automation in construction, a wire harness composed of multiple cables has become an essential part because more electronic parts are required. However, when a wire harness failure occurs, systems can be stopped, accidents can occur, and economic damage can be significant. Therefore, in this paper, we developed a digital fault screening system that could easily and quickly diagnose faults in the wire harness. The principle of the developed system was to sequentially send pulse signals to the wire harness and use returned signals to perform fault detection. As a result of diagnosing faults using the developed failure detection system, a detection accuracy of 99.9 % was confirmed through the experiments.