• 한국철도학회논문집
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• 제9권3호
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• pp.282-290
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• 2006

In the current train operation system, large scaled stations like Cheongnyangni and Yongsan are not remote controlled from the central operator but manually by local operator. It is because there are so many entering and exit of trains between depot and mainline which are operating through the large scaled stations and it is very effective to traffic flow on the mainline. Therefore, Kyong Bong Technology Co., Ltd. (KBTech) and Korea Railway Research Institute (KRRI) are continuing the research and development to import 'Autonomous Decentralized System (ADS)'as part of a new train operation control system which is a national policy project of MOCT (Ministry Of Construction & Transportation). The concept of the 'Autonomous Decentralized System (ADS)' has born in 1970's in Japan by the influences of molecular biology. The special features of ADS are being a system that able to do the online expansion, online maintenance and fault tolerance. This thesis introduces the concept of technology of ADS and also describes the system designing & development to apply with large scaled stations.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2023년도 춘계학술대회
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• pp.162-163
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• 2023

As the development of the 4^th industiral revolution in the maritime industry has progressed, the technical development of autonomous ships, and the development of international regulations have been accelerated. In particular, the IMO Maritime Safety Committee(MSC) has established a road-map for the development of the non-mandatory goal-based MASS instrument(MASS Code) and started developing a non-mandatory MASS Code at MSC 105^th meeting. Many countries are actively participating in the Correspondence Group on the development of MASS Code, and the development of detailed requirements for MASS functions in the MASS Code is underway. Especially, the concept of "Mode of Operation" for MASS functions was mentioned in the Correspondence Group for the first time, and it is expected that discussions on these modes will be conducted from the IMO MASS JWG meeting to held in April 2023. The concept of "Mode of Operation" will be useful in explaining MASS and MASS functions and will be discussed in the future for the development of MASS Code. This paper reviews the contents of the IMCA M 220 document, which provides guidelines on operating modes, to conduct research on the benchmark for setting the operating modes of MASS.

• 한국산학기술학회논문지
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• 제19권2호
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• pp.595-601
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• 2018

운전자가 차량 조작에 개입하지 않고, 차량 스스로 주행하는 자율주행차량의 시대가 도래하였다. 자율주행차량 시대에서는 자율주행차량이 도로환경을 정확히 인식함으로써, 자율주행 차량의 안전성을 확보 할 수 있다. 그러나, 도로환경을 구성하고 있는 요소는 도로안전시설, 교통관리시설, 횡단구성으로 구분 할 수 있으며, 각각을 구성하고 있는 종류, 형태 및 규격은 다양하다. 따라서, 도로환경을 구성하고 있는 시설물 중에서 우선적으로 취득해야 하는 도로시설물에 대한 우선순위 결정이 필요하다. 본 연구에서는 전문가 설문 및 AHP(Analytical Hierarchy Process)기법을 이용하여 도로시설물 인식에 대한 우선선위를 결정하였다. AHP 분석을 위해 항목을 2계층으로 구분했으며, 1계층은 도로안전시설, 교통관리시설, 횡단구성, 2계층은 시선유도시설을 포함한 26개의 항목을 구분하였다. 분석 결과, 1계층에서는 도로안전시설, 교통관리시설, 횡단구성 중 교통관리시설이 가장 우선순위가 높은 것으로 나타났으며, 2계층에서는 방호울타리(도로안전시설), 교통신호기(교통관리시설), 중앙분리대(횡단구성)의 우선순위가 높게 나타났다. 또한, AHP 분석 기법을 이용하여 도출된 고정환경을 추출하는 사례를 제시하였다. 본 연구에서 제시한 도로시설물에 대한 우선순위 선정 결과는 자율주행차량을 위한 인식기술 지원 연구에 도움이 될 것으로 기대된다.

• 대한조선학회논문집
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• 제60권6호
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• pp.482-490
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• 2023

With the advent of the Fourth Industrial Revolution, many companies are developing Smart Ships to enable autonomous navigation, unmanned operation, and cost-effective shipping. In order to facilitate the operation of these Smart Ships, significant emphasis is being placed on improving external communication capabilities and developing autonomous navigation systems. Moreover, unmanned ship operation necessitates replacing of all visually observed conditions with sensors, leading to an inevitable increase in the number of sensors and actuators compared to traditional methods. However, in South Korea, the communication network for sensors and actuators primarily relies on the conventional 1:1 hardwired wiring, with the use of higher-level communication networks when necessary. Therefore, in this paper, we introduce the AS-Interface protocol, which is used for monitoring and controlling sensors and actuators, with the expectation that it will greatly contribute to the development of future Smart Ships by reducing production time, costs, and maintenance duration.

• ETRI Journal
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• 제44권4호
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• pp.641-653
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• 2022

In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle's safety features and the road's slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane-change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane-change trajectories for autonomous vehicles. When comparing this generated trajectory with a man-generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver's lane-change operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane-change trajectory.

• Journal of Platform Technology
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• 제11권6호
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• pp.106-115
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• 2023

이 논문에서는 교통소외지역의 양방향 단일 차선에서 자율주행 차량의 안전하고 원활한 운행을 위한 센서 데이터 공유 시스템을 제안하고 핵심 모듈인 상황인지 기술을 구현한다. 양방향 단일 차선 도로는 주차된 차량이나 마주오는 차량으로 인한 자율주행 차량의 후진 문제를 야기한다. 이 논문에서는 인프라 카메라를 사용하여 양방향 단일 차선 도로에 대한 차량의 접근, 진입 진출 상황을 실시간으로 인지하고 이 정보를 V2N 통신을 통해 자율주행 차량에 전송하여 자율주행 차량의 센싱 범위를 확장하는 시스템을 제안한다. 제안하는 시스템의 핵심은 인프라 카메라를 통해 양방향 단일 차선의 상황을 인지하는 것이며 이 논문에서는 이를 객체인식 및 객체 추적기술을 이용하여 구현한다. 마지막으로, 구현한 상황인지 기술을 실제 양방향 단일 차선에서 수집한 데이터를 이용하여 검증한다.

• 한국ITS학회 논문지
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• 제22권5호
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• pp.216-223
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• 2023

자율주행차량의 기술과 수준이 발전하고 보다 다양한 도로 환경에서 주행함에 따라 차량이 직면한 상황을 해결하고 대응하기 위한 직관적이고 효율적인 상호작용 시스템이 필요하다. 자율주행의 관점에서의 주행 기술 개발은 사람 혹은 그 이상의 상황을 대응하기 위한 궁극적인 목표를 가지고 있다. 특히, 복잡하고 상호 양보해야 하는 도로환경에서는 차량 간 혹은 보행자와 차량 간의 서로의 상황을 이해할 수 있는 효율적인 의사소통에 대한 방법을 통해 유연한 대처가 가능한 시스템의 역할이 중요하다. 차량의 상태 혹은 직면한 상황을 해결하기 위해서는 정보의 제공과 방법이 직관적이고 의도에 대한 상호 작용을 통해 효율적인 자율주행 차량을 운영해야 한다. 본 논문에서는 리빙랩에 주행하는 자율주행차량이 다양하고 복잡한 환경에서 안정적이고 효율적인 주행을 하기 위해 차량이 처한 상황에 대한 정보를 표출할 수 있는 차량 구조와 그 기능을 설명한다.

• 대한인간공학회지
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• 제36권2호
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• pp.87-108
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• 2017

Objective: The purpose of this study was to precede the acceptance study based on automation steps and user experience that was lacked in the past study on the core technology of autonomous vehicle, ADAS. The first objective was to construct the acceptance model of ADAS technology that is the core technology, and draw factors that affect behavioral intention through user experience-based evaluation by applying driving simulator. The second one was to see the change of factors on automation step of autonomous vehicle through the UX/UA score. Background: The number of vehicles with the introduction of ADAS is increasing, and it caused change of interaction between vehicle and driver as automation is being developed on the particular drive factor. For this reason, it is becoming important to study the technology acceptance on how driver can actively accept giving up some parts of automated drive operation and handing over the authority to vehicle. Method: We organized the study model and items through literature investigation and the scenario according to the 4 stages of automation of autonomous vehicle, and preceded acceptance assessment using driving simulator. Total 68 men and woman were participated in this experiment. Results: We drew results of Performance Expectancy (PE), Social Influence (SI), Perceived Safety (PS), Anxiety (AX), Trust (T) and Affective Satisfaction (AS) as the factors that affect Behavioral Intention (BI). Also the drawn factors shows that UX/UA score has a significant difference statistically according to the automation steps of autonomous vehicle, and UX/UA tends to move up until the stage 2 of automation, and at stage 3 it goes down to the lowest level, and it increases a little or stays steady at stage 4. Conclusion and Application: First, we presented the acceptance model of ADAS that is the core technology of autonomous vehicle, and it could be the basis of the future acceptance study of the ADAS technology as it verifies through user experience-based assessment using driving simulator. Second, it could be helpful to the appropriate ADAS development in the future as drawing the change of factors and predicting the acceptance level according to the automation stages of autonomous vehicle through UX/UA score, and it could also grasp and avoid the problem that affect the acceptance level. It is possible to use these study results as tools to test validity of function before ADAS offering company launches the products. Also it will help to prevent the problems that could be caused when applying the autonomous vehicle technology, and to establish technology that is easily acceptable for drivers, so it will improve safety and convenience of drivers.

• 한국항해항만학회지
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• 제47권2호
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• pp.57-65
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• 2023

In 2017, the International Maritime Organization (IMO) adopted MSC.428 (98), which recommends establishing a cyber-risk management system in Ship Safety Management Systems (SMSs) from January 2021. The 27th International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA) also discussed prioritizing cyber-security (cyber-risk management) in developing systems to support Maritime Autonomous Surface Ship (MASS) operations (IALA guideline on developments in maritime autonomous surface ships). In response to these international discussions, Korea initiated the Korea Autonomous Surface Ship technology development project (KASS project) in 2020. Korea has been carrying out detailed tasks for cybersecurity technology development since 2021. This paper outlines the basic concept of ship network security equipment for supporting MASS ship operation in detailed task of cybersecurity technology development and defines ship network security equipment interface for MASS ship applications.

• 로봇학회논문지
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• 제16권3호
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• pp.216-222
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• 2021

Recently, various robots are being used for the purpose of structural inspection or safety diagnosis, and their needs are also rising rapidly. Among the structural inspection using robots, a lot of researches has recently been conducted on inspection of various facilities and structures using an unmanned aerial vehicle (UAV). However, since GNSS (Global Navigation Satellite System) signals cannot be received in an environment near or below structures, the operation of UAVs has been done manually. For a stable autonomous flight without GNSS signals, additional technologies are required. This paper proposes the autonomous flight system for structural inspection consisting of simultaneous localization and mapping (SLAM), path planning, and controls. The experiments were conducted on an actual large bridge to verify the feasibility of the system, and especially the performance of the proposed SLAM algorithm was compared through comparative analysis with the state-of-the-art algorithms.