• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.122-130
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• 2019

Collecting a rich but meaningful training data plays a key role in machine learning and deep learning researches for a self-driving vehicle. This paper introduces a detailed overview of existing open-source simulators which could be used for training self-driving vehicles. After reviewing the simulators, we propose a new effective approach to make a synthetic autonomous vehicle simulation platform suitable for learning and training artificial intelligence algorithms. Specially, we develop a synthetic simulator with various realistic situations and weather conditions which make the autonomous shuttle to learn more realistic situations and handle some unexpected events. The virtual environment is the mimics of the activity of a genuine shuttle vehicle on a physical world. Instead of doing the whole experiment of training in the real physical world, scenarios in 3D virtual worlds are made to calculate the parameters and training the model. From the simulator, the user can obtain data for the various situation and utilize it for the training purpose. Flexible options are available to choose sensors, monitor the output and implement any autonomous driving algorithm. Finally, we verify the effectiveness of the developed simulator by implementing an end-to-end CNN algorithm for training a self-driving shuttle.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.19-29
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• 2019

Recently, autonomous vehicles have been studied actively. Autonomous vehicles can detect objects around them using their on board sensors, estimate collision probability and maneuver to avoid colliding with objects. Many algorithms are suggested to prevent collision avoidance. However there are limitations of complex and diverse environments because algorithm uses only the information of attached environmental sensors and mainly depends on TTC (time-to-Collision) parameter. In this paper, autonomous driving algorithm using I2V communication-based cooperative sensing information is developed to cope with complex and diverse environments through sensor fusion of objects information from infrastructure camera and object information from equipped sensors. The cooperative sensing based autonomous driving algorithm is implemented in autonomous shuttle bus and the proposed algorithm proved to be able to improve the autonomous navigation technology effectively.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.2
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• pp.135-148
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• 2020

The ongoing development of autonomous driving-related technology may cause different kinds of accidents while testing new changes. As a result, more information on ODD suitable for the domestic road environment will be necessary to prevent safety accidents. Besides, implementation of the Autonomous Vehicle Act will increase autonomous driving demonstrations on roads currently in use. This study describes an ODD for demonstrating an autonomous driving shuttle in downtown areas. It addresses a possible scenario of autonomous driving around a downtown road in Anyang. Geometric, operational, and environmental factors are considered while maintaining a domestic road environment and safety. Autonomous driving shuttles are demonstrated in 30 nodes, each identified by node type and signal-communication. Link criteria are an autonomous driving restriction in 42 morning peak (8-9am) hours, 39 non-peak (12-13pm) hours, and 40 afternoon peak (18-19pm) hours. In the future, conclusions may be considered for preliminary safety assessments of roads where autonomous driving tests are performed.

• Microbiology and Biotechnology Letters
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• v.16 no.6
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• pp.476-483
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• 1988

Yeat-Escherichia coli shuttle vectors were constructed by combination of various functional segments such as autonomous replicating sequence (ARS1), centromere region (CEN3), origin of replication of 2 $\mu$m plasmid (2 $\mu$m OR). Transformation efficiency, stability and copy number of constructed vectors were analyzed in yeast strains, SHY4(cir$^+$) containing 2 $\mu$m plasmid and NNY1(cir$^{\circ}$) without it. The results showed that centromere containing plasmids were very stable and existed at one copy per cell; fused replication system (2$\mu$m OR and ARS1) containing Plasmids were more stable and higher copy number than one replicon containing plasmids ; presence of endogenous 2$\mu$m plasmid influenced on stability and copy number of 2 $\mu$m based plasmids.

• Current Research on Agriculture and Life Sciences
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• v.5
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• pp.52-58
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• 1987

The yeast S. cerevisiae DBY747 was transformed with E. C - S. C shuttle vector YIp5, YEp13 and YRp7 by the method of spheroplast. The transformation frequency of YEp13 and YRp7 in S. cerevisiae DBY747 was $1.2{\times}10^3$ and $1.0{\times}10^2$ per $10{\mu}g$ of DNA, respectively. The transformants with YIp5 plasmid incapable of autonomous replication in S. cerevisiae were not detected in the condition of this experiment, but YIpS plasmid expressed the gene carried on it when cotransformed with a helper plasmid such as YEp13 or YRp7 : autonomously replicating plasmid. When plasmids were used in covalently closed circular form, cotransformation frequency of Ylp5-YEpl3 and Ylp5-YRp7 was 210 and 95 per $10{\mu}g$ of DNA, respectively. In cotransformation of linear plasmids, transformation frequency of the same cohesive ends was similar to that of noncomplementary cohesive ends. Transformants by the cotransformation with circular plasmids have been shown much higher frequency than with linear plasmids in S. cerevisiae DBY 747. The mitotic segregation stability test suggested that the cotransformant of YIpS-YEp13 was more stable than that of YIpS-YRp7.