• Title/Summary/Keyword: Driving algorithm

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The linear model analysis and Fuzzy controller design of the ship using the Nomoto model (Nomoto모델을 이용한 선박의 선형 모델 분석 및 퍼지제어기 설계)

  • Lim, Dae-Yeong;Kim, Young-Chul;Chong, Kil-To
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.12 no.2
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    • pp.821-828
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    • 2011
  • This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.

Optimal Operation Method and Capacity of Energy Storage System(ESS) in Primary Feeders with Step Voltage Regulator(SVR) (선로전압조정장치(SVR)가 설치된 고압배전선로에서 전기저장장치(ESS)의 최적운용 및 적정용량 산정방안)

  • Kim, Byungki;Ryu, Kyung-Sang;Kim, Dae-Jin;Jang, Moon-seok;Ko, Hee-sang;Rho, Daeseok
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.19 no.6
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    • pp.9-20
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    • 2018
  • When a large-scale photovoltaic (PV) system is introduced into a distribution system, the customer's voltage may exceed the allowable limit ($220V{\pm}6%$) due to voltage variations and reverse power flow in the PV system. In order to solve this problem, we propose a method for adjusting the customer voltage using the existing step voltage regulator (SVR) installed in the primary feeder. However, due to the characteristics of a mechanically operating SVR, the customer voltage during the tap changing time of the SVR is likely to deviate from the allowable limit. In this paper, an energy storage system (ESS) with optimal operation strategies, and an appropriate capacity calculation algorithm are proposed, and the parallel driving scheme between the SVR and the ESS is also proposed to solve the customer voltage problem that may occur during the tap changing time of the SVR. The simulation results show that the allowable limit of the customer voltage is verified by the proposed methods during the tap changing time of the SVR when the large-scale PV system is connected to the distribution system.

Performance Comparison of the Recognition Methods of a Touched Area on a Touch-Screen Panel for Embedded Systems (임베디드 시스템을 위한 터치스크린 패널의 터치 영역 인식 기법의 성능 비교)

  • Oh, Sam-Kweon;Park, Geun-Duk;Kim, Byoung-Kuk
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.10 no.9
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    • pp.2334-2339
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    • 2009
  • In case of an embedded system having an LCD panel with touch-screen capability, various figures such as rectangles, pentagons, circles, and arrows are frequently used for the delivery of user-input commands. In such a case, it is necessary to have an algorithm that can recognize whether a touched location is within a figure on which a specific user-input command is assigned. Such algorithms, however, impose a considerable amount of overhead for embedded systems with restricted amount of computing resources. This paper first describes a method for initializing and driving a touch-screen LCD and a coordinate-calibration method that converts touch-screen coordinates into LCD panel coordinates. Then it introduces methods that can be used for recognizing touched areas of rectangles, many-sided figures like pentagons, and circles; they are a range checking method for rectangles, a crossing number checking method for many-sided figures, a distance measurement method for circles, and a color comparison method that can be applied to all figures. In order to evaluate the performance of these methods, we implement two-dimensional graphics functions for drawing figures like triangles, rectangles, circles, and images. Then, we draw such figures and measures times spent for the touched-area recognition of these figures. Measurements show that the range checking is the most suitable method for rectangles, the distance measurement for circles, and the color comparison for many-sided figures and images.

Road Extraction from Images Using Semantic Segmentation Algorithm (영상 기반 Semantic Segmentation 알고리즘을 이용한 도로 추출)

  • Oh, Haeng Yeol;Jeon, Seung Bae;Kim, Geon;Jeong, Myeong-Hun
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.40 no.3
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    • pp.239-247
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    • 2022
  • Cities are becoming more complex due to rapid industrialization and population growth in modern times. In particular, urban areas are rapidly changing due to housing site development, reconstruction, and demolition. Thus accurate road information is necessary for various purposes, such as High Definition Map for autonomous car driving. In the case of the Republic of Korea, accurate spatial information can be generated by making a map through the existing map production process. However, targeting a large area is limited due to time and money. Road, one of the map elements, is a hub and essential means of transportation that provides many different resources for human civilization. Therefore, it is essential to update road information accurately and quickly. This study uses Semantic Segmentation algorithms Such as LinkNet, D-LinkNet, and NL-LinkNet to extract roads from drone images and then apply hyperparameter optimization to models with the highest performance. As a result, the LinkNet model using pre-trained ResNet-34 as the encoder achieved 85.125 mIoU. Subsequent studies should focus on comparing the results of this study with those of studies using state-of-the-art object detection algorithms or semi-supervised learning-based Semantic Segmentation techniques. The results of this study can be applied to improve the speed of the existing map update process.

Analysis of domestic and foreign future automobile research trends based on topic modeling (토픽모델링 기반의 국내외 미래 자동차 연구동향 비교 분석: CASE 키워드 중심으로)

  • Jeong, Ho Jeong;Kim, Keun-Wook;Kim, Na-Gyeong;Chang, Won-Jun;Jeong, Won-Oong;Park, Dae-Yeong
    • Journal of Digital Convergence
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    • v.20 no.5
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    • pp.463-476
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    • 2022
  • After industrialization in the past, the automobile industry has continued to grow centered on internal combustion engines, but is facing a major change with the recent 4th industrial revolution. Most companies are preparing for the transition to electric vehicles and autonomous driving. Therefore, in this study, topic modeling was performed based on LDA algorithm by collecting 4,002 domestic papers and 68,372 overseas papers that contain keywords related to CASE (Connectivity, Autonomous, Sharing, Electrification), which represent future automobile trends. As a result of the analysis, it was found that domestic research mainly focuses on macroscopic aspects such as traffic infrastructure, urban traffic efficiency, and traffic policy. Through this, the government's technical support for MaaS (Mobility-as-a-Service) is required in the domestic shared car sector, and the need for data opening by means of transportation was presented. It is judged that these analysis results can be used as basic data for the future automobile industry.

Implementation of Plastic Bottle Classification System for Recycling (분리수거를 위한 페트병 분리시스템의 구현)

  • Park, Yongha;Park, Jihoon;Chung, Hoyeong;Lee, Joosang;Lee, Jungyeop
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2021.05a
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    • pp.365-368
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    • 2021
  • In this study, a plastic bottle recycling bin system that utilizes an infrared sensor was implemented. The proposed system consists of a recognition unit, a control unit, an alarm unit, and a driving unit. The recognition unit detects the plastic bottle, measures the distance between the plastic bottle and the infrared sensor, extracts the value of the bottle, compares the extracted value with a standard range, and then transmits the control value to the control unit if the extracted value of the bottle is outside the standard range. In this case, the result of the presence or absence of a brand label or bottle cap is transmitted to the controller. The control unit opens the entrance of the recycling bin or alerts the alarm unit according to the result value transmitted from the sensor unit. In order to implement the proposed system, the recognition unit was implemented with an infrared sensor, and the control unit was made with an Arduino IDE controller, based on the C programming language. Additionally, the recognition unit and the control unit are able to communicate using analog signals. The proposed system accurately judges the presence or absence of a brand label and bottle cap of plastic bottles according to a predetermined algorithm. It then blocks the entrance of the recycling bin when a brand label or bottle cap is still attached. As the amount of waste discharged per person is relatively high and the majority of such waste is incinerated rather than recycled, the system proposed in this study is expected to increase the recycling rate of plastic bottles.

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Detecting Vehicles That Are Illegally Driving on Road Shoulders Using Faster R-CNN (Faster R-CNN을 이용한 갓길 차로 위반 차량 검출)

  • Go, MyungJin;Park, Minju;Yeo, Jiho
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.21 no.1
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    • pp.105-122
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    • 2022
  • According to the statistics about the fatal crashes that have occurred on the expressways for the last 5 years, those who died on the shoulders of the road has been as 3 times high as the others who died on the expressways. It suggests that the crashes on the shoulders of the road should be fatal, and that it would be important to prevent the traffic crashes by cracking down on the vehicles intruding the shoulders of the road. Therefore, this study proposed a method to detect a vehicle that violates the shoulder lane by using the Faster R-CNN. The vehicle was detected based on the Faster R-CNN, and an additional reading module was configured to determine whether there was a shoulder violation. For experiments and evaluations, GTAV, a simulation game that can reproduce situations similar to the real world, was used. 1,800 images of training data and 800 evaluation data were processed and generated, and the performance according to the change of the threshold value was measured in ZFNet and VGG16. As a result, the detection rate of ZFNet was 99.2% based on Threshold 0.8 and VGG16 93.9% based on Threshold 0.7, and the average detection speed for each model was 0.0468 seconds for ZFNet and 0.16 seconds for VGG16, so the detection rate of ZFNet was about 7% higher. The speed was also confirmed to be about 3.4 times faster. These results show that even in a relatively uncomplicated network, it is possible to detect a vehicle that violates the shoulder lane at a high speed without pre-processing the input image. It suggests that this algorithm can be used to detect violations of designated lanes if sufficient training datasets based on actual video data are obtained.

A Fusion Sensor System for Efficient Road Surface Monitorinq on UGV (UGV에서 효율적인 노면 모니터링을 위한 퓨전 센서 시스템 )

  • Seonghwan Ryu;Seoyeon Kim;Jiwoo Shin;Taesik Kim;Jinman Jung
    • Smart Media Journal
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    • v.13 no.3
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    • pp.18-26
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    • 2024
  • Road surface monitoring is essential for maintaining road environment safety through managing risk factors like rutting and crack detection. Using autonomous driving-based UGVs with high-performance 2D laser sensors enables more precise measurements. However, the increased energy consumption of these sensors is limited by constrained battery capacity. In this paper, we propose a fusion sensor system for efficient surface monitoring with UGVs. The proposed system combines color information from cameras and depth information from line laser sensors to accurately detect surface displacement. Furthermore, a dynamic sampling algorithm is applied to control the scanning frequency of line laser sensors based on the detection status of monitoring targets using camera sensors, reducing unnecessary energy consumption. A power consumption model of the fusion sensor system analyzes its energy efficiency considering various crack distributions and sensor characteristics in different mission environments. Performance analysis demonstrates that setting the power consumption of the line laser sensor to twice that of the saving state when in the active state increases power consumption efficiency by 13.3% compared to fixed sampling under the condition of λ=10, µ=10.

Comparison of Association Rule Learning and Subgroup Discovery for Mining Traffic Accident Data (교통사고 데이터의 마이닝을 위한 연관규칙 학습기법과 서브그룹 발견기법의 비교)

  • Kim, Jeongmin;Ryu, Kwang Ryel
    • Journal of Intelligence and Information Systems
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    • v.21 no.4
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    • pp.1-16
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    • 2015
  • Traffic accident is one of the major cause of death worldwide for the last several decades. According to the statistics of world health organization, approximately 1.24 million deaths occurred on the world's roads in 2010. In order to reduce future traffic accident, multipronged approaches have been adopted including traffic regulations, injury-reducing technologies, driving training program and so on. Records on traffic accidents are generated and maintained for this purpose. To make these records meaningful and effective, it is necessary to analyze relationship between traffic accident and related factors including vehicle design, road design, weather, driver behavior etc. Insight derived from these analysis can be used for accident prevention approaches. Traffic accident data mining is an activity to find useful knowledges about such relationship that is not well-known and user may interested in it. Many studies about mining accident data have been reported over the past two decades. Most of studies mainly focused on predict risk of accident using accident related factors. Supervised learning methods like decision tree, logistic regression, k-nearest neighbor, neural network are used for these prediction. However, derived prediction model from these algorithms are too complex to understand for human itself because the main purpose of these algorithms are prediction, not explanation of the data. Some of studies use unsupervised clustering algorithm to dividing the data into several groups, but derived group itself is still not easy to understand for human, so it is necessary to do some additional analytic works. Rule based learning methods are adequate when we want to derive comprehensive form of knowledge about the target domain. It derives a set of if-then rules that represent relationship between the target feature with other features. Rules are fairly easy for human to understand its meaning therefore it can help provide insight and comprehensible results for human. Association rule learning methods and subgroup discovery methods are representing rule based learning methods for descriptive task. These two algorithms have been used in a wide range of area from transaction analysis, accident data analysis, detection of statistically significant patient risk groups, discovering key person in social communities and so on. We use both the association rule learning method and the subgroup discovery method to discover useful patterns from a traffic accident dataset consisting of many features including profile of driver, location of accident, types of accident, information of vehicle, violation of regulation and so on. The association rule learning method, which is one of the unsupervised learning methods, searches for frequent item sets from the data and translates them into rules. In contrast, the subgroup discovery method is a kind of supervised learning method that discovers rules of user specified concepts satisfying certain degree of generality and unusualness. Depending on what aspect of the data we are focusing our attention to, we may combine different multiple relevant features of interest to make a synthetic target feature, and give it to the rule learning algorithms. After a set of rules is derived, some postprocessing steps are taken to make the ruleset more compact and easier to understand by removing some uninteresting or redundant rules. We conducted a set of experiments of mining our traffic accident data in both unsupervised mode and supervised mode for comparison of these rule based learning algorithms. Experiments with the traffic accident data reveals that the association rule learning, in its pure unsupervised mode, can discover some hidden relationship among the features. Under supervised learning setting with combinatorial target feature, however, the subgroup discovery method finds good rules much more easily than the association rule learning method that requires a lot of efforts to tune the parameters.

Development of the Risk Evaluation Model for Rear End Collision on the Basis of Microscopic Driving Behaviors (미시적 주행행태를 반영한 후미추돌위험 평가모형 개발)

  • Chung, Sung-Bong;Song, Ki-Han;Park, Chang-Ho;Chon, Kyung-Soo;Kho, Seung-Young
    • Journal of Korean Society of Transportation
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    • v.22 no.6
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    • pp.133-144
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    • 2004
  • A model and a measure which can evaluate the risk of rear end collision are developed. Most traffic accidents involve multiple causes such as the human factor, the vehicle factor, and the highway element at any given time. Thus, these factors should be considered in analyzing the risk of an accident and in developing safety models. Although most risky situations and accidents on the roads result from the poor response of a driver to various stimuli, many researchers have modeled the risk or accident by analyzing only the stimuli without considering the response of a driver. Hence, the reliabilities of those models turned out to be low. Thus in developing the model behaviors of a driver, such as reaction time and deceleration rate, are considered. In the past, most studies tried to analyze the relationships between a risk and an accident directly but they, due to the difficulty of finding out the directional relationships between these factors, developed a model by considering these factors, developed a model by considering indirect factors such as volume, speed, etc. However, if the relationships between risk and accidents are looked into in detail, it can be seen that they are linked by the behaviors of a driver, and depending on drivers the risk as it is on the road-vehicle system may be ignored or call drivers' attention. Therefore, an accident depends on how a driver handles risk, so that the more related risk to and accident occurrence is not the risk itself but the risk responded by a driver. Thus, in this study, the behaviors of a driver are considered in the model and to reflect these behaviors three concepts related to accidents are introduced. And safe stopping distance and accident occurrence probability were used for better understanding and for more reliable modeling of the risk. The index which can represent the risk is also developed based on measures used in evaluating noise level, and for the risk comparison between various situations, the equivalent risk level, considering the intensity and duration time, is developed by means of the weighted average. Validation is performed with field surveys on the expressway of Seoul, and the test vehicle was made to collect the traffic flow data, such as deceleration rate, speed and spacing. Based on this data, the risk by section, lane and traffic flow conditions are evaluated and compared with the accident data and traffic conditions. The evaluated risk level corresponds closely to the patterns of actual traffic conditions and counts of accident. The model and the method developed in this study can be applied to various fields, such as safety test of traffic flow, establishment of operation & management strategy for reliable traffic flow, and the safety test for the control algorithm in the advanced safety vehicles and many others.