• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.582-587
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. However, the recognition of objects using a ultrasonic sensor is not so easy due to its characteristics such as narrow beam width and no reflected signal from a inclined object. As one of the alternatives to resolve these problems, use of multiple sensors has been studied. A sequential driving system needs a long measurement time and does not take advantage of multiple sensors. Simultaneous and pulse coding driving system of ultrasonic sensor array cannot measure short distance as the length of the code becomes long. This problem can be resolved by multi-frequency driving of ultrasonic sensors, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a simultaneous and multi-frequency driving system for an ultrasonic sensor array for object recognition. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the multi-frequency signals, and a 5-channel frequency modulated signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from filtering of the received overlapping signals and calculation of the time-of-flights.

• Journal of Korean Society of Transportation
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• v.36 no.1
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• pp.38-50
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• 2018

Emerging automated driving environments will lead to a mixed traffic flow depending on the interaction between automated vehicles (AVs) and manually driven vehicles (MVs) because the market penetration rate (MPR) of AVs will gradually increase over time. Understanding the characteristics of mixed traffic conditions, and developing a method to control both AV and MV maneuverings smoothly is a backbone of the traffic management in the era of automated driving. To facilitate smooth vehicle interactions, the maneuvering of AVs should be properly determined by various traffic and road conditions, which motivates this study. This study investigated whether the aggressiveness of AV maneuvering, defined as automated driving aggressiveness (ADA), affect the performance of mixed traffic flow. VISSIM microscopic simulation experiments were conducted to derive proper ADAs for satisfying both the traffic safety and the operational efficiency. Traffic conflict rates and average travel speeds were used as indicators for the performance of safety and operations. While conducting simulations, level of service(LOS) and market penetration rate(MPR) of AVs were also taken into considerations. Results implies that an effective guideline to manage the ADA under various traffic and road conditions needs to be developed from the perspective of traffic operations to optimize traffic performances.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.6
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• pp.14-21
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• 2004

This automotive headlight control system is newly proposed that, under my slope degree of the driving mad(flat up-hill, and down-hill) at night driving, the reflecting mirror of the headlight can be automatically controlled for safe driving. At first whether or not any vehicle is driven near is checked by photo sensor. Secondly, using the slope degree of the automotive feedbacked from the tilt sensor, the servo motor with the headlight is controlled to be turned right or down to the suitable angle. The servo motor is appropriately controlled according to road conditions. The proposed headlight control system is designed on the basis of the tested illumination intensity obtained according to any slope degree of roads. Finally, it is confirmed that the test model works very well in the given road conditions and environments.

• Journal of Auto-vehicle Safety Association
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• v.10 no.4
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• pp.40-49
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• 2018

Currently, a lot of researches about high risk test scenarios for autonomous vehicle and advanced driver assistance systems have been carried out to evaluate driving safety. This study proposes new type of test scenario that evaluate the driving safety for autonomous vehicle by reconstructing accident database of national automotive sampling system crashworthiness data system (NASS-CDS). NASS-CDS has a lot of detailed accident data in real fields, but there is no data of accurate velocity in accident moments. So in order to propose scenario generation method from accident database, we try to reconstruct accident moment from accident sketch diagram. At the same step, we propose an accident of occurrence frequency which is based on accident codes and road shapes. The reconstruction paths from accident database are integrated into evaluation of simulation environment. Our proposed methods and processor are applied to MILS (Model In the Loop Simulation) and VILS (Vehicle In the Loop Simulation) test environments. In this paper, a reasonable method of accident reconstruction typology for autonomous vehicle evaluation of feasibility is proposed.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.30-36
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• 2019

This paper suggests a car-following algorithm for urban environment, with multiple target candidates. Until now, advanced driver assistant systems (ADASs) and self-driving technologies have been researched to cope with diverse possible scenarios. Among them, car-following driving has been formed the groundwork of autonomous vehicle for its integrity and flexibility to other modes such as smart cruise system (SCC) and platooning. Although the field has a rich history, most researches has been focused on the shape of target trajectory, such as the order of interpolated polynomial, in simple single-lane situation. However, to introduce the car-following mode in urban environment, realistic situation should be reflected: multi-lane road, target's unstable driving tendency, obstacles. Therefore, the suggested car-following system includes both in-lane preceding vehicle and other factors such as side-lane targets. The algorithm is comprised of three parts: path candidate generation and optimal trajectory selection. In the first part, initial guesses of desired paths are calculated as polynomial function connecting host vehicle's state and vicinal vehicle's predicted future states. In the second part, final target trajectory is selected using quadratic cost function reflecting safeness, control input efficiency, and initial objective such as velocity. Finally, adjusted path and control input are calculated using model predictive control (MPC). The suggested algorithm's performance is verified using off-line simulation using Matlab; the results shows reasonable car-following motion planning.

• Journal of the Ergonomics Society of Korea
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• v.31 no.2
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• pp.397-406
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• 2012

Objective: The aim of this study is to determine legible Korean font sizes within in-vehicle information systems(IVISs) in diving conditions. Background: Font legibility within IVISs is one of important causes on its' safe operations during driving. Several researches proposed some guidelines on the legible English font sizes within IVISs. On the contrary, appropriate Korean font sizes have been hardly known in spite of the typological differences between English and Korean. Therefore, more systematic researches for improving the legibility on Korean font size within IVISs have been required. Method: In this study, an experiment was performed with the following experimental factors: the existence of vibration, the color contrasts(white on black, black on white), the font types(HDR, CubeR, Gothic), and the font sizes(6, 8, 10, 12, 14, 16, 18, 20, 22, 24pt). To fit the experimental conditions into real driving environments, the illuminance was controlled to 15lx by using LED lamp and the distance between IVIS and participants was kept to 70cm. Moreover, all participants took the shutter glasses for employing well-known occlusion techniques. Results: The experimental results showed that 'HDR' and 'Non-vibration + Black on white' group took the shortest response time, and decreasing slopes of the response time with increasing font sizes were slowing down at 14pt then flattened out at 22pt regardless of the existence of vibration and color contrasts. Conclusion: The minimum size for legible Korean font would be about 14pt(5.47mm) and the optimum size would be about 22pt(8.59mm). Application: The guideline on the Korean font sizes from this study will be applied to design an IVIS in the future.

• Journal of the Korean Society for Railway
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• v.16 no.1
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• pp.14-19
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• 2013

Because excessive interior noise when riding a high-speed train leads to annoyances, fatigue and stress for passengers, interior noise reduction methods should be considered. In particular, a high-speed train operated in various operation environments, and in South Korea, these include open fields and tunnels. Therefore, a specific study about changes in interior noise characteristics according to different environments is necessary. For this reason, the interior noise characteristics on a KTX train and on the KTX-Sancheon train were analyzed from noise measurements using microphones in this paper. Vibrations on the axles, bogies and floor were also measured, are these area are structural paths for interior noise. From this research, the interior noise characteristics according to the driving speed were deduced and the effects on interior noise by driving environments such as open fields and tunnels were investigated. Furthermore, the effect on interior noise by axles, bogies and floor vibrations were analyzed from a transfer function analysis.

• Journal of IKEEE
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• v.22 no.3
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• pp.866-869
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• 2018

This paper presents the analysis of the human driving behavior based on the expression as a GMDH technique focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. A GMDH is also introduced and applied to the measured data in order to build a mathematical model of driving behavior. From the obtained model, it is found that the longitudinal distance between cars($x_1$), the longitudinal relative velocity($x_2$) and the lateral displacement between cars($x_4$) play important roles in the collision avoidance maneuver under the 3D environments.