• 한국ITS학회 논문지
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• 제21권6호
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• pp.299-310
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• 2022

자율주행시스템은 자율주행 센서, 판단 및 제어 알고리즘 등을 기반으로 스스로 자율주행할 수 있는 기능을 갖추고 있다. 자율주행의 안전성은 도로 네트워크의 운영 상태와 관련성이 높고 도로 인프라와의 협력이 필요하다. 자율주행의 안전한 운행을 위해서는 지속적으로 도로와 교통 조건이 적합한지를 모니터링 할 필요가 있다. 본 연구는 자율주행시스템의 ODD (Operational Design Domain) 특성에 따라 선정된 모니터링 항목을 관리할 수 있는 체계를 구축하기 위한 노드와 링크 체계를 제시하였다. 확장성을 고려하여 기존의 ITS 표준 노드링크 체계를 기반으로 하였으며, 모니터링 대상을 노드와 링크로 표출하는 방안을 제시하였다. 위험도를 5단계로 구분하고 관리하는 방안과 최적경로 탐색 및 통제 시 노드와 링크의 정보를 활용하는 방안을 제시하였다. 세종시를 대상으로 제시된 노드와 링크체계를 기반으로 한 시스템구축 사례를 소개하였다.

• International Journal of Internet, Broadcasting and Communication
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• 제8권4호
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• pp.54-57
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• 2016

In this paper, the method for an effective and intelligent route decision of the automatic ground vehicle (AGV) using a 2D spatial map of the stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The AGV moves automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with 480 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 1.57% on average, respectably.

• 한국안전학회지
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• 제24권3호
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• pp.65-70
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• 2009

In-vehicle route guidance information(RGI) systems have been developed with the advancement of the information and communication technologies. However, the RGI is provided by a pre-determined option, drivers occasionally pass the target intersection owing to non- or late- recognizing it. The purpose of this experiment is to examine the position of driver's tum signal operation and intersection recognition approaching at the target intersection which is difficult to identify as a preliminary research on developing the additional RGI connecting with the tum signal control. The field experiment was conducted to measure distances of the turn signal operation and intersection recognition from the target intersection according to driving lanes and landmarks at adjacent intersection. And, glance behavior to the car navigation display was evaluated by using an eye camera. The results indicate that drivers operate the turn signal after confirming a landmark in the case of the intersection with it. However, most case of driving, drivers operate the tum signal at 40 to 50m before coming to the target. To provide the additional RGI, when drivers do not operate the tum signal approaching at the target intersection based on the results, is expected to improve the traffic safety and the comfort for drivers.

• 조명전기설비학회논문지
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• 제20권9호
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• pp.45-53
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• 2006

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

• 대한인간공학회지
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• 제28권3호
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• pp.63-71
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• 2009

A car navigation system as an in-vehicle route guidance information (RGI) offers a state-of-the-art technological solution to driver navigation in an unfamiliar area. However, the RGI is provided by some pre-determined options in terms of the interface between a driver and a car navigation system. Drivers occasionally pass the target intersection owing to non- or late- recognizing it. This paper is examined the position of driver's turn signal operation and intersection recognition approaching at the target intersection which is difficult to identify, as a fundamental research on developing the additional RGI connecting with the turn signal control. The field experiment was conducted to measure distances of the turn signal operation and the intersection recognition from the target intersection according to left turns, right turns, and landmarks at adjacent intersection. And glance behavior to the car navigation display was evaluated by using an eye camera. The results of the field study indicate that, most case of driving, drivers operate the turn signal until 40m to 50m before coming to the target intersection. The driving simulator experiment was performed to examine the effectiveness of providing the additional RGI when drivers did not operate the turn signal approaching at the target intersection based on the results of the field study. To provide the additional RGI is effective for the intersection identification and recognition, and expected to improve the traffic safety and the comfort for drivers.

• 한국자동차공학회논문집
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• 제25권3호
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• pp.287-296
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• 2017

Although emission regulations have been gradually strengthened in the past decade, the road transport section remains the most important source of NOx emission in air pollution. One reason is that there has been an increase in the proportion of diesel vehicles and in the volume of traffic. In addition, the certification procedure for standard emission limit does not sufficiently reflect real traffic condition and various driving patterns. Therefore, the European Commission(EC) has recently come up with the RDE-LDV(Real driving emissions-light duty vehicle) regulations, and the Ministry of Environment in Korea has been conducting research on evaluating RDE-LDV with PEMS(Portable Emission Measurement Systems). According to the trip requirements of the 2nd RDE package announced by the EC, the objectives of the present study include the development of Korean RDE routes to reflect domestic traffic and road conditions. Based on the results, both RDE routes are in correct compliance with RDE-LDV regulations, including trip requirements and trip dynamics. KOR-NIER Route 1, in particular, has a higher driving load in rural driving with regard to excessive gradient of elevation compared to KOR-NIER Route 2, including relatively plane rural driving.

• Geomechanics and Engineering
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• 제17권3호
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• pp.237-245
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• 2019

In deep mixed rock strata, a double shield TBM (DS-TBM) is easy to be entrapped by a large force during tunneling. In order to reduce the probability of the entrapment, we need to investigate a favorable driving direction, either driving with or against dip, which mainly associates with the angle between the tunneling axis and strike, ${\theta}$, as well as the dip angle of rock strata, ${\alpha}$. We, therefore, establish a 3DEC model to show the changes of displacements and contact forces in mixed rock strata through LDP (longitudinal displacement profile) and LFP (longitudinal contact force profile) curves at four characteristic points on the surrounding rock. This is followed by a series of numerical models to investigate the favorable driving direction. The computational results indicate driving with dip is the favorable tunneling direction to reduce the probability of DS-TBM entrapment, irrespective of ${\theta}$ and ${\alpha}$, which is not in full agreement with the guidelines proposed in RMR. From the favorable driving direction (i.e., driving with dip), the smallest contact force is found when ${\theta}$ is equal to $90^{\circ}$. The present study is therefore beneficial for route selection and construction design in TBM tunneling.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 전력전자학술대회
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• pp.489-490
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• 2018

As the number of electric vehicles (EV) increases, there is an increasing interest in the post-vehicle application of the EV batteries. For the second use application of EV batteries, the state of health (SOH) at the end of automotive service has to be evaluated differently from the automotive perspective. It will be helpful to consider the driving conditions of EVs in understanding the performance deterioration trend of the battery. In this paper, we acquired the battery status information in real time during driving and compared the characteristics by the driving routes. The SOH from the BMS can be rescaled to percentage ratio to give a more general idea about the performance degradation.

• 드라이브 ㆍ 컨트롤
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• 제21권1호
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• pp.46-52
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• 2024

The advancement of autonomous driving technology has heightened the importance of Autonomous Mobile Robotics (AMR) within smart factories. Notably, in tasks involving the transportation of heavy objects, the consideration of weight in route optimization and path planning has become crucial. There is ongoing research on local path planning, such as Dijkstra, A^*, and RRT^*, focusing on minimizing travel time and distance within smart factory warehouses. Additionally, there are ongoing simultaneous studies on route optimization, including TSP algorithms for various path explorations and on minimizing energy consumption in mobile robotics operations. However, previous studies have often overlooked the weight of the objects being transported, emphasizing only minimal travel time or distance. Therefore, this research proposes route planning that accounts for the maximum payload capacity of mobile robotics and offers load-optimized path planning for multi-destination transportation. Considering the load, a genetic algorithm with the objectives of minimizing both travel time and distance, as well as energy consumption is employed. This approach is expected to enhance the efficiency of mobility within smart factories.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
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• pp.508-511
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• 2007

Car navigation system is one of the most important applications in telematics. A newest trend of car navigation system is using real video captured by camera equipped on the vehicle, because video can overcome the semantic gap between map and real world. In this paper, we suggest a visual car navigation system that visually represents navigation information or route guidance. It can improve drivers' understanding about real world by capturing real-time video and displaying navigation information overlaid on it. Main services of the visual car navigation system are graphical turn guidance and lane change guidance. We suggest the system architecture that implements the services by integrating conventional route finding and guidance, computer vision functions, and augmented reality display functions. What we designed as a core part of the system is visual navigation controller, which controls other modules and dynamically determines visual representation methods of navigation information according to a determination rule based on current location and driving circumstances. We briefly show the implementation of system.