• Journal of Electrical Engineering and information Science
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• v.2 no.3
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• pp.51-60
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• 1997

A practically applicable collision free trajectory planning technique for tow robot systems is proposed. The robot trajectories considered in this work are composed of many segments, an at the intersection points between segments robots stop to assemble, weld, ordo other jobs by the attached a end-effectors. The proposed method is based on the Planning-Coordination Decomposition where planning is to find a trajectory of each robot independently according to their tasks and coordination is to find a velocity modification profile to avoid collision with each other. To fully utilize the independently planned trajectories and to ensure no geometrical path deviation after coordination, we develop a simple technique added the minimal delay time to avoid collision just before moving along path segments. We determine the least delay time by the graphical method in the Coordination space where collisions and coordinations are easily visualized. We classify all possible cases into 3 group and derive the optimal solution for each group.

• International journal of advanced smart convergence
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• v.9 no.4
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• pp.1-7
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• 2020

This study is a study on the development of AEBS test scenarios for traffic accidents in Korea, and was compared and analyzed using the Traffic Accident Analysis Program. To ensure the safety of passengers and pedestrians in traffic accidents, the number of cars equipped with ADAS is increasing rapidly at all car manufacturers in each country. For traffic accidents used in this study, the domestic traffic accident database (ACCC) produced by SAMSONG was used. Domestic traffic accidents differ from overseas traffic accidents in terms of road type, signal system, driver's seat location and number of vehicles. ACCC databases, which supplemented and reinforced these differences, built a database based on the PC-CRASH program. In the study, we analyze the types of accidents to develop comparative scenarios for each type of road and collision type of traffic accidents. When the road types of traffic accidents in Korea were divided into five types and the collision types were divided into six, it was confirmed that the most types of FRONT-SIDE crashes appeared at the intersection. It is expected that the frequency of possible traffic accidents and collision types can be predicted according to the road type in the accident database, we that it can be used as an AEBS test scenario development suitable for the domestic road environment.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.2 no.1 s.2
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• pp.53-62
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• 2003

This paper demonstrates the in-vehicle dilemma zone warning system (DZWS) project developed as a part of the Driver Advisory and Collision Warning System in Automated Vehicle and Highway System (AVHS). The DZWS project, one of the Korea national ITS projects in 2000 develops the in-vehicle warning device to support drivers' decision making on whether to stop or to proceed to clear the intersection prior to the onset of yellow signal for avoiding the high risk of collision at signalized intersections through the dedicated short range communication (DSRC). This paper explores the design of optimal communication systems between roadway and vehicles, the operational and functional concepts of dilemma zone warning system based on appropriate approach speeds, and the system integration for field test at two sites of signalized intersections. Findings from the system integration indicated that the system would be implemented in eliminating the dilemma zone relative to approach speeds and in reducing red light violations and intersection collisions through the in-vehicle warning device at signalized intersection.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.1B
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• pp.85-94
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• 2010

Many RFID systems use dynamic slotted ALOHA to identify the label information of the RFID tags. One of the key problems in the RFID system is how to estimate the number of RFID tags up to the desired level of accuracy. In this paper, we present the framework of tag estimation algorithm for the collision-oblivious (CO) reader which can only decide whether the tag response is successful or not. Thus, the CO reader must rely on the success estimator to predict the RFID tag population. We propose two estimation algorithms to predict the number of RFID tags, named the memoryless success estimator (MSE) and the intersection-based success estimator (ISE). The MSE considers only the estimate obtained at the current inventory round, while the ISE finds an appropriate intersection interval of the existing estimates collected at every inventory round. Through the simulation results, we demonstrate that the ISE is a fast, accurate, and controllable estimator whose performance is close to that of the collision/idle estimators.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.5
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• pp.115-122
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• 2012

Automobile collision analysis is composed of various shapes, and the speed variation working to the vehicle during collision are utilized as a very important factor in evaluating the degree of vehicle collision or passenger safety. So, the method of analyzing result values on the speed variation utilizing collision analysis program become necessary. This study utilized PC-Crash program in order to compare actual values and analyzed values of braking distance with the friction coefficient of road surface according to vehicle velocity. As a result, the smaller friction coefficient found to be larger error, and the maximum error range of collision velocity in case of each different vehicles (MATIZ, SONATA, or BUS) at the intersection showed 1.2%, 1.8%, 3.1% according to the difference of vehicle weight. Moreover, an accidental fall at IN-CHEON large bridge in order to reappear was verified with practicing simulation which has a slight error.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.1
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• pp.187-192
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• 2015

In general, design of urban intersections are fundamentally different from rural intersections, but current urban intersection design has been appled to rural standards. This study has suggested the design standard for urban intersection grades based on the existing literature, field investigating and comparative analysis. Moreover, this study analyzes and compares the differences between urban and rural intersections, and intersections have been derived by appropriate design standards after reviewing the domestic and international grades design criteria. Site survey was performed to validate the derived design criteria by analyzing statistically to establish the design standards. Results were produced for the intersection portion grade standards by comparing the number of instructions which produced appropriate slope degree from 2.5% to 3% in normal condition and slope can be extended to 5% in some critical cases. In-situ investigation was performed to validate the produced data where slope was found from 0.0~8.6%. Additional data of accident analysis were also collected for the validation of the suggested data and correlation analysis was performed using the SPSS tool. Data were analyzed statistically using 95% significance level for vehicle-to-vehicle collided, head-on collision accident rates, where accident rates significantly correlated with the grade. Therefore, appropriate grade at the intersection should be designed and applied in order to reduce the number of accidents at the intersection. Finally, appropriate grades for urban intersections are suggested from 1-3% for normal cases and grades could extend up to 5% for unavoidable cases where extra care must be taken when designing.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.6D
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• pp.775-789
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• 2008

The Office for Government Policy Coordination announced in 2006, september that a scheme of pre-signal would show remarkable outcome to reduce traffic accidents. Therefore, the Ministry recommended applying preferentially the pre-signal scheme to enhancement projects for high accident frequency areas. In case that the suggested pre-signal was unilaterally introduced to the enhancement projects at intersections, it might rather cause a big trial and error in terms of traffic safety. Hence, on the basis of quantitative analysis, this study was to indicate a pre-signal's effectiveness to reduce the traffic accidents, to illustrate a trend of the accident type due to the pre-signal, and to introduce intersection type that could be appropriate for the pre-signal. The methodology adopted Comparison-Group Method which was developed by Hauer. Through this methodology, overall effectiveness to reduce the accidents is considered positive but individual effectiveness by intersection and by accident case was different. All cases of the accidents at small scale intersection demonstrated positive results to reduce its accidents, while in case of frontal collision and side-right angle collision out of the accident types, the installation of pre-signal rather caused a negative result increasing the accident in terms of the traffic safety. I hope that this study would be a useful reference for future development of the estimation of accident effectiveness. Thus, when the pre-signal is being installed in the big intersection, it is recommended operating the installation concerning carefully improvements about muliple aspects as traffic operation, traffic facility, human factor etc.

• KIPS Transactions on Software and Data Engineering
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• v.7 no.1
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• pp.25-32
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• 2018

Due to heavy computational cost, deformable object simulation requires more effective collision detection method than rigid body simulation. However, when the CPU-based collision detection algorithm is purely applied to the GPU environment, the collision detection algorithm and the data structure optimized for the GPU environment are essential because the performance of the GPU can not be used properly. Therefore, we propose a GPU-based parallel collision detection algorithm for mass-spring system which is widely used for deformable object representation in this paper. The proposed method uses a parallel algorithm and data structure to reduce collision detection cost through GPU-based curling algorithm using AABB-Octree structure. In this paper, we prove the effectiveness of the proposed method by comparing the intersection test of all triangle pairs in parallel. The results of experimental tests show that the proposed method improves the performance by about 24% on average. Therefore, it is expected that the proposed method can improve the performance of real-time simulation for deformable objects.

• Journal of the Society of Naval Architects of Korea
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• v.56 no.1
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• pp.58-65
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• 2019

The stability, reliability and efficiency of a smart ship are important issues as the interest in an autonomous ship has recently been high. An automatic collision avoidance system is an essential function of an autonomous ship. This system detects the possibility of collision and automatically takes avoidance actions in consideration of economy and safety. In order to construct an automatic collision avoidance system using reinforcement learning, in this work, the sequential decision problem of ship collision is mathematically formulated through a Markov Decision Process (MDP). A reinforcement learning environment is constructed based on the ship maneuvering equations, and then the three key components (state, action, and reward) of MDP are defined. The state uses parameters of the relationship between own-ship and target-ship, the action is the vertical distance away from the target course, and the reward is defined as a function considering safety and economics. In order to solve the sequential decision problem, the Deep Deterministic Policy Gradient (DDPG) algorithm which can express continuous action space and search an optimal action policy is utilized. The collision avoidance system is then tested assuming the $90^{\circ}$intersection encounter situation and yields a satisfactory result.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.2
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• pp.427-436
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• 2015

This study analyzes the factors effecting on pedestrian crossing behavior in the unsignalized intersection. Pedestrian crossing behavior is the results of mental stress defined as a combination of environment perception, avoiding accidents, halting collision, and instant crossing decision. It is necessary to make walkable intersection in cities through relieving this stress influenced by personality, traffic condition, and roadway environment. The purpose of study is empirically to examine the crossing behavior such as crossing satisfaction, crossing trial frequency and waiting time based on various factors effecting on crossing intersection by video and questionnaire survey. The $x^2$-test is applied to analyze the characteristics of crossing trial frequency according to each factor. Also, the hazard rate model is established to find the factors effecting on waiting time for crossing. Finally, the direct and indirect effects on the pedestrian crossing satisfaction are presented as the results of LISREL.