• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.521-525
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• 2011

Lane marking detection is one of important issues in the field of autonomous mobile robot. Especially, in urban environment, like pavement roads of downtown or tour tracks of Science Park, which have continuous patterns on the surface of the road, the lane marking detection becomes more important ability. Although there were many researches about lane detection and lane tracing, many of them used vision sensors mainly to detect lane marking. In this paper, we obtain 2 dimensional library data of 'Intensity' and 'Distance' using one laser rangefinder only. We design a simple classifier and filtering algorithm for the lane detection which uses only one LRF (Laser Range Finder). Allowing extended usage of LRF, this research provides more functionality not only in range finding but also in lane detecting to mobile robots. This work will be technically helpful for robot developers to design more simple and efficient autonomous driving system using LRF.

• 한국도로학회논문집
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• 제20권4호
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• pp.35-46
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• 2018

PURPOSES : The purpose of this study is to compare the lane curing time of natural drying and a lane drying device when painting lines on a highway. METHODS : The painting process was carried out in July 2015 and September 2015, respectively, for the Gimcheon IC - Gimcheon JC. After the painting, measurements were obtained three times at six measurement points located at 20 m intervals on the shoulder line and the dividing line. The curing time was measured for natural drying and drying using a lane drying device, and compared for different pavement types (asphalt, concrete) and paint types (waterborne paint, methyl methacrylate paint). RESULTS : The results of the lane curing time comparison on the highway are as follows. The combination of asphalt and methyl methacrylate paint cured more rapidly during both the natural drying and drying using the lane drying device. Finally, it was cured at least 32.2% and 40.7% faster when using a drying device than in natural drying. CONCLUSIONS : The comparison of lane curing time of the highway showed that the combination of asphalt and methyl methacrylate paint cured more rapidly when using both natural drying and a lane drying device.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.103-107
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• 2013

본 논문에서는 차선 이탈 경고 장치 시스템에서 사용되는 실시간 차선 추적 방법을 제안한다. 먼저 입력 영상의 원근효과를 제거하기 위해 역투영 변환을 이용하여 조감도 영상을 생성한다. 그 다음 차선의 사전 정보를 이용하여 차선 검출에 적합한 특징들을 추출한다. 블록단위의 관심영역에 해당하는 차선 특징과 RANSAC(RANdom Sample Consensus) 알고리즘을 사용하여 차선 후보군을 검출하고 클러스터링 과정을 수행하여 주행 차선을 결정한다. 마지막으로 칼만 필터를 사용하여 현재 검출된 주행 차선을 추적한다. 제안하는 알고리즘을 주간, 야간 등의 다양한 고속도로 환경에서 실험한 결과 실시간 환경에서 사용가능한 30ms 이내의 처리 속도와 90% 가량의 추적률을 얻을 수 있었다.

• 한국도로학회논문집
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• 제15권6호
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• pp.135-141
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• 2013

PURPOSES : The lack of details of design guideline for zig-zag shaped section approaching central bus stop leads an traffic accident proneness. So, this study analysed the geometric elements of central bus stop area in terms of vehicle dynamics and suggested design alternatives. METHODS : The study analysed a dynamic behaviour of bus moving in and out of zig-zag shaped section using Auto-Turn under scenarios. Based upon dynamic analysis, the study found out the width of overtaking lane is the most influential factor for a safe moving at zig-zag alignment. RESULTS : The width of overtaking lane at design speed of 40, 50, and 60 km/h respectively was suggested given taper ratio of 1 to 10 required for Bus Rapid Transit (BRT), and the lane width is not wider than 4.0m which possibly makes two vehicles using the same lane. Also, the width of overtaking lane which mitigates the taper ratio was suggested with the same restriction about the maximum lane width. CONCLUSIONS : The results of the study can be used to prepare a design guideline on zig-zag shaped alignment of central bus exclusive lanes. The more stable moving is expected by applying the design alternatives suggested, therefore the lower rate of traffic crashes at the vicinity of central bus stops.

• 대한교통학회지
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• 제17권1호
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• pp.19-28
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• 1999

본 논문은 고속도로의 오르막차로 구간을 대상으로 종점부의 설계기준을 제시하고자 하는 목적으로 미시적 관점에서 교통행태를 규명할 수 있는 임계간격 모형과 합류확률 모형식을 개발하였다. 오르막차로 종점부 최저허용속도의 분석결과는 2차로 고속도로에서는 60km/hr, 4차로 고속도로에서는 75km/hr로 나타나 2차로에서는 현행기준과 동일하고 4차로의 경우는 현행기준 보다 약 15km/hr정도 높게 적용하는 것이 바람직한 것으로 분석되었다. 또한 오르막차로 종점부 부가길이 산출결과는 오르막차로 종점부 최저허용속도 기준과 비교해볼 때 4차로 고속도로의 경우, 부가길이가 약 200m 정도 필요한 것으로 나타나 오르막차로 종점부 최저허용속도를 상향시킬 필요가 있는 것으로 분석되었다.

• 대한교통학회지
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• 제17권3호
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• pp.87-96
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• 1999

용량분석은 고속도로 기본구간 차로의 계획, 설계, 운영상태를 파악하기 위한 중요한 방법으로 사용되고 있다. 한국에서 사용되고 있는 도로용량편람에서 제시된 고속도로 기본구간에 대한 용량분석은 4차로만을 대상으로 수행된 결과라 할 수 있다. 그러나, 급증하는 교통수요에 대처하기 위한 다차로 고속도로의 계획, 건설이 잇따르고 있으며, 이러한 이유로 다차로 고속도로에 대한 용량분석 연구가 절실하다. 이러한 배경하에 본 연구는 8차로 고속도로에 대한 차로별 용량을 결정하였고 차로별 보정계수를 사용한 전체 차로 용량을 결정하는 방법론에 대해 연구하였다. 본 연구의 자료는 고속도로 교통관리시스템(FTMS)의 루프 검지기에서 수집된 자료를 이용하였고, 용량결정을 위하여 자료수집 단위 시간별, 차로별, 일방향 전체차로에 대해 최대 교통류율을 분석하였다. 또한, 차로별 교통류 불연속의 관계를 파악하기 위한 교통류관계를 분석하였다. 본 연구를 통해 차로별 보정계수, 임계속도, 임계밀도를 결정하였으며, 다차로 고속도로 용량분석의 새로운 방법을 제시하였다.

• 한국도로학회논문집
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• 제14권6호
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• pp.131-138
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• 2012

PURPOSES : Two-lane highways have one lane in each direction, and lane changing and passing maneuvers take place in the opposing lane depending on the availability of passing sight distance. 2001 Korea Highway Capacity Manual (KHCM) is classified into two classes of two-lane highways (Type I, II), and average travel speed and time-delayed rate are used as measures of effectiveness (MOEs). However, since existing two-lane highways have both uninterrupted and interrupted traffic flow-system elements, a variety of free-flow speeds exhibits in two-lane highways. In addition, it is necessary to check if the linear-relationship between volumes and time-delayed rate is appropriate. Then, this study is to reestablish the relationship between average travel speed, time-delayed rate, and flow. METHODS : TWOPAS model was selected to conduct this study, and the free-flow speeds of passenger cars and the percentage of following vehicles observed in two-lane highways were applied to the model as the input. The revised relationships were developed from the computer simulation. RESULTS : In the revised average travel speed vs. flow relationship, the free-flow speed of 90km/h and 70km/h were added. It shows that the relationship between time delayed-rate and flow appeared to be appropriate with the log-function form and that there was no difference in time-delayed rate between the free flow speeds. In addition to revise the relationships, the speed prediction model and the time-delayed rate prediction model were also developed. CONCLUSIONS : The revised relationships between average travel speed, time-delayed rate, and flow would be useful in estimating the Level of Service(LOS) of a two-lane highway.

• 한국정보통신학회논문지
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• 제21권8호
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• pp.1553-1559
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• 2017

본 논문은 자동차 전방에 장착된 단일 카메라를 이용한 차선 이탈 검출 알고리즘을 제안한다. 제안된 알고리즘은 카메라에 의해 취득된 영상으로부터 top-view 공간에 지정된 작은 관심 영역을 위한 부분 top-view 영상을 생성하고, 작은 부분 top-view 영상에서 차선을 검출하고, 미리 지정된 가상 자동차와 검출된 차선들의 겹침을 조사해 차선 이탈을 결정한다. 또한 제안된 알고리즘은 차선 사이에서 차선 이탈 검출을 방해하는 도로 표기 (잡음)에 의한 직선들의 제거와 이전 프레임의 차선 정보를 이용한 손실된 차선의 예측을 포함한다. 실제 주행 동영상을 이용한 차선 이탈 검출 실험에서 제안된 알고리즘은 차선 유지 상태에서 99.0%, 차선 이탈 상태에서 94.7%를 정상적으로 검출한다.

• 한국자동차공학회논문집
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• 제13권3호
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• pp.48-57
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• 2005

This paper presents a novel algorithm in order to extract lane-related information based on machine vision techniques. The algorithm makes up for the weak points of the former method, the Edge Distribution Function(EDF)-based approach, by introducing a Lane Boundary Pixel Extractor (LBPE) and the well-known Hough Transform(HT). The LBPE that serves as a filter to extract pixels expected to be on lane boundaries enhances the robustness of machine vision, and provides its results to the HT implementation and EDF construction. The HT forms the accumulator arrays and extracts the lane-related parameters composed of orientation and distance. Furthermore, as the histogram of edge magnitude with respect to edge orientation angle, the EDF has peaks at the orientations corresponding to lane slopes on the perspective image domain. Therefore, by fusing the results from the EDF and the HT the proposed algorithm improves the confidence of the extracted lane-related information. The system shows successful results under various degrees of illumination.

• 대한교통학회지
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• 제12권1호
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• pp.151-172
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• 1994

The objective of study is to evaluate design standards related to the allowable truck speeds, taper length and sign requirements together with the operating practices and economic justification for climbing lanes. Field surveys were carried out on seven climbing lanes, three on two-lane and four on four-lane freeways. Data collected are traffic volume, speed, usage rate and delay. It is found that current design criteria for determining the length of climbing lane, taper lengths, and traffic sign requirements must be upgraded. It is also recommended that regulations on the use of climbing lane be established to make it more effective. Further, economic analysis revealed that the climbing lane is economically justified for two-lane and four-lane freeway if the AADT is over 4,577 and 5,116 vehicles respectively.