• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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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.

• International Journal of Highway Engineering
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• v.20 no.4
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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.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.103-107
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• 2013

In this paper, A real-time lane tracking algorithm is proposed for lane departure warning system. To eliminate perspective effect, input image is converted into Bird's View by inverse perspective mapping. Next, suitable features are extracted for lane detection. Lane feature that correspond to area of interest and RANSAC are used to detect lane candidates. And driving lane is decided by clustering of lane candidates. Finally, detected lane is tracked using the Kalman filter. Experimental results show that the proposed algorithm can be processed within 30ms and its detection rate is approximately 90% on the highway in a variety of environments such as day and night.

• International Journal of Highway Engineering
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• v.15 no.6
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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.

• Journal of Korean Society of Transportation
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• v.17 no.1
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• pp.19-28
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• 1999

This study deals with developing Critical GaP Model and Merge Probability Model which describe traffic patterns in the microscopic view, for the Purpose of suggesting a proper design criteria within the climbing lane section. Minimum tolerance speeds at the end of the climbing lane are calculated 60km/hr for 2-lane freeway, and 75km/hr for 4-lane freeway. In case of 2-lane freeway, the result is same as existing design criteria. and a new value is 15km/hr higher than existing design criteria for 4-lane freeway. In addition, auxiliary length at the end of the climbing lane is needed about 200m for 4-lane freeway to adjust high minimum tolerance speed. Therefore we propose to increase minimum tolerance speed for 4-lane freeway.

• Journal of Korean Society of Transportation
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• v.17 no.3
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• pp.87-96
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• 1999

It is very important to analyze the capacity of basic freeway section in terms of planning, design, and operation of roads. Capacity, in Korean Highway Capacity Manual was Published in 1992, had been determined by data collected in only 4-lane freeway. But, Korea is continuously planning and constructing multi-lane roads for increasing traffic demand. For this reason, it is necessary to determine the capacity for multi-lane freeways. This study goals are two-fold the determination of lane capacity for 8-lane freeway; and the development of methodology determining total capacity using lane friction factor This study utilized the data collected by loop detectors at a station of FTMS in Kyungbu expressway. For determining capacities, this study analyzed maximum flow rate in various aspects such as collecting period, each lane, and total lane in one-way. In addition, this study evaluated the breakdown in traffic flow relations in order to find out interrelation of breakdown among lanes. Through this analysis, this study determined lane friction factors, critical speed, and critical density. Finally, this study expressed a new methodology of capacity analysis for multi-lane freeways using some findings from this analysis.

• International Journal of Highway Engineering
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• v.14 no.6
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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.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.8
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• pp.1553-1559
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• 2017

This paper proposes a lane departure detection algorithm using a single camera equipped in front of a vehicle. The proposed algorithm generates a partial top-view image for a small ROI (region of interest) designated on the top-view space form the image acquired by the camera, detects lanes on the small partial top-view image, and makes a decision on the lane departure by checking overlap between the pre-assigned virtual vehicle and the detected lanes. The proposed algorithm also includes the removal of lines occurred by road symbols (noises) disturbing the lane departure detection between lanes and the prediction of lost lanes using lane information of previous fames. In lane departure detection test using real road videos, the proposed algorithm makes the right decision of 99.0% in lane keeping conditions and 94.7% in lane departure conditions.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.3
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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.

• Journal of Korean Society of Transportation
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• v.12 no.1
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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.