• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.1998-2006
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• 2005

The lane departure avoidance systems have been considered promising to assist human drivers in AVCS (Advanced Vehicle Control System). In this paper, a lane departure monitoring and control system is developed and evaluated in the hardware-in-the-loop simulations. This system consists of lane sensing, lane departure monitoring and active steering control subsystems. The road image is obtained based on a vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active steering controller for avoiding the lane departure is designed based on the lane departure metric. The proposed lane departure avoidance system is realized in a steering HILS (hardware-in-the-loop simulation) tool and its performance is evaluated with a driver in the loop.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.222-228
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• 2003

Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

• Journal of Auto-vehicle Safety Association
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• v.12 no.3
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• pp.13-19
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• 2020

This paper presents steering controller for unintended lane departure avoidance under crosswind using vehicle lateral disturbance estimation. Vehicles exposed to crosswind are more likely to deviate from lane, which can lead to accidents. To prevent this, a lateral disturbance estimator and steering controller for compensating disturbance have been proposed. The disturbance affecting lateral motion of the vehicle is estimated using Kalman filter, which is on the basis of the 2-DOF bicycle model and Electric Power Steering (EPS) module. A sliding mode controller is designed to avoid unintended the lane departure using the estimated disturbance. The controller is based on the 2-DOF bicycle model and the vision-based error dynamic model. A torque controller is used to provide appropriate assist torque to driver. The performance of proposed estimator and controller is evaluated via computer simulation using Matlab/Simulink.

• Journal of Auto-vehicle Safety Association
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• v.6 no.1
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• pp.27-32
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• 2014

A study assessing driver acceptance level for various active safety systems against Korean drivers has been conducted. A 2013 Cadillac ATS model vehicle was tested along southern outskirt of Seoul including local roadway and interurban highway. Active safety systems included were FCA(Forward Collision Alert), LDW(Lane Departure Warning), SBZA(Side Blind Zone Alert), FRPA(Front/Rear Park Assist), RCTA(Rear Cross Traffic Alert), ACC(Adaptive Cruise Control), and AEB(Autonomous Emergency Braking). Participants experienced the FRPA, RCTA and AEB features in a controlled parking lot with a dummy vehicle and traffic cones as target obstacles. Remaining features have been tested on the accumulated stretched of 106 km long urban and interurban roadway. Series of questionnaires corresponding to each active safety systems have been conducted. Tentative results revealed that RCTA and SBZA systems received favourable ratings compared to the other ones.

• Journal of Auto-vehicle Safety Association
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• v.7 no.1
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• pp.33-39
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• 2015

This study examined the drivers' acceptance level of various active safety features with Korean drivers on Seoul urban and city roads. The test vehicle, 2013 Cadillac ATS, was equipped with FCA(Forward Collision Alert), LDW(Lane Departure Warning), SBZA(Side Blind Zone Alert), FRPA(Front/Rear Park Assist), RCTA(Rear Cross Traffic Alert), ACC(Adaptive Cruise Control), and AEB(Autonomous Emergency Braking). Participants had chances to run the tests on those systems in the parking lot accompanied by the 106km long stretch of predetermined route including local road and interurban highway in Seoul and Gyeonggi-do under normal traffic flowing environment. After the test, participants completed a series of questionnaires about the features they experienced. The results revealed that RCTA and SBZA systems received more favourable ratings compared to the other features in avoiding crashes. The respondents preferred sound alerts to haptic ones even though haptic warning methods were better in providing directional information.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.4
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• pp.707-714
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• 2016

Active driving safety systems for vehicle, such as the front collision avoidance, lane departure warning, and lane change assistance, have been popular to be adopted to the compact car. For improving performance and competitive cost, FMCW radar has been researched to adopt a phased array or a multi-beam antenna, and to integrate the front and the side radar. In this paper we propose several efficient methods to implement the signal processing module of FMCW radar system using low cost DSP. The pulse width modulation (PWM) based analog conversion, the approximation of time-eating functions, and the adoption of vector-based computation, etc, are proposed and implemented. The implemented signal processing board shows the real-time performance of 1.4ms pulse repetition interval (PRI) with 1024pt-FFT. In real road we verify the radar performance under real-time constraints of 10Hz update time.