• The Journal of The Korea Institute of Intelligent Transport Systems
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• 제20권5호
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• pp.186-201
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• 2021

As autonomous driving technology advances, the accuracy of the vehicle position is important for recognizing the environments around driving. Map-matching localization techniques based on high definition (HD) maps have been studied to improve localization accuracy. Because conventional map-matching techniques estimate the vehicle position based on an HD map reference dataset representing the center of the lane, the estimated position does not reflect the deviation of the lateral distance within the lane. Therefore, this paper proposes a localization system based on the reference lateral position dataset extracted using image processing and HD maps. Image processing extracts the driving lane number using inverse perspective mapping, multi-lane detection, and yellow central lane detection. The lane departure method estimates the lateral distance within the lane. To collect the lateral position reference dataset, this approach involves two processes: (i) the link and lane node is extracted based on the lane number obtained from image processing and position from GNSS/INS, and (ii) the lateral position is matched with the extracted link and lane node. Finally, the vehicle position is estimated by matching the GNSS/INS local trajectory and the reference lateral position dataset. The performance of the proposed method was evaluated by experiments carried out on a highway environment. It was confirmed that the proposed method improves accuracy by about 1.0m compared to GNSS / INS, and improves accuracy by about 0.04m~0.21m (7~30%) for each section when compared with the existing lane-level map matching method.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• 제10권4호
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• pp.304-310
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• 2017

In this paper, we propose the architecture of an IPM based lane detector for autonomous vehicles to detect and control the driving route along the curved lane. In the IPM image, we divide the area into two fields, Far/Near Field, and the lane candidate region is detected using the Hough transform to perform the matching for the curved lane. In autonomous vehicles, various algorithms must be embedded in the system. To reduce the system resources, we proposed a method to minimize the number of memory accesses to the image and various parameters on the external memory. The proposed circuit has 96% lane recognition rate and occupies 16% LUT, 5.9% FF and 29% BRAM in Xilinx XC7Z020. It processes Full-HD image at a rate of 42 fps at a 100 MHz operating clock.

• Journal of Korea Multimedia Society
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• 제19권6호
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• pp.979-989
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• 2016

Traversable region detection is an essential step for advanced driver assistance systems and self-driving car systems, and it has been conducted by detecting lanes from input images. The performance can be unreliable, however, when the light condition is poor or there exist no lanes on the roads. To solve this problem, this paper proposes an algorithm which utilizes the information about the number of lanes and texture analysis. The proposed algorithm first specifies road region candidates by utilizing the number of lanes information. Among road region candidates, the road region is determined as the region in which texture is homogeneous and texture discontinuities occur around its boundaries. Traversable region is finally detected by dividing the estimated road region with the number of lanes information. This paper combines the proposed algorithm with a lane detection-based method to construct a system, and simulation results show that the system detects traversable region even on the road with poor light conditions or no lanes.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• 제23권4호
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• pp.16-36
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• 2024

This study, developed a dynamic hard shoulder running(HSR) algorithm that includes ending speed and minimum operation time in addition to the starting speed for HSR, and presented an operation plan. The first stage of the algorithm was red, which means vehicles are prohibited from HSR. The second stage is red/amber, in which drivers are notified of HSR, and operators are given time to check whether there is any obstacle to HSR. Stage 3 is green, which vehicles are permitted for HSR. Stage 4 is amber, in which a signal is given to drivers that the end of HSR is imminent. In addition, a minimum time is applied to green and red, but if congestion is severe, red is terminated early to prevent congestion from worsening. The upstream and downstream traffic flow is managed stably through main line ramp metering and lane number matching. The operating standard speed reflects the characteristics of vehicles and drivers, and based on simulation results, 7090 was selected as the optimal operating standard speed considering traffic flow and safety aspects. Therefore it is desirable to apply the travel time divided by the minimum speed of the HSR link as the minimum operating time in order to ensure continuity of traffic flow

• The Korean Journal of Malacology
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• 제31권4호
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• pp.257-262
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• 2015

The seven selected primers BION-13, BION-29, BION-61, BION-64, BION-68, BION-72 and BION-80 generated the total number of loci, average number of loci per lane and specific loci in Meretrix lusoria (ML), Saxidomus purpuratus (SP) and Cyclina sinensis (CS) species. Here, the complexity of the banding patterns varied dramatically between the primers from the three venerid clam species. The higher fragment sizes (> 1,000 bp) are much more observed in the SP species. The primer BION-68 generated 21 unique loci to each species, which were ascertaining each species, approximately 150 bp, 300 bp and 450 bp, in the ML species. Remarkably, the primer BION-80 detected 7 shared loci by the three clam species, major and/or minor fragments of sizes 500 bp, which were matching in all samples. As regards average bandsharing value (BS) results, individuals from CS clam species (0.754) exhibited higher bandsharing values than did individuals from SP clam species (0.607) (P < 0.05). In this study, the dendrogram obtained by the seven oligonucleotides primers indicates three genetic clusters: cluster 1 (LUSORIA01-LUSORIA07), cluster 2 (PURPURATUS08-PURPURATUS14), cluster 3 (SINENSIS15-SINENSIS21). Among the twenty one venerid clams, the shortest genetic distance that displayed significant molecular differences was between individuals 18 and 20 from the CS species (genetic distance = 0.071), while the longest genetic distance among the twenty-one individuals that displayed significant molecular differences was between individuals LUSORIA no. 02 and PURPURATUS no. 09 (genetic distance = 0.778). Relatively, individuals of SP venerid species were appropriately closely related to that of CS species, as shown in the hierarchical dendrogram of genetic distances. Eventually, PCR fragments exposed in the present study may be worthwhile as a DNA marker the three venerid clam species to discriminate.

• Journal of the Korean Institute of Gas
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• 제25권5호
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• pp.78-87
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• 2021

This paper analyzes the range and attributes of the traffic information service between domestic public institutions and private companies, and suggests the possibility of joint application of node-link information for each company and the possibility of joint use of private traffic information. For this purpose, the present condition and attributes of domestic and foreign traffic information node-links (link length, node ID number, U-turn information, lane information, left turn information, right turn information, etc.) were analyzed. The analysis targets, the node-link of the national standard node and the two companies were analyzed. The area of the experiment was selected in Jongno-gu, Seoul, where standard-link information is complex, traffic volume is high, and various standard-links exist. The experiment was conducted by comparing and analyzing the traffic information attributes of three types of node-links and performing node-links overlapping matching (utilizing encoding_decoding method), and the possibility of matching node-links and attributes of different specifications was analyzed using Open LR technique.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• 제1권1호
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• pp.22-32
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• 2002

This paper describes about non-burial AVI (Automatic Vehicle Identification) system using general vehicle as probe car for obtaining more accurate traffic information while conserving road pavement surface. Existing spot traffic detectors have their own limits of not obtaining right information owing to its mathematical method. Burial AVI systems have some defects, causing traffic jam, needing much maintenance cost because of frequent cutting of loop and piezo-electric sensors. Especially, they have hard time to make right detection, when it comes to jamming time. Therefore, in this paper, we propose non-burial AVI system with laser trigger unit. Proposed non-burial AVI system is developed to obtain regional traffic information from normal Passing vehicle by automatic license number recognition technology. We have adapted it to national highway section between Suwon city and Pyong$\~$Taek city(9.5km) and get affirmative results. Vehicle detection rate of laser trigger unit is more than 95$\%$, vehicle recognition rate is 87.8$\%$ and vehicle matching rate is about 14.3$\%$. So we regard these as satisfying results to use the system for traffic information service. We evaluate proposed AVI system by regulation of some institutions which are using similar AVI system and the proposed system satisfies all conditions. For future study, we have plan of detailed research about proper lane number from all of the target lanes, optimal section length, information service period, and data fusion method for existing spot detector.