• 전기학회논문지
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• 제66권7호
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• pp.1117-1122
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• 2017

Pedestrian detection is a very important and valuable part of artificial intelligence and computer vision. It can be used in various areas for example automatic drive, video analysis and others. Many works have been done for the pedestrian detection. The accuracy of pedestrian detection on multiple pedestrian image has reached high level. It is not easily get more progress now. This paper proposes a new structure based on the idea of HOG and convolutional filters to do the pedestrian detection in single pedestrian image. It can be a method to increase the accuracy depend on the high accuracy in single pedestrian detection. In this paper, we use Multiblock HOG and magnitude of the pixel as the feature and use convolutional filter to do the to extract the feature. And then use NEWFM to be the classifier for training and testing. We use single pedestrian image of the INRIA data set as the data set. The result shows that the Convolutional Multiblock HOG we proposed get better performance which is 0.015 miss rate at 10-4 false positive than the other detection methods for example HOGLBP which is 0.03 miss rate and ChnFtrs which is 0.075 miss rate.

• 한국산학기술학회논문지
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• 제11권1호
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• pp.159-165
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• 2010

본 논문에서는 원격제어기반 이동체 감지 및 변형 퍼스널 로봇시스템을 설계 및 구현하고 성능을 분석하였다. 설계에 있어서 중점적으로 고려한 사항은 퍼스널 로봇의 버튼기반 및 원격제어방식 설계, 휠 주행모드/보행모드/자동 주행모드/감시모드의 동작모드 설계, 원격제어기능 설계, 주변환경 변화감지 기능 설계, 모션데이터 추출기법 설계, 장애물 탐지기법 설계이다. 개발한 퍼스널 로봇은 언제 어디서나 원격지에서 인터넷과 접속하여 로봇의 동작 및 영상인식을 제어하여 주변 환경변화를 감지하는 이동체 감지 및 4가지의 변형이 가능하다. 또한 실험결과, 실내의 문턱이나 전선등으로 이루어진 지형의 요철을 다리 관절로 이동 가능하며, 자동 주행모드로 진행 할 경우 30cm*30cm 공간의 장애물 환경에서 3개의 적외선 센서를 이용하여 장애물을 성공적으로 벗어남을 확인하였다.

• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.110-116
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• 2022

Recently, various studies have been conducted to apply deep learning and AI to various fields of autonomous driving, such as recognition, sensor processing, decision-making, and control. This paper proposes a controller applicable to path following, static obstacle avoidance, and pedestrian avoidance situations by utilizing reinforcement learning in autonomous vehicles. For repetitive driving simulation, a reinforcement learning environment was constructed using virtual environments. After learning path following scenarios, we compared control performance with Pure-Pursuit controllers and Stanley controllers, which are widely used due to their good performance and simplicity. Based on the test case of the KNCAP test and assessment protocol, autonomous emergency steering scenarios and autonomous emergency braking scenarios were created and used for learning. Experimental results from zero collisions demonstrated that the reinforcement learning controller was successful in the stationary obstacle avoidance scenario and pedestrian collision scenario under a given condition.

• The Journal of Korean Physical Therapy
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• 제30권5호
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• pp.187-192
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• 2018

Purpose: This study compared the functional fitness and brake response of elderly and young drivers to confirm the correlation between the functional fitness and brake response. Methods: This study was a cross sectional observational design. Older drivers (>65age, n=21) and young adult drivers (20-40aged, n=20) were enrolled as subjects. The functional fitness of the subjects was measured using a senior fitness test consisting of a back scratch (BS), chair sit and reach (CSR), arm curl (AC), chair stand up (CSU), foot up and go (8-FUG), and 2-minute step (2-MS). The brake response used the virtual driving simulator to measure the brake reaction time (BRT) and braking distance (BD) according to the pedestrian protection and traffic signal compliance. Results: The older drivers had a lower BS (p<0.000), CSU (p=0.040), and 8-FUG (p=0.011) than the young adult drivers. BS and 8-FUG showed a significant positive correlation with the BRT and BD of pedestrian protection and traffic signal compliance. CSU showed a significant negative correlation with the BRT of pedestrian protection and traffic signal compliance. Conclusion: These findings suggest that the flexibility of the upper extremity, lower extremity strength, and agility are strongly correlated with the driving performance of elderly drivers.

• 한국ITS학회 논문지
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• 제22권5호
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• pp.216-223
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• 2023

자율주행차량의 기술과 수준이 발전하고 보다 다양한 도로 환경에서 주행함에 따라 차량이 직면한 상황을 해결하고 대응하기 위한 직관적이고 효율적인 상호작용 시스템이 필요하다. 자율주행의 관점에서의 주행 기술 개발은 사람 혹은 그 이상의 상황을 대응하기 위한 궁극적인 목표를 가지고 있다. 특히, 복잡하고 상호 양보해야 하는 도로환경에서는 차량 간 혹은 보행자와 차량 간의 서로의 상황을 이해할 수 있는 효율적인 의사소통에 대한 방법을 통해 유연한 대처가 가능한 시스템의 역할이 중요하다. 차량의 상태 혹은 직면한 상황을 해결하기 위해서는 정보의 제공과 방법이 직관적이고 의도에 대한 상호 작용을 통해 효율적인 자율주행 차량을 운영해야 한다. 본 논문에서는 리빙랩에 주행하는 자율주행차량이 다양하고 복잡한 환경에서 안정적이고 효율적인 주행을 하기 위해 차량이 처한 상황에 대한 정보를 표출할 수 있는 차량 구조와 그 기능을 설명한다.

• 국제초고층학회논문집
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• 제8권2호
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• pp.107-116
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• 2019

The use of computational fluid dynamics (CFD) is becoming an increasingly popular means to model wind flows in and around buildings. The first published application of CFD to both indoor and outdoor building airflows was in the 1970's. Since then, CFD usage has expanded to include different aspects of building design. Wind tunnel testing (WTT) on buildings for wind loads goes back as far as 1908. Gustave Eiffel built a pair of wind tunnels in 1908 and 1912. Using these he published wind loads on an aircraft hangar in 1919 as cited in Hoerner (1965 - page 74). The second of these wind tunnels is still in use today for tests including building design ($Damljanovi{\acute{c}}$, 2012). The Empire State Building was tested in 1933 in smooth flow - see Baskaran (1993). The World Trade Center Twin Towers in New York City were wind tunnel tested in the mid-sixties for both wind loads, at Colorado State University (CSU) and the [US] National Physical Laboratory (NPL), as well as pedestrian level winds (PLW) at the University of Western Ontario (UWO) - Baskaran (1993). Since then, the understanding of the planetary boundary layer, recognition of the structures of turbulent wakes, instrumentation, methodologies and analysis have been continuously refined. There is a drive to replace WTT with computational methods, with the rationale that CFD is quicker, less expensive and gives more information and control to the architects. However, there is little information available to building owners and architects on the limitations of CFD for flows around buildings and communities. Hence building owners, developers, engineers and architects are not aware of the risks they incur by using CFD for different studies, traditionally conducted using wind tunnels. This paper will explain what needs to happen for CFD to replace wind tunnels. Ultimately, we anticipate the reader will come to the same conclusion that we have drawn: both WTT and CFD will continue to play important roles in building and infrastructure design. The most pressing challenge for the design and engineering community is to understand the strengths and limitations of each tool so that they can leverage and exploit the benefits that each offers while adhering to our moral and professional obligation to hold paramount the safety, health, and welfare of the public.

• 산업융합연구
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• 제20권8호
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• pp.69-75
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• 2022

초등학교 주변에는 교통약자인 어린이 교통사고를 예방하기 위하여 어린이 보호구역내 스쿨존(school zone)을 지정하여 이 구역내에서는 차량 운행속도를 30km/h 미만으로 운행함에 따라 주·정차가 금지되어 있다. 하지만 우리나라는 OECD 국가 중 어린이 교통사고 사망률이 1위라는 불명예를 안고 있다. 이와 같은 배경하에 본 연구는 어린이 보호구역에서의 다양한 도로여건에 따라 불법 주·정차 차량으로 인한 운전자 시야확보 및 주행차량에 대한 인지의 어려움 등이 상존하고 있어, 이에 어린이 보호구역 내에 불법 주·정차방지 시스템을 구축함으로써 교통약자인 어린이들에 대해 교통사고방지와 운전자 안전운전에 대한 경각심 증진에 기여하기 위함에 연구의 목적을 두었다. 연구 방법으로는 주요선행연구와 문헌조사 및 분석을 바탕으로 주·정차방지시스템에 대한 구축방안을 제시하였다. 구축방안을 통해 교통사고 방지, 스마트한 운전자의 안전운행 유도, 보행자 안전의식 강화, 운전자의 안전의식 경각심 유도 등 효과를 기대할 수 있다.

• 대한토목학회논문집
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• 제36권1호
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• pp.97-104
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• 2016

우리나라의 인구 10만명당 차대사람 사망자 수는 OECD평균보다 약 3배 높고, 특히 생활도로에서 60% 이상 발생하고 있다. 따라서 본 연구에서는 보행자 및 차량의 통행실태 조사를 통해 사고원인을 분석하여 생활도로의 실질적인 안전성 증진방안을 도출하고자 하였다. 최근 보행환경은 우측보행 비율이 증가하고, 보행 중 스마트폰 사용자가 증가하는 등 많은 변화가 일어나고 있다. 통행실태 조사결과, 우측보행이 65%로 높고, 보행중 스마트폰 사용율도 17%로 나타났다. Eye Camera 실험을 통한 운전자의 운전부하량은 생활도로가 도시부 도로에 비해 4배 이상 높게 나타났으며, 속도조사 결과 30km/h이상 주행하는 차량이 62%로 높게 나타났다. 생활도로의 사고특성은 가장자리 통행사고 비율이 전체도로 대비 2.3배 높으며, 우측보행 시 사고가 좌측보행 시에 비해 2.5배 더 많고 우측에서 좌측으로 횡단할 때 더 위험한 것으로 분석되었다. 사고원인은 대부분 안전운전불이행(84.4%)이고, 차량이 좌회전할 때 사고가 우회전대비 2.3배 높고 후진사고의 비율이 14%로 높게 나타났다. 생활도로에서는 운전자가 일반도로에 비해 4배 이상 많은 운전집중력을 가져야하기 때문에 차량을 등지고 보행하거나 부주의한 행동을 하는 것은 사고로 이어질 개연성이 큰 것으로 분석되었다.

• 한국조경학회지
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• 제34권1호
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• pp.92-106
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• 2006

The process of designing Cheonggyecheon Entrance Plaza began with researching four keywords: plaza, restoration. modernity and icon. The outcome of the research was reinterpreted into and informed the design. An urban plaza must not only be a stage for civic life but should also be a portrait of the city to which it belongs. Many Korean plazas, however, are treated as if they are parks. Yeouido Park, which was originally a vast urban void, and Seoul Plaza, recently paved with grass, are good example. The strong 'green myth' can hinder socio-political activities. Cheonggyecheon cannot be said to have been 'restored', since it is still disconnected from its origin and upper streams, and the water is circulated by electricity. So it is better understood as an artificial urban waterfront, rather than an ecologically restored stream. This fact might diminish its ecological value, but not its recreational one. The entrance plaza therefore should reflect that the new stream brings back an 'experience', not only water itself. At the same time, the catch phrase of this restoration project was 'post-modern'. The demolished Cheonggye Expressway represents the 'economy drive' of the 1970s, so the newly opened Cheonggyecheon serves as a perfect counterpart to it. But modernity in Korea is the spirit that made many of the good things, not only its shortcomings, we have now. And from the philosophy of this restoration project, we can see that it is still an ongoing attitude in a way. Remnant of Cheonggye Expressway can evoke our nostalgia for the era. There are plenty of symbols in Seoul, both as architecture and objects. But none of them provide citizens with experience, other than the experience of looking at them. Cheonggyecheon Entrance Plaza is a good place to serve as an icon for a dynamic Seoul. From the research, the designer concluded that this plaza should commemorate the incomparable horizontal experience of Cheonggyecheon and the old expressway, amid the vertical metropolis. The Pedestrian Sculpture, which people can stroll on and look out over Cheonggyecheon, is to be made of steel cladding with a core structure and represents the dynamism of the stream, Seoul and contemporary Korea. The choice of material and the steel structure are also ways of creating the icon. The Water Plaza, the space underneath the ramp, will accommodate people and their urban activities, providing an opportunity to play with water. The Waterblades will be a device for the dramatic beginning of the stream, simultaneously camouflaging ugly openings in the outlets. The Wall of Archaeology is to be made with pre-fab resin blocks, translucent enough so that people can see through any archaeological findings of the site. The strong water-resistant character of resin makes the wall steady throughout the flood season as well. Cheonggyecheon restoration project is an effort to combine contemporary urban demand with the once-existing physicality by evoking our nostalgia for it. The project itself shows many socio-political issues of present-day Korea. The entrance plaza design thus is focused on suggesting an icon for the metropolis, simultaneously celebrating the stream itself. Within this space, people will be exposed to a unique experience that any 'green myth' cannot offer.