• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.113-119
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• 2012

In this paper we propose the method that detects moving objects in autonomous navigation vehicle using LRF sensor data. Object detection and tracking methods are widely used in research area like safe-driving, safe-navigation of the autonomous vehicle. The proposed method consists of three steps: data segmentation, mobility classification and object tracking. In order to make the raw LRF sensor data to be useful, Occupancy grid is generated and the raw data is segmented according to its appearance. For classifying whether the object is moving or static, trajectory patterns are analysed. As the last step, Markov chain Monte Carlo (MCMC) method is used for tracking the object. Experimental results indicate that the proposed method can accurately detect moving objects.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.3
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• pp.1-19
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• 2023

Bikes have recently emerged as an alternative to carbon neutrality. To understand the demand for public bikes, we endeavored to estimate travel frequency of public bike by considering the intermediate stops. Using the GPS trajectory data of 'Ttareungyi', a public bike service in Seoul, we identified a stay point and estimated travel frequency reflecting population, land use, and physical characteristics. Application of map matching and a stay point detection algorithm revealed that stay point appeared in about 12.1% of the total trips. Compared to a trip without stay point, the trip with stay point has a longer average travel distance and travel time and a higher occurrence rate during off-peak hours. According to visualization analysis, the stay points are mainly found in parks, leisure facilities, and business facilities. To consider the stay point, the unit of analysis was set as a hexagonal grid rather than the existing rental station base. Travel frequency considering the stay point were analyzed using the Zero-Inflated Negative Binomial (ZINB) model. Results of our analysis revealed that the travel frequency were higher in bike infrastructure where the safety of bike users was secured, such as 'Bikepath' and 'Bike and pedestrian path'. Also, public bikes play a role as first & last mile means of access to public transportation. The measure of travel frequency was also observed to increase in life and employment centers. Considering the results of this analysis, securing safety facilities and space for users should be given priority when planning any additional expansion of bike infrastructure. Moreover, there is a necessity to establish a plan to supply bike infrastructure facilities linked to public transportation, especially the subway.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.460-465
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• 2013

In this paper, we describe a security robot system to control human's behavior in the security area. In order to achieve these goals, we present a method for representing, tracking and human blocking by laserscanner systems in security area, with application to pedestrian tracking in a crowd. When it detects walking human who is for the security area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.6
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• pp.1-14
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• 2011

The surrogate safety assessment model which was developed based on the conflict theory by FHWA in the US is software to analyze traffic conflicts using the individual vehicle trajectory data from a microscopic traffic simulation model. This study aims at assessing the safety of different signal control strategies, including pre-time and actuated signal control, using the SSAM. To this end, this study effort has developed a microscopic traffic simulation model using VISSIM through a field study, and then produced the surrogate measures, including TTC, PET, DR, MaxS and DeltaS, and the numbers of conflicts, including rear-end, right angle and lane-changing conflicts. The assessment results indicated that the actuated signal control may produce more conflicts in terms of rear-end conflicts. The use of SSAM in the safety assessments for diverse traffic alternatives in a safe and fast way may contribute to the improvement of safety in the roadway transportation.