• 한국인터넷방송통신학회논문지
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• 제20권4호
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• pp.81-86
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• 2020

사물인터넷 IoT를 넘어선 지능형사물인터넷 AIoT의 발달로 산업 분야가 전반적으로 변해가고 있다. 또한, 4차 산업 혁명 시대가 도래함 에 따라 자동차 산업 분야에서도 획기적인 변화와 발전이 이루어지고 있는데, 그 대표적인 예시가 바로 "자율주행자동차"라고 할 수 있다. 자율주행자동차에 대한 국내외적 관심이 높아짐에 따라 유관기관들의 관련 연구 또한 활발히 진행되고 있고, 실제로 많은 발전을 이루었으며 제한적이나마 상용화 단계로 까지 발전하였다. 하지만, 운전자가 아닌 자동차에 장착된 다양한 센서 들을 활용하여 데이터를 수집, 분석하여 제어하는 자율주행 자동차의 구조 상 보안에 대한 다중화 된 장치가 미흡하여 해킹에 고스란히 노출되는 경우가 많다. 이 경우, 운전자뿐만 아니라 주변 환경에도 위협이 될 수 있기 때문에 본 논문에서는 자율주행 자동차의 시스템 보안 향상을 위한 새로운 데이터 처리 기능을 제안하고자 한다.

• 한국ITS학회 논문지
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• 제15권4호
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• pp.26-32
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• 2016

자율주행자동차는 운전자의 조작 없이 목표지점까지 스스로 주행환경을 인식하여 운행하는 최첨단 자동차를 말하며 위성항법장치, 센서 등으로 위치를 측정하고 주행환경을 인식, 연산장치로 가감속 차선변경 등 자율주행을 제어한다. 최근, 자동차 산업은 기존 기계공학과 정보통신, 센서, 위성항법 등 첨단기술이 총 집약된 자율주행 자동차로 빠르게 진화중이다. 교통안전 정책과제 분석은 Issue-Tree를 활용하여 분석하였다. Issue-Tree 방법론은 복잡한 문제를 세분화하여 구체화하고, 체계적으로 접근하는 문제해결 도구로 자율주행자동차 도입에 따른 교통안전 관련 Issue의 해결을 위한 정책과제를 도출하기 위해 사용된다. 교통안전 정책과제를 분석하기 위해는 우선 미래 사회 및 교통여건 변화로부터 Key Word를 도출하고, 이와 연계되는 국내외 도로교통 정책/계획을 확인하여 국내외 도로 교통 정책목표 Key Word를 도출하였다. 도출된 정책목표 Key Word로부터 핵심적인 Issue를 도출하였는데, 이때 Issue-Tree 방법을 통해 체계화하였다.

• 한국멀티미디어학회논문지
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• 제21권5호
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• pp.558-570
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• 2018

Recently, object detection is a critical function for any system that uses computer vision and is widely used in various fields such as video surveillance and self-driving cars. However, the conventional methods can not detect the objects clearly because of the dynamic background change in the beach. In this paper, we propose a new technique to detect humans correctly in the dynamic videos like shores. A new background modeling method that combines spatial GMM (Gaussian Mixture Model) and temporal GMM is proposed to make more correct background image. Also, the proposed method improve the accuracy of people detection by using SVM (Support Vector Machine) to classify people from the objects and KCF (Kernelized Correlation Filter) Tracker to track people continuously in the complicated environment. The experimental result shows that our method can work well for detection and tracking of objects in videos containing dynamic factors and situations.

• 한국생산제조학회지
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• 제5권3호
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• pp.40-49
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• 1996

The problem related to the rotational vibration at steering wheel end of passenger cars during high speed driving is investigated. to analyze vibration of steering wheel, a steering system of passenger car is modelled in twelve degrees of freedom including backlash effect of rack and pinion gear system. The one degree of freedom system with backlash in investigated by the analytical method. Consequently the skeleton curve and the frequency response curves are computed. The steering system is analyzed by the numerical simulation using the 4th order Runge-Kutta method, the obtained results are compared with the experimental data. Also the effects of the change of rack gear tooth stiffness and backlash on the acceleration level of steering wheel are investigated. As a result, it can be found that the acceleration level of steering wheel becames lower as the rack gear tooth stiffness becames higher, and that acceleration level becames high as the magnitude of backlash between rack and pinion gear increase.

• 한국자동차공학회논문집
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• 제3권2호
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• pp.86-94
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• 1995

For a driving vehicle, a self-excited vibration of a pair of steerable wheels about their steering axis accompanied by tramp is called shimmy. Shimmy is caused by the coupling effects of the complicated actions of wheel and tire and the tramp motion of front wheel axle. Because front axle is no longer used on passenger cars shimmy occurring is not considerable. But in commercial vehicles using front wheel axle suspension system shimmy should be considered in design process. In this paper, the model closed to a practical vehicle was developed to analyze the shimmy of a commercial vehicle, and the effects of various design parameters to shimmy were observed by dynamic simulation with multibody dynamics program, DADS. The validity of developed model and analysis results were verified by practical vehicle experiments.

• Journal of information and communication convergence engineering
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• 제20권3호
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• pp.212-218
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• 2022

The performance of vision-based intelligent systems, such as self-driving cars and unmanned aerial vehicles, is subject to weather conditions, notably the frequently encountered haze or fog. As a result, studies on haze removal have garnered increasing interest from academia and industry. This paper hereby presents a 4K-capable hardware implementation of an efficient haze removal algorithm with the following two improvements. First, the depth-dependent haze distribution is predicted using a linear model of four haze-relevant features, where the model parameters are obtained through maximum likelihood estimates. Second, the approximated quad-decomposition method is adopted to estimate the atmospheric light. Extensive experimental results then follow to verify the efficacy of the proposed algorithm against well-known benchmark methods. For real-time processing, this paper also presents a pipelined architecture comprised of customized macros, such as split multipliers, parallel dividers, and serial dividers. The implementation results demonstrated that the proposed hardware design can handle DCI 4K videos at 30.8 frames per second.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2008년도 동계학술발표대회 논문집
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• pp.80-83
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• 2008

As SOC (Social Overhead Capital) has been expanded, the highway road construction has been accelerated and city road system has been more complicated. So, long road tunnels have been increased and traffic flow rate also has been raised. Accordingly, the exhausting gas of vehicle cars seriously deteriorates the tunnel inside air quality and driving view. In order to improve tunnel inside air quality, we may need to introduce a compulsory ventilation system as well as natural ventilation mechanism. The natural ventilation mechanism is enough for short tunnels, meanwhile longer tunnels require a specific compulsory ventilation facility. Many foreign countries already have been devoting on development of effective tunnel ventilation system and especially, some European nations and Japan have already applied their developed tunnel ventilation system for longer road tunnels. More recently, as the quality of life improved, our concerns about safety of driving and better driving environment have been increased. In order to obtain clearer and longer driving view, we are more interested in EP tunnel ventilation system in order to remove floating contaminants and automobile exhaust gas. Evan though it's been a long time since many European countries and Japan applied more economical and environment-friendly tunnel ventilation system with their self-developed Electrostatic Precipitator, we are still dependant on imported system from foreign nations. Therefore, we need to develop our unique technical know-how for optimum design tools through validity investigation and continuous possibility examination, eventually in order to localize the tunnel ventilation system technology. In this project, we will manufacture test-run products to examine the performance of system in order to develop main parts of tunnel ventilation system such as electrostatic precipitator, high voltage power generator, water treatment system, etc.

• 전기전자학회논문지
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• 제27권1호
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• pp.1-11
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• 2023

자율주행 자동차 또는 자율주행 로봇의 개발을 위해서는 경로 주행 시험이 필요하다. 이러한 시험은 실제 환경뿐만 아니라 시뮬레이션 환경에서도 수행되고 있다. 특히 강화학습과 딥러닝을 이용한 개발을 위해서 다양한 환경의 데이터가 필요한 경우에 시뮬레이터를 통한 개발도 이루어지고 있다. 이를 위해서는 수작업으로 설계된 경로뿐만 아니라 무작위로 자동으로 설계된 다양한 경로의 활용이 필요하다. 이러한 시험장 설계는 실제 건설, 제작에도 활용할 수 있다. 본 논문에서는 원호와 선분의 조합으로 이루어진 주행 시험 경로를 무작위로 생성하는 방법을 소개한다. 이는 원호와 선분의 거리를 구하여 충돌 여부를 판별하는 방법과 경로를 계속해서 이어 나가는 것이 불가능할 경우 경로 일부를 삭제하고 적절한 경로를 다시 만들어 나가는 알고리듬으로 이루어진다.

• 실천공학교육논문지
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• 제15권1호
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• pp.23-29
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• 2023

초등학생들은 인공지능을 활용하여 문제를 해결할 수 있는 능력을 기르는 것이 중요하므로 문제 해결 능력을 기르는 교육과 함께, 인공지능을 활용한 문제 해결 능력을 키우는 교육이 필요하다. 초등학생들은 인공지능에 대한 개념과 원리를 이해하고, 인공지능이 어떻게 작동하는지에 대한 기초적인 이해를 쉽게 재미있는 방식으로 교육받을 수 있는 형태가 필요하다. 이를 위하여 초등학교 3학년을 위한 8시간 기반의 인공지능 융합 프로그램을 자율주행차를 소재로 계획 및 운영한 결과 초등학생들의 문제 해결 능력, 창의력, 인공지능 이해도 등을 향상시키는 데 효과적임을 보여주었다. 캠프를 운영한 결과 학생들의 인공지능에 대한 이해도가 사전 평균 3.56(표준편차 .85), 사후 평균 4.00(표준편차 .71), t값은 -5.412(p<0.001)로 나타나서 통계적으로 인공지능의 이해도가 향상되었음을 알 수 있었고, 학생들의 만족도와 흥미도가 높음을 확인할 수 있었다. 향후에는 초등학생들이 직접 아이디어를 구안하고 인공지능 모델이 적용될 수 있는 제품을 만들어서 인공지능 모델을 프로그래밍할 수 있는 형태의 교육프로그램을 개발할 필요가 있을 것이다.

• 자동차안전학회지
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• 제14권2호
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• pp.57-69
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• 2022

Recently, as interest in self-driving cars has increased worldwide, research and development on the Advanced Driver Assist System is actively underway. Among them, the purpose of Adaptive Cruise Control (ACC) is to minimize the driver's driving fatigue through the control of the vehicle's longitudinal speed and relative distance. In this study, for the research of the ACC test in the real environment, the real-road test was conducted based on domestic-road test scenario proposed in preceding study, considering ISO 15622 test method. In this case, the distance measurement method using the dual camera was verified by comparing and analyzing the result of using the dual camera and the result of using the measurement equipment. As a result of the comparison, two results could be derived. First, the relative distance after stabilizing the ACC was compared. As a result of the comparison, it was found that the minimum error rate was 0.251% in the first test of scenario 8 and the maximum error rate was 4.202% in the third test of scenario 9. Second, the result of the same time was compared. As a result of the comparison, it was found that the minimum error rate was 0.000% in the second test of scenario 10 and the maximum error rate was 9.945% in the second test of scenario 1. However, the average error rate for all scenarios was within 3%. It was determined that the representative cause of the maximum error occurred in the dual camera installed in the test vehicle. There were problems such as shaking caused by road surface vibration and air resistance during driving, changes in ambient brightness, and the process of focusing the video. Accordingly, it was determined that the result of calculating the distance to the preceding vehicle in the image where the problem occurred was incorrect. In the development stage of ADAS such as ACC, it is judged that only dual cameras can reduce the cost burden according to the above derivation of test results.