• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.7-13
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• 2021

This paper presents an vulnerable road user (VRU) classification and tracking algorithm using vision and LiDAR sensor fusion method for urban autonomous driving. The classification and tracking for vulnerable road users such as pedestrian, bicycle, and motorcycle are essential for autonomous driving in complex urban environments. In this paper, a real-time object image detection algorithm called Yolo and object tracking algorithm from LiDAR point cloud are fused in the high level. The proposed algorithm consists of four parts. First, the object bounding boxes on the pixel coordinate, which is obtained from YOLO, are transformed into the local coordinate of subject vehicle using the homography matrix. Second, a LiDAR point cloud is clustered based on Euclidean distance and the clusters are associated using GNN. In addition, the states of clusters including position, heading angle, velocity and acceleration information are estimated using geometric model free approach (GMFA) in real-time. Finally, the each LiDAR track is matched with a vision track using angle information of transformed vision track and assigned a classification id. The proposed fusion algorithm is evaluated via real vehicle test in the urban environment.

• Smart Structures and Systems
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• v.2 no.3
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• pp.275-293
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• 2006

For health monitoring purpose usually the structure is instrumented with a large scale and multichannel measurement system. In case of highway bridges, operating vehicle could be utilized to reduce the number of measuring devices. First this paper presents a static damage detection algorithm of using operating vehicle load. The technique has been validated by finite element simulation and simple laboratory test. Next the paper presents an approach of using this technique to field application. Here operating vehicle load data has been used by instrumenting the bridge at single location. This approach gives an upper hand to other sophisticated global damage detection methods since it has the potential of reducing the measuring points and devices. It also avoids the application of artificial loading and interruption of any traffic flow.

• Journal of Auto-vehicle Safety Association
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• v.14 no.3
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• pp.65-70
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• 2022

Lane change in urban environments is a challenge for both human-driving and automated driving due to their complexity and non-linearity. With the recent development of deep-learning, the use of the RNN network, which uses time series data, has become the mainstream in this field. Many researches using RNN show high accuracy in highway environments, but still do not for urban environments where the surrounding situation is complex and rapidly changing. Therefore, this paper proposes a lane change possibility decision network by adopting Attention layer, which is an SOTA in the field of seq2seq. By weighting each time step within a given time horizon, the context of the road situation is more human-like. A total 7D vectors of x, y distances and longitudinal relative speed of side front and rear vehicles, and longitudinal speed of ego vehicle were used as input. A total 5,614 expert data of 4,098 yield cases and 1,516 non-yield cases were used for training, and the performance of this network was tested through 1,817 data. Our network achieves 99.641% of test accuracy, which is about 4% higher than a network using only LSTM in an urban environment. Furthermore, it shows robust behavior to false-positive or true-negative objects.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.783-787
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• 2007

Nowadays, vehicle becoming necessity is increasing gradually and is main cause of environmental problem. The current automobile noise measurement test method such as ISO 362 which have been used many countries contribute seriously to enforce the regulation of the noise rigidly and actively study vehicle's noise, using that method. However, the amendment of ISO 362 was completed under the international agreement due to the changes in vehicle's techniques and road conditions. In this study, the difference between the current ISO 362(or ECE R51) and new ISO 362(or new ECE R51) is estimated by the test using the practical car producing domestically because the Korean manufacturer have to be interested in new test method.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1501-1514
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• 2008

Recently, so as to solve the urban transportation problem the LRT(Light Rail Transit) system has been studied on the essential technology and the engineering know-how, which lead lower construction cost and higher reliability. The localization development of rubber tired AGT(Automatic Guided Trainsit) system has performed from 1999 to 2004, as a national project of the Minister of Land, Transport and Maritime Affairs. For the application of the rubber tired AGT system in Busan Subway 3-2 Line, this study is focused on the reliability of aluminium profiles vehicle carbody and the establishment of the test and evaluation technologies. In this paper, 3D modeling simulation was applied to the load test of aluminium vehicle carbody. The reliability of the vehicle carbody was estimated as the fatigue test of welded aluminium profiles. From the test and simulation results, it could be concluded that the developed rubber tired AGT shows a good structural reliability and integrity.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.590-596
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• 2010

Maglev vehicles levitated and propelled by electromagnet as non-contact between vehicle and guide rail is environmentally friendly transport system which have many advantages like ride comfort and guide way construction costs. As a goal of commercial operation at Incheon International Airport in 2012, development of vehicle is underway and proto-vehicle is test running at KIMM. The maglev bogie system of proto-vehicle, like railway vehicle, has functions to support weight of vehicle, transfer force of brake and propulsion and improve ride comfort through insulation of vibration and improve curve negotiation capability. The main components of a bogie are two modules consisted of electromagnetic, frame and linear motor, two tie beams to connect two modules and steering system to improve curve negotiation capability. The purpose of this paper is to describe general specification, structure, manufacturing process, performance testing, ride comfort of proto-vehicle and bogie system.

• Proceedings of the KIEE Conference
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• 1998.07a
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• pp.40-42
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• 1998

The levitation magnets for the UTM-01(Urban Transit Maglev) take up a substential portion of the vehicle weight and vehicle cost. It is thus very important to reduce the weight of magnets by improving their performance and also reduce the cost of making them. A very extensive study was conducted to achieve above goals. Shape of the magnet core was varied and various core materials were tested. Also tested was the anodized sheet coil to replace the currently used rectangular shape Al coil. The study so far has improved the performance of the magnet substantially. The levitation force-to-magnet weight ratio has been improved from 6.8 to 9.2 as a result. This improvement reduced to magnet weight of the UTM-01 test vehicle by 900 kg.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.1461-1467
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• 2009

The electric railway is a clean and energy saving system, because it requires relatively less energy than automobiles by transporting the same passengers or goods. Six thousands of vehicles are operated on Korean urban transit system. This system is 95% of regeneration system. Especially, the VVVF-Inverter vehicle has a merit of the highest regeneration rate. Energy consumption is 90% for traction and 10% for auxiliary supply. Braking energy is about 40% of energy consumption. Up to 40% of the tractive power of vehicles capable of returning energy to the power supply can be regenerated during braking and that this energy can be used to feed vehicles which are accelerating at the same time. The energy generated by braking vehicle would simply be converted into waste heat by its braking resistors if no other vehicle is accelerating at exactly the same time. Such synchronized braking and accelerating can not be coordinated, the ESS(energy storage system) stores the energy generated during braking and discharges it again when a vehicle accelerates. This paper presents field tests about the energy saving rate of the developed ESS. when the ESS is on/off, energy saving rate of the ESS is tested. The verification test in the field focused on energy saving.

• Proceedings of the KIEE Conference
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• 2007.10c
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• pp.247-249
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• 2007

Urban dynamometer driving schedule(FTP-75 mode) plays very significant role on automotive emission test, due to reference point. The overall system energy efficiency of a HEV(Hybrid Electric Vehicle) is highly dependent on the energy management strategy employed. An energy source is the heart of a HEV. In order to applicable to a vehicle component, it must be need to real world test result. But, the present state of things have numerous problems. In this paper, be studied performed based on HEV simulation software in virtual world and chassis dynamometer test in real world and the result make a comparative. Toyota Prius vehicle was adapted as a modeling and real testing to evaluate the hybrid components and energy balancing management. The point at issue is voltage and current analysis for HEV battery SOC(State of Charge), and verification for energy.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.5
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• pp.7-13
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• 2011

The climate change due to the increased consumption with fossil fuel and rise of the oil price have been serious global issues. Automobile industry consumes 30% of the oil every year and causes air pollution and global warming by the exhaust emissions and carbon dioxide ($CO_2$). The demand of two-wheeled vehicle increases every year due to the parking and traffic problem caused by the increased automobiles in the urban area. Approximately 50,000,000 two-wheeled vehicles were produced in 2008. The development and sales of the hybrid two-wheeled vehicle industry become active due to its increased market demands. In this paper, the change of the motor and battery efficiency, driving distance, hill climbing ability with the change of the motor capacity was analyzed. Simulation of the peculiarities in urban driving schedule(World-wide Motorcycle Test Cycle(WMTC), Manhattan driving schedule), constant speed(10 km/h, 35 km/h) of small electronic two-wheeled vehicle was also carried out. Through the simulation result, appropriate capacities of the motor and battery for urban driving was acquired.