• 한국ITS학회 논문지
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• 제15권5호
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• pp.116-124
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• 2016

차량 내 수 많은 센서 노드들이 무선 데이터를 전송할 때 충돌을 검출하고 해결하기 위한 매체접속제어 프로토콜을 제안한다. 제안 프로토콜은 데이터 전송 시작 후 랜덤하게 충돌 검출 슬롯을 하나 선택하여 전송을 잠시 멈추고, 해당 채널을 센싱하여 다른 노드와의 충돌 여부를 에너지 레벨과 jam 신호 검출을 통하여 확인한다. 제안 방안은 이러한 충돌 검출 과정을 여러 번 수행함으로써 각 충돌 검출 단계에서 충돌을 인지한 노드는 걸러지고, 다음 단계에서는 살아남은 노드만 경쟁을 계속하여 충돌 해결 확률을 획기적으로 증가시킨다. 시뮬레이션 결과, 다수의 충돌 검출 단계를 사용한 제안 방식이 기존 경쟁 프로토콜보다 우수한 처리율을 갖는다. 또한 충돌 검출 단계의 개수와 충돌 검출 슬롯의 개수에 따라 제안 방안의 성능 변화를 살펴보고 최적 파라미터를 도출하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.107.2-107
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• 2002

The objective of this study is to propose a lane changing and keeping method on a curved road for an automatic guidance of a vehicle. It is well known that the speed control of a vehicle in a curved road is essential in terms of vehicle stability and passenger safety because centrifugal force makes a vehicle to be on out of lane. And it is also natural to avoid the collision with other cars or obstructions with keeping the stability and drivability. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net in which not only the state variables, but also the corresponding uncer...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.181-184
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• 1999

Leading vehicle states are useful and essential elements in adaptive cruise control (ACC) system, collision warning (CW) and collision avoidance (CA) system, and automated highway system (AHS). There are many approaches in ACC using Kalman filter. Mostly only distance to leading vehicle and velocity difference are estimated and used for the above systems. Applications in road vehicle in curved road need to obtain more informations such as yaw angle, steering angle which can be estimated using vision system. Since vision system is not robust to environment change, we used Kalman filter to estimate distance, velocity, yaw angle, and steering angle. Application to active tracking of target vehicle is shown.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.23.1-23
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• 2001

The unmanned vehicle is composed of three parts the front & side sensor system for keeping the lane and avoiding obstacles, the acceleration & brake control system for longitudinal motion control, and the steering control system for the lateral motion control. Each system helps the unmanned vehicle of which should take notice of its location and recognize obstacles around the place by itself and make a decision how much fast to proceed according to circumstances. During the operation, the control strategy that the vehicle can detect obstacles and avoid collision on the road involves with vehicle velocity very much. Therefore, We have to define a traction system which is powered by DC motor so that, unmanned vehicle can control its velocity accurately. In this study, we find mechanical and ...

• 자동차안전학회지
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• 제12권1호
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• pp.6-14
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• 2020

Personal mobility, which was used exclusively for leisure activities, has recently been used as a means of transportation, and it is expected to increase its role as the next generation transportation. Sales of personal mobility are increasing rapidly, but the problem is that traffic accidents are also increasing. In this study, human body injury caused by various collisions between electric wheel users and road users that occur on bicycle or pedestrian roads mainly used by personal mobility is analyzed through collision analysis and collision risk analysis. In the case of the collision accident for electric wheel, it is analyzed that the road users are more likely to be injured on the pedestrian road than the bicycle road. In addition, the head hit each other or fall and hit the floor caused severe head injury.

• 자동차안전학회지
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• 제10권2호
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• pp.13-19
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• 2018

The purpose of this study was to evaluate the effect of air bag deployment in passenger car head-on collisions on injuries to the driver. The drivers in head-on collisions who were brought to the emergency rooms of two hospitals from January 2011 and October 2014 were evaluated, as were the vehicles involved. The driver injury level were assessed by utilizing Collision Deformation Classification (CDC) codes, and the Abbreviated Injury Scale (AIS) and Injury Severity Score (ISS), respectively. In this study, it was shown that the chest ISS and AIS were significantly high when an air bag only is deployed. A statistically significant difference was found in the crush extent when the driver who fastened the seatbelt was found to be affected more than the ISS 9. Even when an air bag is deployed in a head-on car collision, injury severity can vary according to accident circumstances and crash severity. Accordingly, first aid can be rapidly given, and the injured person can be quickly referred to a hospital, only if the assessment of persons involved in a vehicle accident is accurately carried out.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.537-543
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• 2000

mathematical models for a hydraulic brake actuator and a brake control law for vehicle collision warning/collision avoidance (CW/CA) systems will be presented in this paper. The control law have been designed for optimzied safety and comfort. A solenoid-valve-controlled hydraulic brake actuator system for the CW/CA systems has been investigated, A nonlinear computer model and a linear model of the hydraulic brake actuator system have been developed. Both models were found to represent the actual system with good accuracy. Uncertainties in the brake actuator model have been considered in the design of the control law for the roubustness of the controller. The effects of brake control on CW/CA vehicle response has been investigated via simulations. The simulations were performed using the hydraulic brake system model and a complete nonlinear vehicle model. The results indicate that the proposed brake control law can provide the CW/CA vehicles with an opimized compromise between safety and comfort.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 추계종합학술대회
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• pp.705-709
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• 2005

In this paper, we introduce fuzzy algorithm similar to human's way of thinking and designed collision detection system of vehicles. First, before the model vehicles design, we did simulation collision detection using PID and Fuzzy Controller. As a result, P.O that is Percent Overshoot when make use of PID controller happened from smallest 32% to 45%. But, In case of using fuzzy controller they produced about 10% in 7% in case use 25 rule. We designed model vehicles that introduce Auto Guided Vehicle(AGV) with confirmed result in simulation. We set Polaroid 6500 sensor on the front of model automobile because distinguish existence automobile to the head. And we composed motor drive part to run vehicles and 80C196KC processor for control movement of vehicles influenced on distance data of the front vehicles that receive from supersonic waves sensor. In case of using Fuzzy controller, last value percent error happened about maximum 15% in smallest 5%, and we confirmed that distance with front vehicles kept when state hold time is about maximum 16 seconds in smallest 10 seconds.

• 자동차안전학회지
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• 제13권2호
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• pp.24-29
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• 2021

In order to prevent automobile accidents internationally, advanced safety devices are actively being developed. Among them, Auto Emergency Brake (AEB) function and Forward Collision Warning (FCW), which are used to prevent or reduce frontal collision, have been studied for a long time, and are being researched by various manufacturers to develop better performance. In fact, in the case of large vehicles, it is mandatory for AEB to be installed in Korea. Accordingly, a variety of Vehicles equipped with AEB and FCW are coming out, and inspection of these mounting devices is a necessary system in the future. This study confirms how AEB and FCW are currently assessed in regulation and the New Car Assesment Program (NCAP), This is a basic study of the matters to be considered in preparing AEB and FCW inspection standard by checking the performance of vehicles equipped with forward collision protection and identifying the vehicle's sensitivity, range and speed of radar sensors, and target vehicles based on CAN communication data.

• 자동차안전학회지
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• 제9권1호
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• pp.19-24
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• 2017

This paper present a performance evaluation scenarios to assess the safety performance of autonomous emergency braking (AEB) system for cyclist collision. To guarantee the safety performance of AEB for cyclist, AEB system should be tested in various scenarios which can be occurred in real driving condition. For this, real-traffic car-to-cyclist collision data are analyzed to classify the real traffic collision scenarios. Using this information, typical car-to-cyclist collision scenarios are selected. Also, in order to develop the detail features of these collision scenarios, several accident cases related with these scenarios are explained. Based on these information, test scenarios which can describe the car-to-cyclist collisions occurred in Korea are proposed. For practicality and feasibility of the test scenarios, proposed scenarios should be designed to assess the safety performance of AEB system effectively. For this, some test scenarios are combined or removed based on the consideration about the effectiveness of each scenario to the assessment of the performance of AEB system. To confirm that the proposed test scenarios are realistic and physically meaningful, simulation is conducted using simple AEB system in proposed test scenarios.