• 대한임베디드공학회논문지
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• 제7권4호
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• pp.163-172
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• 2012

A driver assistance system is critical to improve a convenience and stability of vehicle driving. Several systems have been already commercialized such as adaptive cruise control system and forward collision warning system. Efficient vehicle detection is very important to improve such driver assistance systems. Most existing vehicle detection systems are based on a radar system, which measures distance between a host and leading (or oncoming) vehicles under various weather conditions. However, it requires high deployment cost and complexity overload when there are many vehicles. A camera based vehicle detection technique is also good alternative method because of low cost and simple implementation. In general, night time vehicle detection is more complicated than day time vehicle detection, because it is much more difficult to distinguish the vehicle's features such as outline and color under the dim environment. This paper proposes a method to detect vehicles at night time using analysis of a captured color space with reduction of reflection and other light sources in images. Four colors spaces, namely RGB, YCbCr, normalized RGB and Ruta-RGB, are compared each other and evaluated. A suboptimal threshold value is determined by Otsu algorithm and applied to extract candidates of taillights of leading vehicles. Statistical features such as mean, variance, skewness, kurtosis, and entropy are extracted from the candidate regions and used as feature vector for SVM(Support Vector Machine) classifier. According to our simulation results, the proposed statistical feature based SVM provides relatively high performances of leading vehicle detection with various distances in variable nighttime environments.

• 한국자동차공학회논문집
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• 제25권3호
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• pp.309-316
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• 2017

In shuttle vans designed to transport children, the recognition of a child's approach and departure is very important. Ultrasonic sensors are generally used for a short distance around a vehicle. Although ultrasonic sensors are cheaper than other ADAS sensors, the number of sensors installed in a van should be optimized. In order to recognize the presence of a child around a shuttle van, this paper proposes the placement of ultrasonic sensors in the van. Considering the turning radius of the van and the distance from each sensor to a child, collision risk is classified as 'safe', 'warning', and 'danger'. The sensor placement and the recognition algorithm are verified in a virtual driving environment.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2012년도 추계학술발표대회
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• pp.510-511
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• 2012

지능형 자동차의 차량 안전시스템의 요구가 증가되면서 FCW(Frontal Collision Warning)에 대한 중요도가 높아지고 있다. 이미 몇몇 회사들이 상용화에 성공한 위 기술은 단일 카메라, 복수의 카메라, 또는 라이더와 카메라의 정보 혼합 방식 등을 사용하고 있다. 본 논문은 단일 카메라 기반 방식에서 차량 후보를 필터링하는 방법에 대해 소개한다

• 한국통신학회논문지
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• 제37권7C호
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• pp.544-553
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• 2012

자동차 측위 기술은 충돌 경고, 적응형 주행 제어 등의 다양한 지능형 자동차 서비스들을 제공하는데 있어 필수적인 기술이다. 본 논문에서는 자동차에 장착된 레이더 등의 센서로부터 수신하는 주변 자동차들의 상대적 위치 정보와 자동차 간 통신을 통해 수신하는 주변 자동차들의 GPS 측위값을 융합하여 자기 자동차의 측위 정확도를 향상하는 융합 측위 알고리듬을 제시한다. 제안하는 알고리듬은 탐욕적 측위 데이터 매핑 알고리듬과 융합 측위보정 알고리듬으로 구성된다. 전자는 거리를 기반으로 GPS 측위값과 센싱 측위값을 대응시키고, 후자는 대수 법칙에 기반하여 자기 자동차의 GPS 측위값을 보정한다. 시뮬레이션을 통해 융합 측위 알고리듬의 RMS 측위 정확도가 기존의 GPS 기반 RMS 측위 정확도에 비해 종방향으로 30 % 이상, 횡방향으로 60 % 이상 향상할 수 있음을 보였다.

• 한국통신학회논문지
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• 제38C권2호
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• pp.165-171
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• 2013

차량 통신 프로토콜은 IEEE 802.11 WG과 P1609에서 진행하고 있는 WAVE(Wireless Access in Vehicular Environments)가 대표적이며, 보안 등을 제외한 MAC과 PHY에 대한 부분은 표준으로 제정되었다. 이러한 차량통신을 이용하여 운전자들의 안전과 전체 교통 흐름의 원활한 통제를 위해 국내외에서 많은 프로젝트가 진행되고 있다. 따라서 본 논문에서는 교차로에서 좌회전 시도 시에 위험 상황이 예상되면 운전자에게 알려주기 위한 차량간 통신 기반 안전서비스 알고리즘을 설계하였고, 이를 실제 구현하였다. 제안하는 알고리즘은 자차와 반대편에서의 접근차량에 대한 모델을 구성하고 충돌 위험이 있을 경우 운전자에게 HMI(Human Machine Interface)를 통해 경고를 주게 된다. 본 안전 서비스의 성능 테스트를 위해 테스트 차량을 이용하여 알고리즘을 시스템에 탑재하였으며, 테스트 케이스를 구성하여 성능 시험장에서 검증하였다. 테스트 결과로써, 우수한 성능을 나타냈으며, 앞으로 차량 통신 인프라가 설치된다면 V2I(Vehicle to Infrastructure) 통신을 이용하여 본 알고리즘을 보다 정밀하게 보완해야 할 것이다.

• 전기학회논문지
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• 제57권12호
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• pp.2220-2227
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• 2008

The safety equipments of railway level crossing which are installed at intersections between roads and railway lines prevent level crossing accidents by informing all of the vehicles and pedestrians of approaching trains. The intelligent safety system for level crossing which employs information and communication technology has been developed in USA and Japan, etc. But, in Korea, the relevant research has not been performed. In this paper, we analyze the cause of railway level crossing accidents and the inherent problem of the existing safety equipments. Based on analyzed results, we design the intelligent safety system which prevent collision between a train and a vehicle. This system displays train approaching information in real-time at roadside warning devices, informs approaching train of the detected obstacle in crossing areas, and is interconnected with traffic signal to empty the crossing area before train comes. Especially, we present the video based obstacle detection algorithm and verify its performance with prototype H/W since the abrupt obstacles in crossing areas are the main cause of level crossing accidents. We identify that the presented scheme detects both pedestrian and vehicle with good performance.

• 자동차안전학회지
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• 제10권2호
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• pp.20-28
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• 2018

Currently, sharp increase of car is on the rise as a serious social problem due to loss of lives from car accident and environmental pollution. There is a study on ITS (Intelligent Transportation System) to seek coping measures. As for the commercialization of ITS, we aim for occupancy of world market through ASV (Advanced Safety Vehicle) related system development and international standardization. However, the domestic environment is very insufficient. Core factor technologies of ITS are Adaptive Cruise Control, Lane Keeping Assist System, Forward Collision Warning System, AEB (Autonomous Emergency Braking) system etc. These technologies are applied to cars to support driving of a driver. AEB system is stop the car automatically based on the result decided by the relative speed and distance with obstacle detected through sensor attached on car rather than depending on the driver. The purpose of AEB system is to measure the distance and speed of car and to prevent accident. Thus, AEB will be a system useful for prevention of accident by decreasing car accident along with the development of automobile technology. This study suggests a scenario to suggest a test evaluation method that accords with domestic environment and active response of international standard regarding the test evaluation method of AEB. Also, by setting the goal with function for distance, it suggests theoretic model according to the result. And the study aims to verify the theoretic evaluation standard per proposed scenario using car which is installed with AEB device through field car driving test on test road. It will be useful to utilize the suggested scenario and theoretical model when conducting AEB test evaluation.

• 한국IT서비스학회지
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• 제15권4호
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• pp.25-39
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• 2016

The drone is an unmanned aerial vehicle which has no human pilot. Drones can be classified into military drones, commercial drones, and personal drones by usage. Also, drones can be classified from large-sized to nano-sized drone by size and autonomous, remote controlled drone by control type. Especially, military drones can be classified into low-altitude drones, medium-altitude, and high-altitude drones by altitude. Recently, the drone industry is one of the fast growing industries in the world. As drone technologies have become more advanced and cost-effective, Korean government has set its goal to become a top-level country in drone business. However, the government's strict regulation for drone operations is one of the biggest hurdles for the development of the related technologies in Korea and other countries. For example, critical problems for drone delivery can be classified into technical issues and institutional issues. Technical issues include durability, conditional awareness, grasp and release mechanisms, collision avoidance systems, drone operating system. Institutional issues include pilot and operator licensing, privacy rules, noise guidelines, security rules, education for drone police. This study analyzes the trends of the drone industry from the viewpoint of technology and regulation. Also, we define the business areas of drone utilization. Especially, the drone business types or models for public sector are proposed. Drone services or functions promoting public interests need to be aligned with the business reference model of Korean government. To define ten types of drone uses for public sector, we combine the business types of government with the future uses of drones that are proposed by futurists and business analysts. Future uses of drones can be divided into three sectors or services. First, drone services for public or military sectors include early warning systems, emergency services, news reporting, police drones, library drones, healthcare drones, travel drones. Second, drone services for commercial or industrial services include parcel delivery drones, gaming drones, sporting drones, farming and agriculture drones, ranching drones, robotic arm drones. Third, drone services for household sector include smart home drones.

• 한국인터넷방송통신학회논문지
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• 제22권6호
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• pp.43-49
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• 2022

FMCW레이다는 일반 차량의 충돌방지용도 뿐만 아니라 자율주행시스템에서 활발히 센서로서 사용이 되고 있다. 본 논문에서는 자율주행센서로서 개발한 2-chip 기반의 FMCW MIMO(Multi Input Multi Output) 레이다 설계 및 구현에 대해서 설명하였다. 사용 칩을 이용하여 48채널의 가상배열을 이용하여 방위각 해상도가 우수하게 설계하였으며, 특히 Frame 기반과 Chirp 기반의 파형발생 및 신호처리를 혼합하여 최대탐지 가능 속도와 속도 보상에 대해 강점을 보유할 수 있도록 제작하였으며, 구현된 시스템은 실험실 내 시험과 실제 주행시험을 통하여 성능 및 상용화 가능성에 대한 분석을 진행하였다.

• 한국통신학회논문지
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• 제42권5호
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• pp.1069-1076
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• 2017

C-ITS(Cooperative-Intelligent Transportation System)는 전방 충돌 경고, 도로 안전 서비스 및 비상 정지와 같은 엄격한 실시간성이 요구되는 서비스들을 제공한다. C-ITS의 핵심 기술인 WAVE(Wireless Access in Vehicular Environments)는 고속 이동 환경을 위해 고안된 기술이지만, 실제 도로 환경에 적용하여 안정적인 통신 서비스를 제공하기 위해서는 실차 환경의 다양한 성능 시험이 요구된다. 실제 도로 환경에서 WAVE 통신 성능은 이동 중인 차량, 도로의 형상 및 지형 등의 주변 환경에 의해 영향을 받으며 특히, 차량이 고속으로 이동하는 경우 차량의 속도에 따라 주행하는 위치와 노변장치와의 접근성 등 주변 환경이 빠르게 변화한다. 이 변화는 통신 성능에 영향을 주는 요소이므로 이를 분석하기 위한 시스템과 방법이 필요하다. 본 논문에서는 고속 주행 환경에서 효과적인 성능 시험 시스템 구성과 시험 방법을 제안하고, 실차 시험을 통해 측정한 데이터를 기반으로 통신 성능을 분석한 결과를 제시한다.