• Journal of Auto-vehicle Safety Association
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• v.15 no.4
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• pp.6-15
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• 2023

This paper develops scenarios to evaluate the safety performance of Unmanned Ground Vehicle on military circumstances. The scenarios were created using Pegasus Project 6-layer format. These scenarios consist of straight road, curved road, merging road and crossroad. We adapt these scenarios to unpaved road. The characteristics of unpaved roads were divided into roughness, friction coefficient and road frequency. This adaption is validated via computer simulation. We observe the scan lines of vehicle become tangled of the straight road that make the cognitive abilities of the vehicle low and the lane-keeping is unable when vehicles entering curved off-roads over 40 km/h. The developed scenarios will contribute to enhancing stability from the perspective of introducing autonomous driving technology to Korean military.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.550-557
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• 1999

This paper describes a road-following controller using the proposed neural network for autonomous vehicle. Road-following with visual sensor like camera requires intelligent control algorithm because analysis of relation from road image to steering control is complex. The proposed neural network, relative similarity modular network(RSMN), is composed of some learning networks and a partitioniing network. The partitioning network divides input space into multiple sections by similarity of input data. Because divided section has simlar input patterns, RSMN can learn nonlinear relation such as road-following with visual control easily. Visual control uses two criteria on road image from camera; one is position of vanishing point of road, the other is slope of vanishing line of road. The controller using neural network has input of two criteria and output of steering angle. To confirm performance of the proposed neural network controller, a software is developed to simulate vehicle dynamics, camera image generation, visual control, and road-following. Also, prototype autonomous electric vehicle is developed, and usefulness of the controller is verified by physical driving test.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.2
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• pp.583-595
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• 2014

Currently, Korean transportation policies are aiming for increase of safety and environment-friendly and efficient operation, by avoiding construction and expansion of roads, and upgrading road alignments and facilities. This is revealed by that there have been 22 road expansion projects (30%) and 50 road improvement projects (70%) under the 3rd Five-Year Plan for National Highways ('11~'15), while there were 53 road expansion projects (71%) and 22 road improvement projects (29%) under the 2nd Five-Year Plan for National Highways. For more effective road improvement projects, there is a need of choosing projects after an objective and scientific safety assessment of each road, and assessing safety improvement depending on projects. This study is intended to develop a model for this road safety analysis and assessment. The major objective of this study is creating a road safety analysis and assessment model appropriate for Korean society, based on the HSM (Highway Safety Manual) of the U.S. In order to build up data for model development, the sections thought to have identical geometrical structure factors in 5 lines, Cheonbuk province, were divided as homogeneous sections, and representative values of geometric structures, facilities, traffic volume, climate conditions and land usage were collected from the 1,452 sections divided. In order to build up data for model development, the sections thought to have identical geometrical structure factors in 5 lines, Cheonbuk province, were divided as homogeneous sections, and representative values of geometric structures, facilities, traffic volume, climate conditions and land usage were collected from the 1,452 sections divided. The collected data was processed correlation analysis of each road element was implemented to see which factor had a big effect on traffic accidents. On the basis of these results, then, an accident model was established as a negative binomial regression model.Using the developed model, an Crash Modification Factor (CMF) which determines accident frequency changes depending on safety performance function (SPF) predicting the number of accident occurrence through traffic volume and road section expansion, road geometric structure and traffic properties, was extracted.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.12
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• pp.888-894
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• 2015

A new method for the simulation of the vehicle's interior road noise is proposed in the present study. The road noise model can synthesize road noise of a vehicle for varying driving speed within a range. In the proposed method, interior road noise is considered as a stochastic time-series, and is modeled by a nonstationary parametric model via two steps. First, each interior road noise signal, obtained from constant speed driving tests performed within a range of speed, is modeled as an autoregressive model whose parameters are estimated by using a standard method. Finally, the parameters obtained for different driving speeds are interpolated based on the varying driving speed to yield a time-varying autoregressive model. To model a full band road noise, audible frequency range is divided into an octave band using a wavelet filter bank, and the road noise in each octave band is modeled.

• International Journal of Highway Engineering
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• v.18 no.4
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• pp.1-8
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• 2016

PURPOSES : This study evaluates the reliability of the patterns of changes in the road surface temperature during winter using a statistical technique. In addition, a flexible road segmentation method is developed based on the collected road surface temperature data. METHODS : To collect and analyze the data, a thermal mapping system that could be attached to a survey vehicle along with various other sensors was employed. We first selected the test route based on the date and the weather and topographical conditions, since these factors affect the patterns of changes in the road surface temperature. Each route was surveyed a total of 10 times on a round-trip basis at the same times (5 AM to 6 AM). A correlation analysis was performed to identify whether the weather conditions reported for the survey dates were consistent with the actual conditions. In addition, we developed a method for dividing the road into sections based on the consecutive changes in the road surface temperature for use in future applications. Specifically, in this method, the road surface temperature data collected using the thermal mapping system was compared continuously with the average values for the various road sections, and the road was divided into sections based on the temperature. RESULTS : The results showed that the comparison of the reported and actual weather conditions and the standard deviation in the observed road surface temperatures could produce a good indicator of the reliability of the patterns of the changes in the road surface temperature. CONCLUSIONS : This research shows how road surface temperature data can be evaluated using a statistical technique. It also confirms that roads should be segmented based on the changes in the temperature and not using a uniform segmentation method.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.09a
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• pp.698-707
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• 2010

Because of localized extreme rainfall followed by Typhoon Ewiniar in 2006, a lot of landslides and debris flows were occurred in Jinbu area of Gangwon Province. Field investigation performed in this area found that it can be divided into three categories i.e. large debris flow, small debris flow, and debris flow around forest road. We performed field investigation especially for the sites where debris flow occurred around forest road. And the characteristics of the debris flow around forest road were analyzed and compared with the other site of debris flow.

• Acta Via Serica
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• v.8 no.2
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• pp.95-124
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• 2023

Over the past 30 years, intense archaeological research has revealed a great increase in regional and transregional object mobility across the South China Sea during its Iron Age (500 BCE to 500 CE). Some objects had moved from a long distance: intaglios, seals, fine ceramic, glass containers, and gold coins of Mediterranean origin; and large bronzes, mirrors, and lacquerware connected to central East Asia. This evidence has given rise to larger-scale explanations, among which the most prominent has been the growth of (maritime) Silk Road trade. Scholars are divided as to whether the Silk Road is a suitable concept, with some emphasizing its orientalist overtones and colonial baggage and others finding it useful for the investigation of interregional networks trading in silk and other commodities. This paper explores how productive the Silk Road concept or metaphor really is for understanding transregional connectivity and social change in Iron Age Southeast Asia.

• Journal of Korean Society of Forest Science
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• v.102 no.1
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• pp.30-37
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• 2013

Analysis of new approaches to achieve naturally good ecological potential of forest road cut-slope by making the best use of advantages of gabion systems with vegetation base materials to prevent slope failure and erosion, in the area with highly erodible soil. Existing gabion systems can be divided into monolithic and modular system and can be divided into ten subtypes according to the purpose of establishment and combination of other measures. As a result on the monitoring of erosion amount from forest road cut-slopes in the test applications, the order of erosion amount from largest to smallest is as follows: the curved road cut-slope site where normal gabion system was established 5,840 $cm^3$; the control site 5,833 $cm^3$; the straight road cut-slope site where normal gabion system was established 5,621 $cm^3$; the curved road cut-slope site where the new gabion system was established 4,298 $cm^3$; and the straight road cut-slope site where the new gabion system 4,117 $cm^3$. Therefore, the result shows that the new gabion system is more effective than the normal gabion system to reduce erosion amount from forest road cut-slopes. During the study period, vegetation coverages of the straight and curved road cut-slope site where the new gabion system was established were about 56(30~85)% and about 45(28~65)%, so average vegetation coverage of the sites where the new gabion systems was established was higher than the sites where the normal gabion systems was established. Therefore, it was concluded that the new gabion system can be more effective for cut-slope revegetation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.266-269
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• 2006

Tire is in charge of a lot of function, which is supporting vehicle load, transferring traction and. brake, absorbing impact by road etc. As the silence of vehicle increase more important, the importance of tire noise is more raised. In recent, the study on reduction of tire noise is generally processed. Tire noise is divided in structure home noise and all borne noise. Tire tread properties have a lot of multiplicity. Rubber properties are caused by changing or tread hardness. That change Elastic Modulus and Loss Modulus, which is related by tire noise. In the study, we found that road noise is affected by tread hardness

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.98.3-98
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• 2002

Vision-based systems for finding road lanes have to operate robustly under a wide variety of environ-mental conditions including large amount of scene clutters. This paper presents a method for finding the lane boundaries by combining a local line extraction method and dynamic programming as a search tool. The line extractor obtains an initial position estimation of road lane boundaries from the noisy edge fragments. Dynamic programming then improves the initial approximation to an accurate configuration of lane boundaries. Input image frame is divided into a few sub-regions along the vertical direction. The local line extractor then performs to extract candidate lines of road lanes in the...