• 자동차안전학회지
• /
• 제15권4호
• /
• pp.6-15
• /
• 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.

• 제어로봇시스템학회논문지
• /
• 제5권5호
• /
• pp.550-557
• /
• 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.

• 대한토목학회논문집
• /
• 제34권2호
• /
• pp.583-595
• /
• 2014

현재 우리나라의 교통정책은 도로의 신설 확장은 지양하고, 도로의 선형 및 시설을 개량하여 안전성을 증대시키고, 친환경적이며 효율적으로 운영할 수 있는 방향으로 나아가고 있다. 이는 국가 도로사업 중 하나인 제2차 국도 5개년계획('06~'10)이 확장 53건(71%), 개량 22건(29%)인 반면, 제3차 국도 5개년계획('11~'15)은 확장 22건(30%), 개량 50건(70%)로 변화된 것으로 나타나고 있다. 이러한 시설개량위주의 도로사업을 좀 더 효과적으로 추진하기 위해서는 도로의 안전성을 객관적이고 과학적으로 판단하여 사업을 선정하고, 사업에 따른 안전성 향상에 대한 평가가 이루어져야 한다고 판단된다. 본 연구는 이러한 도로별 안전성 분석 및 평가를 위한 모형을 개발하는데 목적이 있다. 본 연구의 주요내용은 미국의 HSM (Highway Safety Manual)을 근간으로 하여 한국실정에 맞게 도로의 안전성을 분석하고 평가할 수 있는 모형을 개발하는 것이다. 모형 정립을 위한 데이터 구축은 전라북도 권역 5개 국도호선을 대상으로 기하구조 요인이 동일하다고 판단되는 구간을 동질성 구간으로 구분하였고, 구분된 1,452개 구간에 대하여 도로 기하구조, 시설물, 교통량, 기상상태, 토지이용 등의 대표값을 수집하였다. 수집된 자료는 교통사고와 각 도로요소의 상관관계 분석을 수행하여 어떠한 요인이 교통사고에 큰 영향을 미치는지 분석하였고, 이를 바탕으로 음이항회귀모형으로 사고모형을 정립하였다. 개발된 모형을 가지고 교통량과 도로구간연장을 이용하여 발생사고건수를 예측하는 안전성능함수와 도로기하구조 및 교통특성 등의 변화에 따라 사고빈도 변화를 결정하는 사고수정계수를 도출하였다.

• 한국소음진동공학회논문집
• /
• 제25권12호
• /
• pp.888-894
• /
• 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.

• 한국도로학회논문집
• /
• 제18권4호
• /
• pp.1-8
• /
• 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.

• 한국지반공학회:학술대회논문집
• /
• 한국지반공학회 2010년도 추계 학술발표회
• /
• pp.698-707
• /
• 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
• /
• 제8권2호
• /
• pp.95-124
• /
• 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.

• 한국산림과학회지
• /
• 제102권1호
• /
• pp.30-37
• /
• 2013

이 연구는 식생기반재 돌망태의 침식억지효과 및 녹화효과를 분석하는데 있다. 이 연구를 통하여 얻은 결론은 다음과 같다. 조사기간 중 평균침식량을 분석해 본 결과, 침식량이 가장 많은 순으로 보면 곡선부에서의 일반돌망태시공지(5,840 $cm^3$)>대조구(5,833 $cm^3$)>직선부의 일반돌망태 시공지(5,621 $cm^3$)>곡선부의 식생기반재돌망태시공지(4,298 $cm^3$)> 직선부의 식생기반재돌망태시공지(4,117 $cm^3$)의 순으로 나타나 식생기반재 돌망태를 시공한 것이 임도절토비탈면의 침식을 저감하는데 효과적인 것으로 분석되었다. 아울러 임도 곡선부의 식생기반재돌망태 및 일반돌망태시공지의 토양침식억지효과가 직선부보다 낮게 나타나 이러한 구조물은 곡선부보다는 직선부에 설치하는 것이 효과적일 것으로 사료된다. 조사기간 중 평균식생피복률은 곡선부에서 45(28~65)%로 나타나 동일한 기간 직선부 식생기반재돌망태시공지의 평균피복률 56(30~85)% 보다 약 11(2~20)% 낮은 값을 나타내어 직선부에서의 식생피복률이 높게 나타났다. 또한 임도절토비탈면에 시공한 식생기반재돌망태는 안정화된 이후 임도 절토 비탈면의 토양침식을 억지하는 효과로 인해 식생피복률이 증가하는데 기여하는 것으로 분석되었다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2006년도 추계학술대회논문집
• /
• pp.266-269
• /
• 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
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.98.3-98
• /
• 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...