• 제목/요약/키워드: driving safety

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고속도로 주행 시 선행차량의 전방 긴급 장애물 회피에 따른 Car-to-Car Cut-out 시나리오 기반 AES 성능평가 방법 연구 (A Study on AES Performance Assessment Protocol based on Car-to-car cut-out Scenario According to front Emergency Obstacle Avoidance of Preceding Vehicle during Highway Driving)

  • 김진석;이동훈
    • 자동차안전학회지
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    • 제14권4호
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    • pp.84-90
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    • 2022
  • With the popularization of autonomous driving technology, safety has emerged as a more important criterion. However, there are no assessment protocol or methods for AES (Autonomous Emergency Steering). So, this study proposes AES assessment protocol and scenario corresponding to collision avoidance Car-to-Car scenario of Euro NCAP in order to prepare for obstacles that appear after the emergency steering of LV (Leading Vehicle) avoiding obstacles in front of. Autoware-based autonomous driving stack is developed to test and simulate scenario in CARLA. Using developed stack, it is confirmed that obstacle avoidance is successfully performed in CARLA, and the AES performance of VUT (Vehicle Under Test) is evaluated by applying the proposed assessment protocol and scenario.

항타공식의 신뢰도 (Reliability of Pile Driving Formula)

  • 박영호;김경석
    • 한국지반공학회:학술대회논문집
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    • 한국지반공학회 1999년도 봄 학술발표회 논문집
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    • pp.209-216
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    • 1999
  • Prefabricated piles used for construction of highway bridges are most of steel pipe piles and few of prestressed concrete piles. Its installation and inspection are less controllable and have much uncertainty due to changes in subsoil and groundwater conditions. However, most of these piles have been controlled using outdated pile driving formula such as Hiley's formula which models just the energy conservation due to its simple applicability in the field. This formula results in overstriking or sometimes understocking due to buckling of pile head. Engineers cannot ensure by the formula whether pile is installed properly. To compensate the drawbacks of excising pile formula, parameters in Hiley's formula and 55 formula are reviewed. Final sets used in pile formula and PDA test results(E.O.I.D) are measured during pile driving along the depth. These measured results along the depth were compared with each other and with N values, so that relations between the each result could be inferred. Also the factor of safety which can be used for pile driving formula are suggested.

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ACC/AEBS 시스템용 센서퓨전을 통한 주행경로 추정 알고리즘 (Development of the Driving path Estimation Algorithm for Adaptive Cruise Control System and Advanced Emergency Braking System Using Multi-sensor Fusion)

  • 이동우;이경수;이재완
    • 자동차안전학회지
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    • 제3권2호
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    • pp.28-33
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    • 2011
  • This paper presents driving path estimation algorithm for adaptive cruise control system and advanced emergency braking system using multi-sensor fusion. Through data collection, yaw rate filtering based road curvature and vision sensor road curvature characteristics are analyzed. Yaw rate filtering based road curvature and vision sensor road curvature are fused into the one curvature by weighting factor which are considering characteristics of each curvature data. The proposed driving path estimation algorithm has been investigated via simulation performed on a vehicle package Carsim and Matlab/Simulink. It has been shown via simulation that the proposed driving path estimation algorithm improves primary target detection rate.

고속도로에서의 자율주행 알고리즘 개발 및 평가를 위한 다차량 시뮬레이션 환경 개발 (Multi-Vehicle Environment Simulation Tool to Develop and Evaluate Automated Driving Systems in Motorway)

  • 이호준;정용환;민경찬;이명수;신재곤;이경수
    • 자동차안전학회지
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    • 제8권4호
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    • pp.31-37
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    • 2016
  • Since real road experiments have many restrictions, a multi-vehicle traffic simulator can be an effective tool to develop and evaluate fully automated driving systems. This paper presents multi-vehicle environment simulation tool to develop and evaluate motorway automated driving systems. The proposed simulation tool consists of following two main parts: surrounding vehicle model and environment sensor model. The surrounding vehicle model is designed to quickly generate rational complex traffic situations of motorway. The environment sensor model depicts uncertainty of environment sensor. As a result, various traffic situations with uncertainty of environment sensor can be proposed by the multi-vehicle environment simulation tool. An application to automated driving system has been conducted. A lane changing algorithm is evaluated by performance indexes from the multi-vehicle environment simulation tool.

자율주행을 위한 라이다 기반의 실시간 그라운드 세그멘테이션 알고리즘 (LiDAR based Real-time Ground Segmentation Algorithm for Autonomous Driving)

  • 이아영;이경수
    • 자동차안전학회지
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    • 제14권2호
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    • pp.51-56
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    • 2022
  • This paper presents an Ground Segmentation algorithm to eliminate unnecessary Lidar Point Cloud Data (PCD) in an autonomous driving system. We consider Random Sample Consensus (Ransac) Algorithm to process lidar ground data. Ransac designates inlier and outlier to erase ground point cloud and classified PCD into two parts. Test results show removal of PCD from ground area by distinguishing inlier and outlier. The paper validates ground rejection algorithm in real time calculating the number of objects recognized by ground data compared to lidar raw data and ground segmented data based on the z-axis. Ground Segmentation is simulated by Robot Operating System (ROS) and an analysis of autonomous driving data is constructed by Matlab. The proposed algorithm can enhance performance of autonomous driving as misrecognizing circumstances are reduced.

ROS 기반 자율주행 알고리즘 성능 검증을 위한 시뮬레이션 환경 개발 (Development of Simulation Environment for Autonomous Driving Algorithm Validation based on ROS)

  • 곽지섭;이경수
    • 자동차안전학회지
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    • 제14권1호
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    • pp.20-25
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    • 2022
  • This paper presents a development of simulation environment for validation of autonomous driving (AD) algorithm based on Robot Operating System (ROS). ROS is one of the commonly-used frameworks utilized to control autonomous vehicles. For the evaluation of AD algorithm, a 3D autonomous driving simulator has been developed based on LGSVL. Two additional sensors are implemented in the simulation vehicle. First, Lidar sensor is mounted on the ego vehicle for real-time driving environment perception. Second, GPS sensor is equipped to estimate ego vehicle's position. With the vehicle sensor configuration in the simulation, the AD algorithm can predict the local environment and determine control commands with motion planning. The simulation environment has been evaluated with lane changing and keeping scenarios. The simulation results show that the proposed 3D simulator can successfully imitate the operation of a real-world vehicle.

도심 정체 상황에서의 자율주행 차선 변경 알고리즘 개발 및 평가를 위한 실도로 데이터 기반 시뮬레이션 환경 개발 (Human Driving Data Based Simulation Tool to Develop and Evaluate Automated Driving Systems' Lane Change Algorithm in Urban Congested Traffic)

  • 서다빈;채흥석;이경수
    • 자동차안전학회지
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    • 제15권2호
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    • pp.21-27
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    • 2023
  • This paper presents a simulation tool for developing and evaluating automated driving systems' lane change algorithm in urban congested traffic. The behavior of surrounding vehicles was modeled based on driver driving data measured in urban congested traffic. Surrounding vehicles are divided into aggressive vehicles and non-aggressive vehicles. The degree of aggressiveness is determined according to the lateral position to initiate interaction with the vehicle in the next lane. In addition, the desired velocity and desired time gap of each vehicle are all randomly assigned. The simulation was conducted by reflecting the cognitive limitations and control performance of the autonomous vehicle. It was possible to confirm the change in the lane change performance according to the variation of the lane change decision algorithm.

Development of Radar-enabled AI Convergence Transportation Entities Detection System for Lv.4 Connected Autonomous Driving in Adverse Weather

  • Myoungho Oh;Mun-Yong Park;Kwang-Hyun Lim
    • International journal of advanced smart convergence
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    • 제12권4호
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    • pp.190-201
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    • 2023
  • Securing transportation safety infrastructure technology for Lv.4 connected autonomous driving is very important for the spread of autonomous vehicles, and the safe operation of level 4 autonomous vehicles in adverse weather has limitations due to the development of vehicle-only technology. We developed the radar-enabled AI convergence transportation entities detection system. This system is mounted on fixed and mobile supports on the road, and provides excellent autonomous driving situation recognition/determination results by converging transportation entities information collected from various monitoring sensors such as 60GHz radar and EO/IR based on artificial intelligence. By installing such a radar-enabled AI convergence transportation entities detection system on an autonomous road, it is possible to increase driving efficiency and ensure safety in adverse weather. To secure competitive technologies in the global market, the development of four key technologies such as ① AI-enabled transportation situation recognition/determination algorithm, ② 60GHz radar development technology, ③ multi-sensor data convergence technology, and ④ AI data framework technology is required.

운전능력에 연관된 인적특성의 연령 임계점 연구 (Identification of Age Threshold for Driving Performance)

  • 김태호;고준호;원제무;허억
    • 한국안전학회지
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    • 제23권3호
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    • pp.71-78
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    • 2008
  • This study aims to identity the age group where driving performance significantly decreases based on the data collected from the Korea Transportation Safety Authority's driver aptitude tests in 2006. The test includes following six driving simulator-based tests: estimation of moving objects' speed, estimation of stopping distance, three tests for drivers' multi-task ability, and kinetic depth perception. These six test results were utilized for the identification of the age threshold applying the CART technique, suggesting driving ability significantly be decreased over 50s. This finding was confirmed by two analyses using the accident history data containing the information of accident and non-accident drivers and the degree of accident severity. The results of this study imply that accident prevention efforts should be enhanced over a wider range of age group than the current practice where the age of 65 is generally applied for the threshold dividing senior and non-senior driver groups.

운전자 설문을 통한 자동차 운전자의 실수 확률 추정 (Estimation of Car Driver Error Probabilities Through Driver Questionnaire)

  • 이재인;임창주
    • 한국안전학회지
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    • 제22권1호
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    • pp.61-66
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    • 2007
  • Car crashes are the leading cause of death for persons of every age. Specially, human-related factor has been known to be the primary causal factor of such crashes than vehicle-and environmental-related factors. There are various studies to analyze driver's behavior and characteristics in driving for reducing the car crashes in many areas of car engineering, psychology, human factor, etc. However, there are almost no studies which analyze mainly the human errors in driving and estimate their probabilities in terms of human reliability analysis. This study estimates the probability of human error in driving, i.e. driver error probability. First, fifty driver errors are investigated through DBQ (Driver Behavior Questionnaire) revision and the error likelihoods in driving are collected which are judged by skillful drivers using revised DBQ. Next, these likelihoods are converted into driver error probabilities using the results that verbal probabilistic expressions are changed into quantitative probabilities. Using these probabilities we can improve the warning effects on drivers by indicating their driving error likelihoods quantitatively. We can also expect the reduction effects of car accident through controlling especially dangerous error groups which have higher probabilities. Like these, the results of this study can be used as the primary materials of safety education on drivers.