• 대한임베디드공학회논문지
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• 제17권3호
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• pp.167-175
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• 2022

With the recent expansion of electric kickboards and bicycle sharing services, more and more people use them. In addition, the rapid growth of the delivery business due to the COVID-19 has significantly increased the use of two-wheeled vehicles and personal mobility. As the accident rate increases, the rule related to the two-wheeled vehicles is changed to 'mandatory helmets for kickboards and single-person transportation' and was revised to prevent boarding itself without driver's license. In this paper, we propose a wearable smart safety equipment, called SafetyHelmet, that can keep helmet-wearing duty and lower the accident rate with the communication between helmets and mobile devices. To make this function available, we propose a safe driving assistance function by notifying the driver when an object that interferes with driving such as persons or other vehicles are detected by applying the YOLO v5 object detection algorithm. Therefore it is intended to provide a safer driving assistance by reducing the failure rate to identify dangers while driving single-person transportation.

• 한국도로학회논문집
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• 제20권4호
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• pp.59-72
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• 2018

PURPOSES : This study was conducted to develop expressway safety treatments based on the analysis results of older driver behaviors through literature review, surveys, and driving simulator experiments. METHODS : In this study, three analyses were conducted: surveys of 700 older drivers to find the risk segments they recognized, driving simulator experiments with older and younger drivers to investigate driver behaviors, and expert surveys to find the priority of expressway safety treatments for older drivers. RESULTS : Through survey results it was found that merging areas and tunnels were identified as the most dangerous areas, and more dangerous older driver behaviors were observed on those expressway segments in the driving simulator experiments. In addition, the priorities of safety treatments for each segment of expressways were decided based on expert surveys. CONCLUSIONS : It was concluded that choice and concentration strategies of expressway safety treatments for older drivers should be applied as perceptions regarding dangerous spots and older driver behaviors, including geometric designs, safety facilities, regulation, and institutes to improve expressway safety.

• 드라이브 ㆍ 컨트롤
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• 제19권3호
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• pp.39-46
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• 2022

In South Korea, to evaluate the rollover safety of domestic vehicles, the maximum slope angle of the vehicle is specified, which is verified by the rollover safety test of driving vehicles. However, the domestic rollover safety test is not suitable for buses, because the small amount of static stability factor (SSF) will invalidate the rollover experimental equation due to the high center of mass position of buses. To solve the above problems, a dynamic model of the bus is prepared with assumptions of mass and suspension spring properties. Subsequently, the maximum slope angle of the model was computed by using the simulation of multi-body dynamics, and the result was compared with actual test results to validate the dynamics model. Also, the rollover Fishhook (roll stability) test was conducted in the simulation for driving model. During the simulation, roll angle and roll rate were calculated to check if a rollover occurred. Through the rollover simulation of buses, the domestically regulated formula for rollover safety and the procedure of rollover test for driving vehicles are evaluated. The conclusion is that the present regulation of rollover test should be reconsidered for buses to ensure to get the valid results for rollover safety.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.

• 자동차안전학회지
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• 제15권2호
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• pp.42-48
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• 2023

In recent years, automated vehicles have garnered attention in the multidisciplinary research field, promising increased safety on the road and new opportunities for passengers. High-Definition (HD) maps have been in development for many years as they offer roadmaps with inch-perfect accuracy and high environmental fidelity, containing precise information about pedestrian crossings, traffic lights/signs, barriers, and more. Demonstrating autonomous driving requires verification of driving on actual roads, but this can be challenging, time-consuming, and costly. To overcome these obstacles, creating HD maps of real roads in a simulation and conducting virtual driving has become an alternative solution. However, existing HD maps using high-precision data are expensive and time-consuming to build, which limits their verification in various environments and on different roads. Thus, it is challenging to demonstrate autonomous driving on anything other than extremely limited roads and environments. In this paper, we propose a new and simple method for implementing HD maps that are more accessible for autonomous driving demonstrations. Our HD map combines the CARLA simulator and OpenStreetMap (OSM) data, which are both open-source, allowing for the creation of HD maps containing high-accuracy road information globally with minimal dependence. Our results show that our easily accessible HD map has an accuracy of 98.28% for longitudinal length on straight roads and 98.42% on curved roads. Moreover, the accuracy for the lateral direction for the road width represented 100% compared to the manual method reflected with the exact road data. The proposed method can contribute to the advancement of autonomous driving and enable its demonstration in diverse environments and on various roads.

• ETRI Journal
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• 제35권6호
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• pp.1038-1047
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• 2013

Augmented reality (AR) is currently being applied actively to commercial products, and various types of intelligent AR systems combining both the Global Positioning System and computer-vision technologies are being developed and commercialized. This paper suggests an in-vehicle head-up display (HUD) system that is combined with AR technology. The proposed system recognizes driving-safety information and offers it to the driver. Unlike existing HUD systems, the system displays information registered to the driver's view and is developed for the robust recognition of obstacles under bad weather conditions. The system is composed of four modules: a ground obstacle detection module, an object decision module, an object recognition module, and a display module. The recognition ratio of the driving-safety information obtained by the proposed AR-HUD system is about 73%, and the system has a recognition speed of about 15 fps for both vehicles and pedestrians.

• 자동차안전학회지
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• 제12권1호
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• pp.15-25
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• 2020

This paper presents a longitudinal control algorithm for ensuring takeover time of autonomous vehicle using V2V communication. In the autonomous driving of more than level 3, autonomous systems should control the vehicles by itself partially. However if the driver's intervention is required for functional safety, the driver should take over the control reasonably. Autonomous driving system has to be designed so that drivers can take over the control from autonomous vehicle reasonably for driving safety. In this study, control algorithm considering takeover time has been developed based on computation method of takeover time. Takeover time is analysed by conditions of longitudinal velocity of preceding vehicle in time-velocity plane. In addition, desired clearance is derived based on takeover time. The performance evaluation of the proposed algorithm in this study was conducted using 3D vehicle model with actual driving data in Matlab/Simulink environment. The results of the performance evaluation show that the longitudinal control algorithm can control while securing takeover time reasonably.

• 자동차안전학회지
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• 제10권4호
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• pp.40-49
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• 2018

Currently, a lot of researches about high risk test scenarios for autonomous vehicle and advanced driver assistance systems have been carried out to evaluate driving safety. This study proposes new type of test scenario that evaluate the driving safety for autonomous vehicle by reconstructing accident database of national automotive sampling system crashworthiness data system (NASS-CDS). NASS-CDS has a lot of detailed accident data in real fields, but there is no data of accurate velocity in accident moments. So in order to propose scenario generation method from accident database, we try to reconstruct accident moment from accident sketch diagram. At the same step, we propose an accident of occurrence frequency which is based on accident codes and road shapes. The reconstruction paths from accident database are integrated into evaluation of simulation environment. Our proposed methods and processor are applied to MILS (Model In the Loop Simulation) and VILS (Vehicle In the Loop Simulation) test environments. In this paper, a reasonable method of accident reconstruction typology for autonomous vehicle evaluation of feasibility is proposed.

• 자동차안전학회지
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• 제15권3호
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• pp.59-65
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• 2023

As advanced driving assistance system (ADAS) and autonomous driving performance continue to improve, existing crash accidents and crash types are changing. Accordingly, the collision angle and the seating posture of the occupant are changed. It is necessary to study how the occupant injury mechanism changes according to these different crash types. In this regard, a representative crash test mode was derived when the automatic emergency braking system (AEB), one of the autonomous driving performance, was applied to the representative car-to-car crash scenario in Korea. The derived crash test mode was used to analyse the mechanisms of collision injuries according to both impact angle and the occupant seating posture (reclined seat-back angle). The results obtained through this study can be utilized as reference data for the development of new crash evaluation methods and improvements in crash restraint systems for enhancing crash safety.

• 한국안전학회지
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• 제27권2호
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• pp.98-104
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• 2012

Current [Guideline for Installation and Management of Sidewalks and Safety Facilities on Roads] suggests that the types of curbs should be Barrier curb ($85^{\circ}$). Although Barrier curbs ($90^{\circ}$) were not specified in the guideline. The curbs installed on the roads currently are Barrier curbs ($90^{\circ}$) which are not specified in the installation standard. Therefore, it is critical to prepare for the installation standard of curbs by researching types of curbs and driving safety. This research have assessed the driving safety throughout Full Scale Crash Test according to type of curbs (Barrier curbs ($85^{\circ}$) and Barrier curbs ($90^{\circ}$)). Barrier curbs ($90^{\circ}$) showed higher figure in Theoretical head Impact Velocity, Post-impact Head Deceleration, Vehicle Damage when Crash, Passenger's Wounds Severity, and every other items than Barrier curbs ($85^{\circ}$). Barrier curbs ($85^{\circ}$) were found to have better Occupant Safety Index. Analysis of Behavior Using Full-Scale Crash Test showed difference depending on the Impact Condition between Barrier curbs ($85^{\circ}$) and Barrier curbs ($90^{\circ}$). Generally, Barrier curbs ($85^{\circ}$) were superior than Barrier curbs ($90^{\circ}$) in terms of protecting the passengers and vehicle damages. When an impact angle increases, Acceleration of Vehicle, Variations of Speed, and Contact Relationship between Wheels and Curbs, two types of curb showed similarity. However, if an impact of an angle decreases, Barrier Curbs ($85^{\circ}$) showed excellence in Driving Safety such as Acceleration of Vehicle, Variations of Speed, and Contact Relationship between Wheels and Curbs.