• Proceedings of the KOR-KST Conference
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• 1998.10b
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• pp.298-298
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• 1998

The delay on two-lane, Two-way roads is a very important factor which tends to cause relatively high driver loads and too much delay often leads to traffic accidents. In this study a generalized form of delay estimation model was developed based on constant slow moving vehicle speeds, 100% no-passing zone, and flat terrain highway sections. To validate the model, a comparison was made with John Morrall's SMV(Slow Moving Vehicle)model as well as with TWOPAS model. Also a sensitivity analysis was performed to check accuracy of the model. It was found that the model was easy to apply and yet provided reasonable results for experimental conditions specified in the study. It was recommended that speed calculation procedure of the model be improved by further studies, so that the effect of speed acceleration or deceleration according to highway geometries on delay could be analyzed more accurately.

• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.16-20
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• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• Journal of Korean Society of Transportation
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• v.20 no.7
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• pp.95-105
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• 2002

Under a specific roadway alignment condition by design-speed standards, safety of the roadway is determined by an actual operating speed of a driver. This research takes first lanes of four-lane(hi-direction) rural highways as target facility. It also takes the straight and curved lanes of the selected highways for in-depth study. This study used NC-97 to detect speeds of passenger cars whose speeds are not affected by front vehicles. This research analyzed properties of 85th percentile operating speed at upstream of horizontal and through curves under various alignment conditions. The results show that 53∼65 Percent of drivers drive faster than the posted speed-limit (80KPH) by 14∼20 KPH on average. It also shows that the 85th-percentile operating speeds are the lowest at the middle point of curve length when curve radius is smaller. However, they are lowest at 1/4 point of curve length when curve radius is greater. Along roadways where curve radius is small, difference between upstream speed and the speed along the curve is considerably large. On the other hand. the speed difference is setting smaller as the curve radius is increasing. According to the results, significant variables affecting the 85th percentile operating speeds are curve radius and the 85th-Percentile operating speeds of upstream curves.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.6
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• pp.54-66
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• 2018

In this study, vehicle speeds at acceleration and deceleration lanes of rest areas for drowsy drivers were investigated to analyze effects of acceleration and deceleration lane lengths, grades and curve radius. In addition, we used VISSM to analyze proper lengths of rest area's acceleration and deceleration lanes. Several VISSIM scenarios with different lengths of acceleration and deceleration lane were constructed. Through VISSIM simulation, we collected individual vehicle speed data to analyze speed changes by different lengths of acceleration and deceleration lanes. As a result of the vehicle speed change investigation, grades and curve radii of the rest area affected the speed, most of all lengths of acceleration and deceleration lane showed a great effect on the vehicle speed. In the case of short lengths of acceleration and deceleration lane, speed variation among vehicles was significant. If the deceleration lane length is short, the vehicle enters a state in which the speed is not sufficiently reduced, and if the acceleration lane length is short, the vehicle enters a state in which the speed is not sufficiently accelerated showing high risks of conflicts and accidents. It is recommended that 245m length of deceleration lane and 370m length of acceleration lane should be installed at least to secure safety and manage conflicts relevantly.

• Structural Engineering and Mechanics
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• v.55 no.1
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• pp.111-135
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• 2015

Bridge behavior under passing traffic loads has been studied for the past 50 years. This paper presents how to model congestion on bridges and how the maximum dynamic stress of bridges change during the passing of moving vehicles. Most current research is based on mid-span dynamic effects due to traffic load and most bridge codes define a factor called the dynamic load allowance (DLA), which is applied to the maximum static moment under static loading. This paper presents an algorithm to solve the governing equation of the bridge as well as the equations of motions of two real European trucks with different speeds, simultaneously. It will be shown, considering congestion in eight case studies, the maximum dynamic stress and how far from the mid-span it occurs during the passing of one or two trucks with different speeds. The congestion effect on the maximum dynamic stress of bridges can make a significant difference in the magnitude. By finite difference method, it will be shown that where vehicle speeds are considerably higher, for example in the case of railway bridges which have more than one railway line or in the case of multiple lane highway bridges where congestion is probable, current designing codes may predict dynamic stresses lower than actual stresses; therefore, the consequences of a full length analysis must be used to design safe bridges.

• International Journal of Highway Engineering
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• v.15 no.6
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• pp.103-111
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• 2013

PURPOSES : Previous Speed Profile reflects the patterns of speeds in sections of tangents to curves in the roads. However these patterns are uniform of speeds and Acceleration/Deceleration. In oder to supplement these shortcomings. this study made a new profile which can contain factors of Acceleration/Deceleration through theories of Previous Speed Profiles. METHODS : For sakes, this study developed the speed prediction model of Rural Multi-Lane Highways and calculated Acceleration/Deceleration by appling a Polynomial model based on developed speed prediction model. Polynomial model is based on second by second. Acceleration/Deceleration Profile is developed with the various scenarios of road geometric conditions. RESULTS : The longer an ahead tangent length is, The higher an acceleration rate in curve occurs due to wide sight distance. However when there are big speed gaps between two curves, the longer tangent length alleviate acceleration rate. CONCLUSIONS : Acceleration/Deceleration Profile can overview th patterns of speeds and Accelerations/Decelerations in the various road geometric conditions. Also this result will help road designer have a proper guidance to exam a potential geometric conditions where may occur the acceleration/deceleration states.

• International Journal of Highway Engineering
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• v.11 no.1
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• pp.145-151
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• 2009

Current highway design standards is based on the safety under the free flow condition. The length of deceleration lane is also determined in terms of the deceleration distance which is necessary for the driers to adjust the vehicle speed from the speed limit on the main road to that on the exit ramp of the interchange. However, the queues are frequently developed on the deceleration, and the following vehicles to exit must decelerate on the main road. It may cause delay on the main road and traffic accidents. This study is to suggest a methodology to minimize such problems with the shock-wave theory. The queue length of exiting vehicles can be estimated by the design speeds, traffic volumes of main road and the exiting ramp, and the countermeasures to the operational problems. According to the results, the queue length can be shortened to 80% by upgrading the design speed of exit ramp as the amount of 10km/h. Fifty percent of queue length can be shortened by adding an additional lane on the ramp to two lanes.

• Journal of Auto-vehicle Safety Association
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• v.13 no.2
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• pp.35-41
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• 2021

In this study, improved path tracking control algorithm based on pure pursuit algorithm is newly proposed by using improved lane detection algorithm through real time post-processing with interpolation methodology. Since the original pure pursuit works well only at speeds below 20 km/h, the look-ahead distance is implemented as a sigmoid function to work well at an average speed of 45 km/h to improve tracking performance. In addition, a smoothing filter was added to reduce the steering angle vibration of the original algorithm, and the stability of the steering angle was improved. The post-processing algorithm presented has implemented more robust lane recognition system using real-time pre/post processing method with deep learning and estimated interpolation. Real time processing is more cost-effective than the method using lots of computing resources and building abundant datasets for improving the performance of deep learning networks. Therefore, this paper also presents improved lane detection performance by using the final results with naive computer vision codes and pre/post processing. Firstly, the pre-processing was newly designed for real-time processing and robust recognition performance of augmentation. Secondly, the post-processing was designed to detect lanes by receiving the segmentation results based on the estimated interpolation in consideration of the properties of the continuous lanes. Consequently, experimental results by utilizing driving guidance line information from processing parts show that the improved lane detection algorithm is effective to minimize the lateral offset error in the diverse maneuvering roads.

• Journal of Korean Society of Transportation
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• v.33 no.5
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• pp.488-496
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• 2015

The main reason to install pedestrian pushbuttons is improving traffic operations. The current guideline for the installation of signal systems with pedestrian pushbuttons is car-oriented. It is difficult to clearly understand the guideline because there isn't an in-depth study to compare the pros and cons of the pedestrian- and vehicle-oriented methods in terms of waiting time. Thus, this study aims to estimate the waiting times of pedestrians and vehicles. The two delay times are compared considering the hypothetical circumstances such as geometry, pedestrian crossing time, pedestrian/vehicle counts and arrival distribution. The results show that when the pedestrian traffic volume exceeds 97 ped/h in the case of a two-lane road (one lane in each direction) the pushbutton system is effective and beneficial to pedestrians. It means that the total waiting time of pedestrians is less than the one of vehicles. Additional four scenarios are designed and tested by varying the number of lanes and design speeds. In conclusion, the pushbutton signal is more beneficial for pedestrians when the number of pedestrians is less than or equal to 85, 70, and 70 ped/h for the three-lane scenario, the four-lane with the design speed of 80km/h scenario, and the four-lane with the design speed of 100km/h, respectively.

• Journal of Korean Society of Transportation
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• v.32 no.5
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• pp.473-486
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• 2014

This study aims to review whether climbing lane installment is needed by analyzing the impact that standard trucks have on traffic according to vertical alignment at SMART highway, and if climbing lanes are required to propose truck speed change curves based on slope length. We used VISSIM simulation model to obtain the speed change of the standard truck on uphill roads. The standard truck on climbing lanes was set for 100kg/kW (170lb/hp) with the entry speeds set and analyzed by 90, 100, and 110 km/h considering the future speed limit of trucks. The results of the research show that under SMART highway circumstance, the 1 and 2% vertical alignment is not needed at the climbing lane but 3% vertical alignment is necessary. In order to install the climbing lane at 3% vertical alignment, the speed change curve of truck depending on slope length of 90, 100, and 110km/h of entry speed is proposed.