• 한국ITS학회 논문지
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• 제9권1호
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• pp.1-8
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• 2010

세 대 이상의 빠르게 이동하는 차량들은 때론 서로 모이기 위해 모일 장소를 알아야 될 필요가 있다. 이때 각 차량들은 다른 속도를 가지고 있으며, 여러 대의 차량이 짧은 거리를 이동해 빠르게 모이게 하기 위한 방법이 필요하다. 이러한 방법은 그룹기반의 최근접 질의로서 기존의 연구가 진행되어 왔으나, 기존 연구는 이동하지 않는 객체들을 다루고 있어 움직이는 차량에 적용하기엔 어려운 점이 있다. 본 논문에서는 이동하는 차량들에게 효율적인 차량간 최근접 질의 처리 기법을 제안한다. 본 기법은 각 차량의 움직이는 방향과 속도를 기반으로 모든 차량이 최소 시간에 모일 수 있는 최근접 질의점을 찾을 수 있다. 본 기법은 효율적으로 질의점의 그룹을 표현하는 센트로이드를 통해 그룹기반의 최근접을 계산한다. 실험 결과는 제안하는 기법이 움직이는 차량의 최근접 질의 처리에 효율적임을 보여준다.

• ETRI Journal
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• 제45권5호
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• pp.795-810
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• 2023

Unmanned aerial vehicles (UAV) and ground vehicles (UGV) require advanced video analytics for various tasks, such as moving object detection and segmentation; this has led to increasing demands for these methods. We propose a zero-shot video object segmentation method specifically designed for UAV and UGV applications that focuses on the discovery of moving objects in challenging scenarios. This method employs a background memory model that enables training from sparse annotations along the time axis, utilizing temporal modeling of the background to detect moving objects effectively. The proposed method addresses the limitations of the existing state-of-the-art methods for detecting salient objects within images, regardless of their movements. In particular, our method achieved mean J and F values of 82.7 and 81.2 on the DAVIS'16, respectively. We also conducted extensive ablation studies that highlighted the contributions of various input compositions and combinations of datasets used for training. In future developments, we will integrate the proposed method with additional systems, such as tracking and obstacle avoidance functionalities.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.253-262
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• 2021

Global Navigation Satellite Systems (GNSS) based precise positioning using Real Time Kinematic (RTK) technique has been proposed as an enabler of the formation operation of moving vehicles. In RTK methods, the integer ambiguity of GNSS carrier phase measurements must be resolved. Although there have been many proposed algorithms for the integer ambiguity resolution, the widelane combination of carrier phase measurements and LAMBDA methods have gained the most popularity in literatures when dual frequency GNSS measurements were used. In this paper, we evaluated five alternative methods to determine relative positions of moving base and rover receivers; the round-off scheme of widelane carrier phase, instant least-squares and Kalman filter-based LAMBDA with widelane carrier phase, instant least-squares and Kalman filter-based LAMBDA with dual frequency measurements. The paper presented the performance of each method using flight test data, which showed their strength and weakness in the aspects of time-to-first-fix, ambiguity resolution success ratio, and relative position errors. Based on that, we provided practical recommendations of RTK operations for moving vehicles.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.171-181
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• 2004

An autonomous navigation algorithm for marine vehicles is proposed in this paper using fuzzy logic under COLREG guidelines. The VFF (Virtual Force Field) method, which is widely used in the field of mobile robotics, is modified for application to the autonomous navigation of marine vehicles. This Modified Virtual Force Field (MVFF) method can be used in either track-keeping or collision avoidance modes. Moreover, the operator can select a track-keeping pattern mode in the proposed algorithm. The collision avoidance algorithm has the ability to handle static and/or moving obstacles. The fuzzy expert rules are designed deliberately under COLREG guidelines. An extensive simulation study is used to verify the proposed method.

• 한국도로학회논문집
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• 제16권1호
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• pp.99-109
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• 2014

PURPOSES : Climbing lanes on expressways managed by the Korea Expressway Corporation (KEC) have been hot potatoes due to conflicts between slow-moving vehicles such as trucks and other vehicles at the merging section as well as the less popularity with the slow-moving vehicles. In order to resolve such problems, KEC has altered existing climbing lanes to passing-type climbing lanes in 1999. The new type of climbing lanes showed an apparent improvement in mobility. For example, the speeds of vehicles using both climbing lane and other lanes improved a lot. However, there has been no clear evidence about improved safety. METHODS : This research effort was initiated to evaluate the safety of the new passing-type climbing lanes using the comparison-group(CG) method based on three-year-long traffic accident data sets before and after the change, respectively. RESULTS : The passing-type climbing lanes showed twice increased traffic accidents even though the traffic accidents on old type climbing lanes increased 1.1% during the same periods. In addition, in-depth study, the merging area of the passing-type climbing lanes was found out to be the weakest section where 43.8% traffic accidents out of total traffic accidents happened. It is noted that the merging area of the old type climbing showed only 25.0% traffic accidents. CONCLUSIONS : The new passing-type climbing lanes were found to be weak in terms of safety when compared with the old type climbing lanes. Especially, the merging area should be improved to reduce the risk of traffic conflicts between slow-moving vehicles and other vehicles.

• 한국안전학회지
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• 제23권6호
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• pp.164-170
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• 2008

This research was verified detection way of intercept vehicles and performance evaluation after system installation using image detector as detection way of ground installation. By image recognition algorithm was on the trace of moving orbit of violation vehicles for detection way of intercept vehicles. When moving orbit is located special site, utilized geometric image calibration and DC-notch filter. These are cognitive system of license plate by making signal. Then, Bright Evidence Detection and Dark Evidence Detection were applied to after mixing. It is applied to way of Backward tracking for detection way of intercept vehicles. After the field evaluation of developed system, it should be analyzed the more high than recognition rate of minimum standards 80%. It should rise in the estimation of the site applicability is highly from now.

• Interaction and multiscale mechanics
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• 제3권4호
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• pp.299-308
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• 2010

The indirect approach for measuring the bridge frequencies from the dynamic responses of a passing vehicle is a highly potential method. In this study, the effect of road surface roughness on such an approach is studied through finite element simulations. A two-dimensional mathematical model with the vehicle simulated as a moving sprung mass and the bridge as a simply-supported beam is adopted. The dynamic responses of the passing vehicle are solved by the finite element method along with the Newmark ${\beta}$ method. Through the numerical examples studied, it is shown that the presence of surface roughness may have negative consequence on the extraction of bridge frequencies from the test vehicle. However, such a shortcoming can be overcome either by introducing multiple moving vehicles on the bridge, besides the test vehicle, or by raising the moving speed of the accompanying vehicles.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.214-215
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• 2013

교통망의 서비스 수준을 객관적으로 측정하는 주요한 기준은 통행시간과 지체시간이다. 본 논문에서는 주행차량 조사법을 이용하여 서비스 수준을 측정하도록 한다. 이를 통하여 시간당 교통량, 평균 통행 시간, 공간 평균 속도를 구할 수 있다. 또한 교통량의 밀도도 얻을 수 있다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권2호
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• pp.100-108
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• 2002

A fuzzy logic for collision avoiding navigation of marine vehicles is proposed in this paper. VFF(Virtual Force Field) method, which is used widely in the field of mobile robots, is modifiel to apply to marine vehicles. The method is named MVFF (Modified Virtual Force Field) mothod. The MVFF consists of the determination of the heading angles far track-keeping mode ($\psi_{ca}$)and collision avoidance mode ($\psi_{ca}$). The operator can choose the pattern of the track-keeping mode in the proposed algorithm. The collision avoidance algorithm can handle static and/or moving obstacles. These functons are implemented using fuzzy logic. Various simulation results verify the proposed alogorithm.

• 자동차안전학회지
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• 제9권4호
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• pp.32-37
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• 2017

For automated vehicles, the integrity and fault tolerance of environment perception sensor have been an important issue. This paper presents radar, vision, lidar(laser radar) fusion-based fault detection algorithm for autonomous vehicles. In this paper, characteristics of each sensor are shown. And the error of states of moving targets estimated by each sensor is analyzed to present the method to detect fault of environment sensors by characteristic of this error. Each estimation of moving targets isperformed by EKF/IMM method. To guarantee the reliability of fault detection algorithm of environment sensor, various driving data in several types of road is analyzed.