• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.12
• /
• pp.1053-1060
• /
• 2016

As location recognition for autonomous vehicles develops, the need for a precise map for autonomous driving has increased. A precise map must be built based upon accurate position. Recent studies have accelerated research in this area by using various sensors that calculate the accurate position by comparing and recognizing objects around the roads. However, application of such methods is limited because these studies only take objects with significant verticality into consideration. Thus, new research is needed to overcome the limitations: a method that is not constrained by the existence of certain types of surrounding objects shall be proposed. Most roads contain road marking information, such as lanes, direction signs, and pedestrian crossings. Such information on the road surface is a valuable resource for building a precise map. This paper proposes a method of building a precise map by using road marking information.

• Acta Via Serica
• /
• v.3 no.2
• /
• pp.73-90
• /
• 2018

The Silk Road tied the globe together for the first time by producing an early globalization phenomenon. Some consider that the ancient Silk Road disintegrated around the $18^{th}$ century CE due to the fall of the Muslim empires and the kingdoms between Asia and Europe. However, the maritime trade among East Asia and the Spanish dominion on the American continent reactivated the ancient Silk Road on some levels, and maintained trade dynamics until the $19^{th}$ century. This was possible because of Mexican silver and trade spots. Notwithstanding its historical background, Mexico seems so far away from the new Silk Road, or the Belt and Road Initiative in the $21^{st}$ century. Thus, this paper analyzes Mexico's historic and current role concerning the Silk Road. First, I conceptualize and compare the ancient Silk Road and Belt and Road Initiative through the lens of complex interdependence theory. I propose that, unlike the ancient Silk Road, the Belt and Road Initiative is a case of an induced complex interdependence. Second, I study the Manila Galleons' dynamics in order to trace the ancient ties with the Silk Road. I emphasize Mexican silver's contribution to East Asian economies and the importance of Mexico's role in the East Asia-Spanish trade. Consequently, I analyze Mexico's position in the Belt and Road Initiative. Finally, I present some concluding remarks about Mexico's role in the Silk Road.

• Journal of Positioning, Navigation, and Timing
• /
• v.6 no.4
• /
• pp.159-166
• /
• 2017

The position of autonomous driving vehicle is basically acquired through the global positioning system (GPS). However, GPS signals cannot be received in tunnels. Due to this limitation, localization of autonomous driving vehicles can be made through sensors mounted on them. In particular, a 3D Light Detection and Ranging (LIDAR) system is used for longitudinal position error correction. Few feature points and structures that can be used for localization of vehicles are available in tunnels. Since lanes in the road are normally marked by solid line, it cannot be used to recognize a longitudinal position. In addition, only a small number of structures that are separated from the tunnel walls such as sign boards or jet fans are available. Thus, it is necessary to extract usable information from tunnels to recognize a longitudinal position. In this paper, fire hydrants and evacuation guide lights attached at both sides of tunnel walls were used to recognize a longitudinal position. These structures have highly distinctive reflectivity from the surrounding walls, which can be distinguished using LIDAR reflectivity data. Furthermore, reflectivity information of tunnel walls was fused with the road surface reflectivity map to generate a synthetic reflectivity map. When the synthetic reflectivity map was used, localization of vehicles was able through correlation matching with the local maps generated from the current LIDAR data. The experiments were conducted at an expressway including Maseong Tunnel (approximately 1.5 km long). The experiment results showed that the root mean square (RMS) position errors in lateral and longitudinal directions were 0.19 m and 0.35 m, respectively, exhibiting precise localization accuracy.

• Journal of Korean Society of Transportation
• /
• v.23 no.7 s.85
• /
• pp.137-148
• /
• 2005

The position information of individual vehicles on a road at every time instant can be used to analyze the microscopic behaviors of driving of each vehicle. The limited information obtained from previous imaging technology such as traffic volume and interval velocity cannot be used to explore such microscopic traffic conditions. Also, information gathering for the microscopic behaviors by manual analysis of captured video takes large amount of time and man-power. In the paper we develop the rule-based vehicle tracking technology from which the position information of individual vehicles on a road at every time instant can be automatically obtained. Also, we extract the position data of driving vehicles on a road, length of 130m for every 0.05 second, and calculate the velocity of each traced vehicles to compare with the real velocity for the verification of accuracy. In the future, this type of tracking techniques based on video analysis can be widely used to provide the practically important information of road traffic conditions and to analyze the academically important microscopic behaviors of driving patterns.

• Journal of Biomedical Engineering Research
• /
• v.38 no.4
• /
• pp.197-204
• /
• 2017

The aim of this study was to evaluate driving performance of normal subjects for controlling the steering wheel by using foot operated steering devices in the driving simulator. Many people with complete bilateral loss or loss of use of upper limbs but with normal lower limbs are frequently left without use and/ or control of their hands, arms, or the upper extremities of their bodies. As a result, persons disabled in this manner have problems in operation an automobile because they cannot grasp and manipulate a conventional steering wheel. Therefore, if foot operated steering devices are used for controlling the vehicle on in people with disabilities, the disabled people could improve their community mobility by driving a car safely. Ten normal subjects were involved in this research to evaluate steering performance by using three types of steering devices(conventional steering wheel, pedal type foot steering, circular type foot steering) in driving simulator. STISim Drive 3 program was used for testing the driving performance in two road scenarios: straight road and curved road at low and high speed of vehicle (40 km/h and 80 km/h). This study used two-way ANOVA to compare the influences of two factors(type of foot steering device and road scenario) in the three dependent variables of steering performance(standard deviation of lateral position, the lateral position of vehicle and the number of line crossing). The average values of the three dependent variables(standard deviation of lateral position, lateral position and the number of line crossing) of driving performance were significantly smaller for conventional steering wheel or pedal type foot steering than circular type foot steering.

• Journal of Biomedical Engineering Research
• /
• v.38 no.1
• /
• pp.32-42
• /
• 2017

The aim of this study was to evaluate driving performance of Healthy and disabled groups (with or without driver's license) to control steering wheel by using steering assistive devices in the driving simulator. The persons with partial loss of use of all four limbs have problems in operation of the motor vehicle because of functional loss to operate steering wheel. Therefore, if steering assistive devices for grasping the steering wheel are used to control the vehicle on the road in persons with disabilities, the disabled persons can improve mobility in their community life by driving a motor vehicle safely. Ten healthy subjects (with or w/o driver's license) and ten subjects with physical disabilities (with or w/o driver's license) were involved in this study to evaluate driving performance to operate steering wheel by using four types of steering assistive devices (Single-pin, V-grip, Palm-grip, Tri-pin) in driving simulator. STISim Drive 3 software was used to test the steering performance in four scenarios: straight road at low and high speed of vehicle (40 km/h and 80 km/h), curved road at low and high speed of vehicle (40 km/h and 80 km/h). This study used two-way ANOVA in order to compare the effects of two factors (type of steering assistive device and subject group) in the three dependent variables of driving performance (the lateral position of vehicle, standard deviation of lateral position representing the variation of the left and right movement of the vehicle and the number of line crossing). The mean values of the three dependent variables (lateral position, standard deviation of lateral position, the number of line crossing) of steering performance were statistically significantly smaller for the healthy or disabled groups with driver's license than the other groups without driver's license on the curved road at high speed of vehicle compared to low speed of vehicle.

• Journal of Auto-vehicle Safety Association
• /
• v.10 no.3
• /
• pp.32-37
• /
• 2018

Recently, the driver can be assisted by the advanced active safety devices such as ADAS from road traffic risks. With this system, driver and passenger may freed from can driving tasks or kept eyes on forward direction while on the road. Help from adoptive cruise control, auto parking and newly develped automated driving vehicles technologies, the driver positions will vary significantly from the current standard driver position during the travel time. On this hypothesis, the objective of this study is analyze the behavior and injuries of drivers in the event of frontal impact under these abnormal driver position. Based on the KNCAP frontal impact testing method, this simulation matrix was set-up with dummies of 5 th tile female Hybrid III dummy and 50 th tile male Hybrid III dummy. The small sedan type passenger car was modeled in this simulation. The series of simulation was performed to compare the injuries and behaviour of each dummy, varying the seating status and seat position of each dummy.

• Journal of Power Electronics
• /
• v.16 no.4
• /
• pp.1621-1628
• /
• 2016

Experiencing power declines when the secondary coil is at the middle position between two primary coils is a serious problem in segmented on-road charging systems with a single energized segmented primary coil. In this paper, the topological transformation of a primary circuit and a hierarchical compensation capacitor control are proposed. Firstly, the corresponding compensation capacitors and receiving powers of different primary structures are deduced under the condition of a fixed frequency. Then the receiving power characteristics as a function of the position variations in systems with a single energized segmented primary coil and those with double segmented primary coils are analyzed comparatively. A topological transformation of the primary circuit and hierarchical compensation capacitor control are further introduced to solve the foregoing problem. Finally, an experimental prototype with the proposed topological transformation and hierarchical compensation capacitor control is carried out. Measured results show that the receiving power is a lot more stable in the movement of the secondary coil. It is a remarkable fact that the receiving power rises from 10.8W to 19.2W at the middle position between the two primary coils. The experimental are in agreement with the theoretical analysis.

• Asian Journal of Atmospheric Environment
• /
• v.9 no.1
• /
• pp.22-30
• /
• 2015

This study evaluated road shape and roadside barrier impact on near-road air pollution dispersion using FLUENT computational fluid dynamics (CFD) model. Simulated road shapes are three types, namely at-grade, depressed, and filled road. The realizable k-${\varepsilon}$ model in FLUENT CFD code was used to simulate the flow and dispersion around road. The selected concentration profile results were compared with the wind tunnel experiments. The overall concentration profile results show good agreement with the wind tunnel results. The results showed that noise barriers, which positioned around the at-grade road, decrease the horizontal impact distance (In this study, the impact distance was defined as the distance from road surface origin coordinate to the position whose mass fraction is 0.1.) lower 0.33~0.65 times and change the vertical air pollution impact distance larger 2.0~2.27 times than those of no barrier case. In case of filled road, noise barriers decrease the horizontal impact distance lower 0.24~0.65 times and change the vertical air pollution impact distance larger 3.33~3.55 times than those of no barrier case. The depressed road increase 1.53~1.68 times the vertical air pollution impact distance. It contributes the decrease of horizontal air pollution impact distance 0.32~0.60 times compare with no barrier case.

• Journal of Broadcast Engineering
• /
• v.21 no.1
• /
• pp.87-96
• /
• 2016

Recently, there is a need for automatic recognition of a variety of symbols on roads because of activation of information services using digital maps on the Web or mobile devices. This paper proposes a method which automatically recognizes 11 kinds of symbolic road markings on the road surface with HOG-SP(Histogram of oriented Gradients-Split Projection) descriptor and shows improvement of lane position detection with recognized symbolic road markings. With the proposed method, recognition rate of 81.99% has been proven on NAVER road view images and the experiments proves the superiority of proposed method by comparisons with other existing methods. Moreover, this paper shows 7.64% higher lane position detection rate by recognizing road surface marking beforehand than only detecting lanes' positions.