• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.550-557
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• 1999

This paper describes a road-following controller using the proposed neural network for autonomous vehicle. Road-following with visual sensor like camera requires intelligent control algorithm because analysis of relation from road image to steering control is complex. The proposed neural network, relative similarity modular network(RSMN), is composed of some learning networks and a partitioniing network. The partitioning network divides input space into multiple sections by similarity of input data. Because divided section has simlar input patterns, RSMN can learn nonlinear relation such as road-following with visual control easily. Visual control uses two criteria on road image from camera; one is position of vanishing point of road, the other is slope of vanishing line of road. The controller using neural network has input of two criteria and output of steering angle. To confirm performance of the proposed neural network controller, a software is developed to simulate vehicle dynamics, camera image generation, visual control, and road-following. Also, prototype autonomous electric vehicle is developed, and usefulness of the controller is verified by physical driving test.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.773-778
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• 1991

In this paper we describe a road following method for an autonomous vehicle. From a road image in gray level, a road boundary is detected using a gradient operator, and then the road boundary is converted to orthogonal view of the road showing the vehicle position and heading direction. In this research an efficient road boundary search technique is developed to support real time vehicle control. Also, an obstacle detection method, using images taken from two different positions, has been developed.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.480-487
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• 2009

Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.274-281
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• 1998

This paper describes a visual control of autonomous vehicle using neural network. Visual control for road-following of autonomous vehicle is based on road image from camera. Road points on image are inputs of controller and vehicle speed and steering angle are outputs of controller using neural network. Simulation study confirmed the visual control of road-following using neural network. For experimental test, autonomous electric vehicle is designed and driving test is realized

• 한국ITS학회 논문지
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• 제12권3호
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• pp.53-64
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• 2013

첨단차량 및 도로시스템 (AVHS)의 가장 핵심적인 모형인 추종거동 모형은 인간공학적 요소를 반영하거나 가속도 오차율을 줄이는 등 다양한 측면에서 개발되고 있다. 하지만 첨단차량 추종거동과 관련하여 기상상황을 고려한 안전성에 대한 연구는 미미한 실정이다. 따라서 본 논문에서는 기상상황에 따른 노면상태와 차량 주행행태의 관계를 분석하여 첨단차량 추종거동 시 차량의 주행행태 변화를 비교하였고, 이에 따른 노면상태 별 최적안전거리를 산정하였다. 노면상태는 기상상황에 따라 다양하게 분류 되지만, 본 논문에서는 건조, 습윤, 적설 노면상태로 분류하고 이에 따른 마찰계수를 추종거동 모형인 GMIT 모형에 적용하였다. 제안된 추종거동 모형의 시뮬레이션 결과, 기상상황별 노면상태에 따라 추종차량의 속도와 가속도 및 차간거리가 변화되었다. 또한 변화하는 노면상태에 따라 달라지는 차간거리를 이용하여 기상상황에 따른 노면상태 별 최적안전거리를 산정하였다. 습윤노면상태에서의 최적안전거리는 건조노면상태에 비해 약 1.7배가 늘어났으며, 적설노면상태에서의 최적안전거리는 건조노면상태에 비해 약 5.6배가 늘어났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.97-100
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• 1996

In this paper, we describe an algorithm which estimate road following direction using the vanishing point property and obstacle detection. This method of detecting the lane markers in a set of continuous lane highway images using linear approximation is presented. This algorithm is designed for accurate and robust extraction of this data as well as high processing speed. Also, this algorithm reckon distance and chase about an obstacle. It include four algorithms which are lane prediction, lane extraction, road following parameter estimation and obstacle detection algorithm. High accuracy was proven by quantitative evaluation using simulated images. Both robustness and the practicality of real time video rate processing were then confirmed through experiment using VTR real road images.

• International Journal of Advanced Culture Technology
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• 제10권4호
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• pp.228-229
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• 2022

This paper is about KTV special documentary "Baekdu to Halla, It's Peace Now" which looks back on the journey of President Moon Jae-in to the 3rd inter-Korean summit following former Presidents Kim Dae-jung and Roh Moo-hyun, following the 2018 inter-Korean summit held under the slogan of 'Peace and a New Future'. The documentary was produced in the form of a road documentary that looked back at the meaningful results of the summit meeting with the MC through related places and various people, narrated by singer Kang San-Ae. Based on this case, the difference between the development of road documentaries and general informational documentaries about the existing production process is identified, and the differences between the production format, production characteristics, and development method of road documentaries are described. I would like to present an example of how it can be desirable to set the format of the road documentary according to the production environment of broadcasting companies and planning factors.

• 대한교통학회지
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• 제6권1호
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• pp.43-53
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• 1988

This study is to find the proper method of estimating urban road traffic capacity. To estimate road traffic capacity, the following methods are chosen ; 1) crossing point of Q-V and S-V, 2) critical velocity and density of Q-V-K model, 3) V-K model with density parameter. The density estimated through S-V relation is 174 veh./km. The methods used in this paper yields more stable values with 2286 veh./h/ in average. The estimated average capacity by three methods are 2272 veh./h. in multilane road. 2411 veh./h in three lane road and 2185 veh./h. in two lane road.

• 환경위생공학
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• 제24권4호
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• pp.1-26
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• 2009

We conclude the following with air pollution data measured from city measurement net administered and managed in Gwangju for the last 7 years from January in 2001 to December in 2007. In addition, some major statistics governed by Gwangju city and data administered by Gwangju as national official statistics obtained by estimating the amount of national air pollutant emission from National Institute of Environmental Research were used. The results are as follows ; 1. The distribution by main managements of air emission factory is the following ; Gwangju City Hall(67.8%) > Gwangsan District Office(13.6%) > Buk District Office(9.8%) > Seo District Office(5.5%) > Nam District Office(3.0%) > Dong District Office(0.3%) and the distribution by districts of air emission factory ; Buk District(32.8%) > Gwangsan District(22.4%) > Seo District(21.8%) > Nam District(14.9%) > Dong District(8.1%). That by types(Year 2004~2007 average) is also following ; Type 5(45.2%) > Type 4(40.7%) > Type 3(8.6%) > Type 2(3.2%) > Type 1(2.2%) and the most of them are small size of factory, Type 4 and 5. 2. The distribution by districts of the number of car registrations is the following ; Buk District(32.8%) > Gwangsan District(22.4%) > Seo District(21.8%) > Nam District(14.9%) > Dong District(8.1%) and the distribution by use of car fuel in 2001 ; Gasoline(56.3%) > Diesel(30.3%) > LPG(13.4%) > etc.(0.2%). In 2007, there was no ranking change ; Gasoline(47.8%) > Diesel(35.6%) > LPG(16.2%) >etc.(0.4%). The number of gasoline cars increased slightly, but that of diesel and LPG cars increased remarkably. 3. The distribution by items of the amount of air pollutant emission in Gwangju is the following; CO(36.7%) > NOx(32.7%) > VOC(26.7%) > SOx(2.3%) > PM-10(1.5%). The amount of CO and NOx, which are generally generated from cars, is very large percentage among them. 4. The distribution by mean of air pollutant emission(SOx, NOx, CO, VOC, PM-10) of each county for 5 years(2001~2005) is the following ; Buk District(31.0%) > Gwangsan District(28.2%) > Seo District(20.4%) > Nam District(12.5%) > Dong District(7.9%). The amount of air pollutant emission in Buk District, which has the most population, car registrations, and air pollutant emission businesses, was the highest. On the other hand, that of air pollutant emission in Dong District, which has the least population, car registrations, and air pollutant emission businesses, was the least. 5. The average rates of SOx for 5 years(2001~2005) in Gwangju is the following ; Non industrial combustion(59.5%) > Combustion in manufacturing industry(20.4%) > Road transportation(11.4%) > Non-road transportation(3.8%) > Waste disposal(3.7%) > Production process(1.1%). And the distribution of average amount of SOx emission of each county is shown as Gwangsan District(33.3%) > Buk District(28.0%) > Seo District(19.3%) > Nam District(10.2%) > Dong District(9.1%). 6. The distribution of the amount of NOx emission in Gwangju is shown as Road transportation(59.1%) > Non-road transportation(18.9%) > Non industrial combustion(13.3%) > Combustion in manufacturing industry(6.9%) > Waste disposal(1.6%) > Production process(0.1%). And the distribution of the amount of NOx emission from each county is the following ; Buk District(30.7%) > Gwangsan District(28.8%) > Seo District(20.5%) > Nam District(12.2%) > Dong District(7.8%). 7. The distribution of the amount of carbon monoxide emission in Gwangju is shown as Road transportation(82.0%) > Non industrial combustion(10.6%) > Non-road transportation(5.4%) > Combustion in manufacturing industry(1.7%) > Waste disposal(0.3%). And the distribution of the amount of carbon monoxide emission from each county is the following ; Buk District(33.0%) > Seo District(22.3%) > Gwangsan District(21.3%) > Nam District(14.3%) > Dong District(9.1%). 8. The distribution of the amount of Volatile Organic Compound emission in Gwangju is shown as Solvent utilization(69.5%) > Road transportation(19.8%) > Energy storage & transport(4.4%) > Non-road transportation(2.8%) > Waste disposal(2.4%) > Non industrial combustion(0.5%) > Production process(0.4%) > Combustion in manufacturing industry(0.3%). And the distribution of the amount of Volatile Organic Compound emission from each county is the following ; Gwangsan District(36.8%) > Buk District(28.7%) > Seo District(17.8%) > Nam District(10.4%) > Dong District(6.3%). 9. The distribution of the amount of minute dust emission in Gwangju is shown as Road transportation(76.7%) > Non-road transportation(16.3%) > Non industrial combustion(6.1%) > Combustion in manufacturing industry(0.7%) > Waste disposal(0.2%) > Production process(0.1%). And the distribution of the amount of minute dust emission from each county is the following ; Buk District(32.8%) > Gwangsan District(26.0%) > Seo District(19.5%) > Nam District(13.2%) > Dong District(8.5%). 10. According to the major source of emission of each items, that of oxides of sulfur is Non industrial combustion, heating of residence, business and agriculture and stockbreeding. And that of NOx, carbon monoxide, minute dust is Road transportation, emission of cars and two-wheeled vehicles. Also, that of VOC is Solvent utilization emission facilities due to Solvent utilization. 11. The concentration of sulfurous acid gas has been 0.004ppm since 2001 and there has not been no concentration change year by year. It is considered that the use of sulfurous acid gas is now reaching to the stabilization stage. This is found by the facts that the use of fuel is steadily changing from solid or liquid fuel to low sulfur liquid fuel containing very little amount of sulfur element or gas, so that nearly no change in concentration has been shown regularly. 12. Concerning changes of the concentration of throughout time, the concentration of NO has been shown relatively higher than that of $NO_2$ between 6AM~1PM and the concentration of $NO_2$ higher during the other time. The concentration of NOx(NO, $NO_2$) has been relatively high during weekday evenings. This result shows that there is correlation between the concentration of NOx and car traffics as we can see the Road transportation which accounts for 59.1% among the amount of NOx emission. 13. 49.1~61.2% of PM-10 shows PM-2.5 concerning the relationship between PM-10 and PM-2.5 and PM-2.5 among dust accounts for 45.4%~44.5% of PM-10 during March and April which is the lowest rates. This proves that particles of yellow sand that are bigger than the size $2.5\;{\mu}m$ are sent more than those that are smaller from China. This result shows that particles smaller than $2.5\;{\mu}m$ among dust exist much during July~August and December~January and 76.7% of minute dust is proved to be road transportation in Gwangju.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1991년도 춘계공동학술대회 발표논문 및 초록집; 전북대학교, 전주; 26-27 Apr. 1991
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• pp.375-375
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• 1991