• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.49 no.1
• /
• pp.31-40
• /
• 2012

This paper proposes a visual landmark, and presents a parking assistance system using the landmarks. The visual landmark is a feature corresponding to the parking slots, it must be selected considering the parking lot's environment. The parking lot has simple repetitive pattern environment without noticeable features. The previous landmarks are not proper to the parking lot's environment. We propose the visual landmark for this environment. We estimate the vehicle's location using the proposed landmarks, and expect the vehicle's trajectory according to the vehicle's state. The system's inputs are images from the camera fixed to the vehicle. The presented system estimates the vehicle's location using the input images, and assists a driver through displaying the expected vehicle's trajectory from the steering angle. The experimental results showed the proposed landmark's performance and the parking assistance system's performance.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.1
• /
• pp.63-68
• /
• 2004

In this paper, we propose a method about the extraction of vehicle and tracking trajectory for moving vehicle tracking system in road. This system applied to the monitoring system of the traffic flow for ATMS(advanced traffic management system) of ITS(intelligent transport system). Also, this system can solve the problem of maintenance of loop sensor. And we detected vehicle using differential image analysis. Because of the road environment changes by real time. Therefore, the method to use background image is not suitable. And we used Kalman filter and innovation value and variable search area for vehicle tracking system. Previous method using fixed search area is sensitive to the moving trajectory and the speed of vehicle. Simulation results show that proposed method increases the possibility of traffic measurement more than fixed area traffic measurement system.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.8 no.6
• /
• pp.194-207
• /
• 2000

In this paper, we suggest a vision-based lane change control system, which can be applied on the straight road, without additional sensors such as a yaw rate sensor and a lateral accelerometer. In order to reduce the image processing time, we predict a reference line position during lane change using the lateral dynamics and the inverse perspective mapping. The sliding mode control algorithm with a boundary layer is adopted to overcome variations of parameters that significantly affects a vehicle`s lateral dynamics and to reduce chattering phenomenon. However, applying the sliding mode control to the system with a long sampling interval, the stability of a control system may seriously be affected by the sampling interval. Therefore, in this paper, a look ahead offset has been used instead of a lateral offset to reduce the effect of the long sampling interval due to the image processing time. The control algorithm is developed to follow the desired trajectory designed in advance. In the design of the desired trajectory, we take account of the constraints of lateral acceleration and lateral jerk for ride comfort. The performance of the suggested control system is evaluated in simulations as well as field tests.

• Advances in aircraft and spacecraft science
• /
• v.5 no.1
• /
• pp.73-105
• /
• 2018

A particular type of constant speed helical trajectory, with variable ascension rate, is proposed. Such trajectories are candidates of choice as motion primitives in automatic airplane trajectory planning; they can also be used by airplanes taking off or landing in limited space. The equations of motion for airplanes flying on such trajectories are exactly solvable. Their solution is presented, together with an analysis of the restrictions imposed on the geometrical parameters of the helical paths by the dynamical abilities of an airplane. The physical quantities taken into account are the airplane load factor, its lift coefficient, and the thrust its engines can produce. Formulas are provided for determining all the parameters of trajectories that would be flyable by a particular airplane, the final altitude reached, and the duration of the trajectory. It is shown how to construct speed interval tables, which would appreciably reduce the calculations to be done on board the airplane. Trajectories are characterized by their angle of inclination, their radius, and the rate of change of their inclination. Sample calculations are shown for the Cessna 182, a Silver Fox like unmanned aerial vehicle, and the F-16 Fighting Falcon.

• International Journal of Aeronautical and Space Sciences
• /
• v.7 no.2
• /
• pp.137-144
• /
• 2006

The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.18 no.5
• /
• pp.183-193
• /
• 2019

This study developed a shockwave detection and prediction of their extinction point method based on continuous wavelet transform using trajectory data from probe vehicles equipped with automotive sensors.. To analyze the effectiveness of the proposed method, this paper proposed two measures which are a distance error between the extinction points of the predictor and an time-location error of the extinction points. The proposed concept was proved using the micro simulation based experiment with three exogenous variables of traffic volume, lane-close duration, market penetration of probe vehicles. The analysis results show that the proposed method is capable of detecting the traffic shockwaves as well as predicting their extinction point, and also that the accuracy of the proposed method is highly dependent on the rate of the probe vehicles.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.19 no.6
• /
• pp.134-143
• /
• 2020

With the worldwide spread of African swine fever, interest in livestock epidemics is growing. Livestock transport vehicles are the main cause of the spread of livestock epidemics, but no empirical quarantine procedures and standards related to the mobility of livestock transport vehicles in South Korea. This study extracted livestock-related vehicles' trajectory by utilizing the facility visit history data from the Korea Animal Health Integrated System and the DTG (Digital Tachograph) data from the Korea Transportation Safety Authority and presented them as exposure indexes aggregating the link-time occupancy of each vehicle. As a result, a total of 274,519 livestock-related vehicle trajectories were extracted, and exposure values by link and zone were quantitatively derived. Through this study, it is expected that prior monitoring of livestock transport vehicles and the establishment of post-disaster prevention policies would be provided.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.39C no.1
• /
• pp.47-59
• /
• 2014

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

• Journal of the Korea Society for Simulation
• /
• v.27 no.4
• /
• pp.1-8
• /
• 2018

The most common way to control a target point using artificial intelligence is through reinforcement learning. However, it had to process complicated calculations that were difficult to implement in order to process reinforcement learning. In this paper, the enhanced Proximal Policy Optimization (PPO) algorithm was used to simulate finding the planned flight trajectory to reach the target point in the virtual environment. In this paper, we simulated how this problem was used to find the planned flight trajectory to reach the target point in the virtual environment using the enhanced Proximal Policy Optimization(PPO) algorithm. In addition, variables such as changes in trajectory, effects of rewards, and external winds are added to determine the zero conditions of external environmental factors on flight trajectory learning, and the effects on trajectory learning performance and learning speed are compared. From this result, the simulation results have shown that the agent can find the optimal trajectory in spite of changes in the various external environments, which will be applicable to the actual vehicle.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.11A
• /
• pp.912-923
• /
• 2011

In this paper, we propose a routing protocol for WMNs to provide passengers in public transportation vehicles (e.g., bus and tram) with Internet access service. In order to support end users with a reliable Internet connection despite the mobility of vehicles, we assume that mesh router, called mobile mesh router (MMR), is installed in a vehicle and manages a route to Internet Gateway (IGW). We therefore propose an efficient routing protocol and its routing metric, called ETT-TR, considering trajectory information of vehicle as well as link quality in order to find a route between them. Using NS-2 simulations, we observe that our proposed routing protocol reduces the end-to-end delay and improves throughput performance.