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차선 및 연석 정보 활용한 차량 위치 추정 기술 기반 자율 주행
박성렬(Sungyoul Park),이현성(Hyunsung Lee),정용환(Yonghwan Jeong),김선욱(Seonwook Kim),이호준(Hojoon Lee),이경수(Kyongsu Yi) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
This paper presents a lane information based vehicle localization algorithm for application to automated driving on complex urban roads. Vehicle position estimation of centimeter-level with low-priced commercial sensor setup is one of the emphasis in automated driving. The fusion approach of localization algorithm utilizes LiDAR, Around View Monitoring (AVM) camera and vehicle chassis sensor. The proposed localization algorithm consists of several sections: a lane detection and fusion, a map-matching based position correction, an extended Kalman filter (EKF) based localization filter and validation gate. A lane information is detected and combined from LiDAR reflectivity signals and AVM image around the vehicle. This integrated lane information is possible to correct the ego vehicle position by the iterative closest point (ICP) algorithm which calculates the rigid transformation between the digital lane map and lanes obtained by LiDAR and AVM. The corrected vehicle position by transformation is fused with the information of vehicle chassis sensors based on EKF. The performance of proposed localization is verified through vehicle experiments on a driver’s license test course in Korea.
레이저 스캐너 기반 건설장비 작업환경 모니터링 기술 개발
박성렬(Sungyoul Park),오광석(Kwangseok Oh),박진선(Jin Sun Park),김진균(Jin-Gyun Kim),서자호(Jaho Seo),이근호(Geun Ho Lee),이경수(Kyongsu Yi) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Currently, the interests on safety of heavy machinery operation is highly increasing due to growth of construction accidents caused by inexperienced operator, worker’s carelessness, and so on. Therefore, the demand of the automation technology on construction machinery comes to the fore. This paper presents an environment monitoring technology of working site for construction machinery based on laser scanner. The proposed monitoring systems consists two parts. The first part is environmental perception based on one-layer laser scanner processing which estimates object states and classifies. The second part is working area estimation and prediction by analyzing position and velocity kinematics of excavator. It is shown that the proposed working area monitoring technology enhances environment perception performance and safety of construction site.
차선 유실구간 측위를 위한 레이저 스캐너 기반 고정 장애물 탐지 알고리즘 개발
서호태,박성렬,이경수,Seo, Hotae,Park, Sungyoul,Yi, Kyongsu 한국자동차안전학회 2017 자동차안전학회지 Vol.9 No.3
This paper presents the development of laser scanner based static obstacle detection algorithm for vehicle localization on lane lost section. On urban autonomous driving, vehicle localization is based on lane information, GPS and digital map is required to ensure. However, in actual urban roads, the lane data may not come in due to traffic jams, intersections, weather conditions, faint lanes and so on. For lane lost section, lane based localization is limited or impossible. The proposed algorithm is designed to determine the lane existence by using reliability of front vision data and can be utilized on lane lost section. For the localization, the laser scanner is used to distinguish the static object through estimation and fusion process based on the speed information on radar data. Then, the laser scanner data are clustered to determine if the object is a static obstacle such as a fence, pole, curb and traffic light. The road boundary is extracted and localization is performed to determine the location of the ego vehicle by comparing with digital map by detection algorithm. It is shown that the localization using the proposed algorithm can contribute effectively to safe autonomous driving.
이종민(Jongmin Lee),박성렬(Sungyoul Park),오광석(Kwangseok Oh),정용환(Yonghwan Jeong),이경수(Kyongsu Yi) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
This paper describes a functional perspective-based approach to fail-safe framework for autonomous driving. Autonomous vehicles have various sensor and actuator configurations in order for fully autonomous driving. In order to prevent fatal accidents caused by faults in sensor or actuator, fail-safe system for autonomous driving is required. The fail-safe framework divided into three parts such as perception, decision, and control has been proposed in terms of functional perspective for autonomous driving. Based on the proposed framework, fail-safe method for autonomous driving has been proposed using sensors and actuators of autonomous vehicle.
文榮石,朴成烈,鄭在奎 慶北大學校 醫科大學 1963 慶北醫大誌 Vol.4 No.1
A petite like small colony of cryptococcus is isolated from the stock culture, and this is studied for its morphological and biochemical chracterics by comparing it with normal colony. 1) This small colony differs from the ordinary from of variants in that, it is segregated into both normal and small sized colony by subculture. 2) Neither the effect of PH nor the range of temperature affet the growth of this variant significantly. 3) The growth rate of this varinant is significantly slower both in the liquid medium (by turbidmetry) and on the solid medium (by colonial diametry) than the normal colony. 4) With the addition of amino acid, other than tyrosin, serine, histidine and lysine, this variant is able to grow in the Davis&Mingoli's synthetic medium. 5) The biological characters, such as sugar assimilation and enzyme activity, are not different from the normal colony.(Author's abstract)