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자율주행 자동차의 실 도로 차선 변경을 위한 장애물 검출 및 경로 계획에 관한 연구
오재석(Jae-Saek Oh),임경일(Kyung-Il Lim),김정하(Jung-Ha Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.2
Recently, in automotive technology area, intelligent safety systems have been actively accomplished for drivers, passengers, and pedestrians. Also, many researches are focused on development of autonomous vehicles. This paper propose the application of LiDAR sensors, which takes major role in perceiving environment, terrain classification, obstacle data clustering method, and local map building for autonomous driving. Finally, based on these results, planning for lane change path that vehicle tracking possible were created and the reliability of path generation were experimented.
오재석(Jae-Saek Oh),이준수(Jun-Su Lee),정진범(Jin-Beom Jeong),김정하(Jung-Ha Kim) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper is research about longitudinal velocity planning of Unmanned Ground Vehicle, exactly recognition that Speed limit Signs of Road Environment. Longitudinal velocity plan conduct that based on image information acquired through vision sensor at the Speed limit Signs among Road information signs. Acquired image relays information to path plan node of UGV, after classification of necessary information through image processing. The information obtained in this way generates path according to path plan node, UGV can conduct stable road driving.
지리정보시스템 기반 경로계획을 이용한 지능형순항제어시스템 개발
임경일(Kyung-Il Lim),오재석(Jae-Saek Oh),이제욱(Je-Uk Lee),김정하(Jung-Ha Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.3
Autonomous driving is no longer atechnology of the future since the development of autonomous vehicles has now been realized, and many technologies have already been developed for the convenience of drivers. For example, autonomous vehiclesare one of the most important drive assistant systems. Among these many drive assistant systems, Cruise Control Systemsarenow a typical technology. This system constantly maintains a vehicle’s speed and distance from a vehicle in front by using Radar or LiDAR sensors in real time. Cruise Control Systems do not only serve their original role, but also fulfill another role as a ‘Driving Safety’ measure as they can detect a situation that a driver did not predict and can interveneby assuming a vehicle’s longitude control. However, these systems have the limitation of only focusing on driver safety. Therefore, in this paper, an Intelligent Cruise Control System that utilizes the path planning method and GIS is proposed toovercome some existing limitations.