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우훈제(Hoon-Je Woo),문희창(Hee-Chang Moon),김정하(Jung-Ha Kim) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper shows a method of multiple communication to be connected each of distributed levels of developed unmanned vehicle system according to the JAUS. Each of distributed levels of the JAUS hierarchy divides into a system, some of subsytem, nodes, and components/instances below a system, each of which may be independet or interdependence. Each of levels must require a method of communication to porcess data with high speed. However, a device or a method of communication interface what each of distributed independent levels request and receive a data to another level is different. Thereupon, we will show a reference of using JAUS messages what it are able to communicate between distributed levels in an unmanned vehicle system, and what is the JAUS hierarchy.
Fail-safe를 적용한 다수 AVP 차량 및 아키텍처 설계
우훈제(Hoon-Je Woo),김재환(Jae-Hwan Kim),성경복(Kyung-Bok Sung),김정하(Jung-Ha Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6
This paper introduces an AVP (Automated Valet Parking) system which applies an autonomous driving concept into the current PAS (Parking Assistant System). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.
우훈제(Hoon-Je Woo),최재우(Jae-Woo Choi),조윤기(Yun-Gi Jo) 대한전자공학회 2015 대한전자공학회 학술대회 Vol.2015 No.6
The trend in automotive industry is to install Advanced Driver Assistance System(ADAS) in order to help drivers to avoid collisions in advance. As ADAS needs to compute sensors’ data in real time, it requires a high-performance processor. This paper describes radar-based Forward Collision Warning (FCW) system using Aldebaran Core. Aldebaran core-based processor collects vehicle information data and sensor data to implement the FCW algorithm that warns a driver. The FCW system has been implemented in real-time and test-driven on roads.
JAUS를 따른 무인 시스템 제어를 위한 peer-to-peer 데이터 통신
문희창(Hee-Chang Moon),우훈제(Hoon-Je Woo),김정하(Jung-Ha Kim) 한국자동차공학회 2006 한국자동차공학회 Symposium Vol.- No.-
This paper deals with the peer-to-peer (P2P) data communication to connect each of distributed levels of developed unmanned ground vehicle (UGV) according to the JAUS protocol. Each of distributed levels of the JAUS protocol divides into a system, some of subsystems, nodes, and components/instances, each of which may be independent or interdependence. Each of levels must require high performance to process data with high speed. Therefore, each of distributed independent levels send data to another level and then it has to be able to process the received data in other levels, Then, P2P communication has to control data flow of distributed levels. In this research, we explain each of levels of the JAUS and P2P structure among the levels using our developed UGV.
무인자율주행차량의 시스템 아키텍처 및 통신 프로토콜 설계
문희창(Hee Chang Moon),우훈제(Hoon Je Woo),김정하(Jung Ha Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.9
This paper deals with the peer-to-peer data communication to connect each of distributed levels of developed unmanned system according to the JAUS. The JAUS is to support the acquisition of unmanned system by providing a mechanism for reducing system life-cycle costs. Each of distributed levels of the JAUS protocol divides into a system, some of subsystems, nodes and components/instances, each of which may be independent or interdependence. We have to distribute each of the levels because high performance is supported in order to create several sub-processor computing data in one processor with high CPU speed performance. To complement such disadvantage, we must think the concept that a distributed processing agrees with separating each of levels from the JAUS protocol. Therefore, each of distributed independent levels send data to another level and then it has to be able to process the received data in other levels. So, peer-to-peer communication has to control a data flow of distributed levels. In this research, we explain each of levels of the JAUS and peer-to-peer communication structure among the levels using our developed unmanned ground vehicle.