네 개의 원호를 이용한 자동 평행주차 Path Planning 개발

신희석(Heeseok Shin),김정하(Jungha Kim) 한국자동차공학회 2018 한국자동차공학회 부문종합 학술대회 Vol.2018 No.6

There are lots of parking assistant system that have been proposed to give to help for driver. Gradually Self-driving Car’s Sensor is improved performance and more cheaper. In this paper, I suggest Parking assistance System of 4-Arcs In everywhere, This system can create Parking Path that can use for car in everywhere and every heading. The method which can create Path of Parking after the Car scan to Parking Space. Additionally, Gradually, According to Communication Technology such as V2X is more increase, Car can already know a Parking Space which is empty. In use to This System, The Car can create Parking path without People in everywhere. This system is called Auto-Valet Parking System.

NDT를 이용한 실내 Tractor-Trailer 자동 주차 알고리즘 개발

신희석(Heeseok Shin),장성빈(Sung Been Jang),장재익(Jeaik Jang),김현우(Hyunwoo Kim),최윤중(YunJung Choi),김정하(Jung-Ha Kim) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11

This paper is about automatically parking indoors through localization using LiDAR in an indoor where GPS is not received. The indoor localization method used the NDT algorithm, and the hitch angle of the trailer was detected using the camera. The position of the tractor was detected using the NDT algorithm, and the position and angle of the trailer were calculated by applying the trailer model based on the hitch angle detected by the camera. The trailer was parked in the designated parking space by following the finally created path.

유엔 자의적 구금 실무그룹(UN WGAD)의 준사법적 개인진정 절차를 통한 보편적 인권침해 구제

신희석(Shin Heeseok) 대한국제법학회 2019 國際法學會論叢 Vol.64 No.2

유엔 인권이사회에서 임명되는 독립 전문가로 구성된 자의적 구금 실무그룹(WGAD)은 유엔 인권 특별절차이면서도 인권조약 이행감독위원회처럼 신체자유의 박탈에 관한 개인진정을 수리하면 양 당사자인 진정인과 해당국 정부가 내는 서면 자료를 근거로 인권침해여부와 즉각 석방을 포함한 필요한 구제조치를 판단하는 “보편적 인신보호절차(un habeas corpus universel)”를 구축하였다. 국제인권 이행감독체계에는 국제인권조약으로 설립된 인권조약 이행감독기구(human rights treaty monitoring bodies)와 유엔 결의로 창설된 유엔 인권특별절차(special procedures)가 있다. 국제인권조약기구의 개인진정은 준사법절차로 해당 조약의 위반을 판단하기 때문에 법적 구속력은 없어도 권위 있는 법적 해석과 적용으로 인정되지만 해당국의 권한 수락, 국내구제수단의 완료, 진정인과 피해자의 관계 요건으로 개인의 인권침해구제에 한계가 있다. 반면에 유엔 결의를 근거로 대부분 1인 독립 전문가 기구로 구성되는 유엔 인권 특별절차는 개인진정 사건에서 공식적으로 법적 판단을 내리지 않고 해당국정부와의 대화와 국제여론의 압박을 통한 문제 해결에 방점을 두는 것이 일반적이지만 유엔 회원국과 비회원국 모두의 인권침해를 피해자의 국내구제수단 완료 이전에 다룰 수 있으며, 시간적 제약도 거의 없다. 1991년 유엔 인권위원회 결의 1991/42호로 설립된 WGAD는 당시 탈냉전 이후의 유리한 정치적 여건 속에서 이례적으로 자유권규약 위원회와 같은 준사법적 개인진정절차를 도입하게 되었다. WGAD 개인진정은 모든 국가에 대하여 가능하고, 국내 구제수단을 사전에 완료할 필요가 없으며, 비정부기가(NGO)나 WGAD의 직권 회부도 가능하지만 WGAD가 내리는 결정은 자유권규약 위원회와 유럽인권법원 등에서 준사법적 절차에 따른 결정으로 인정받는다. WGAD는 또한 국가 비상사태 및 국제무력분쟁 중 자의적 구금에 대하여도 개인진정을 처리할 수 있다는 절차규범을 확립하였다. 한편, WGAD는 실체규범 측면에서도 ‘자의적 구금’의 구성요소인 ‘구금(신체자유 박탈)’과 ‘자의성’을 넓게 해석하여 개인진정을 용이하게 할 뿐만 아니라 신체의 자유 이외의 권리 침해에 대해서도 법적 판단을 내릴 권한을 확보하였다. WGAD는 가택연금과 비자발적인 장기 외교공관 피신도 ‘신체자유 박탈’에 포함될 수 있다는 결정례를 남겼다. 또한, ‘자의성’ 개념도 “광의의 자의적 구금(arbitrary detention lato sensu)” 개념을 채용하여 법적 근거가 없는 구금(유형 I), 시민ꞏ정치권 행사를 탄압하기 위한 구금(유형 II), 공정한 재판을 받을 권리를 위반한 구금(유형 III), 외국인의 장기 행정구금(유형 IV), 불법적 차별에 따른 구금(유형 V)의 5가지 법적 유형을 자의적 구금으로 판단하고 있다. 이러한 WGAD의 개인진정 절차는 이행 및 구제 절차가 제한된 국제법 체계에서 매우 독특한 시도이다. 동아시아에서 지역인권체계의 구축이 어려운 한국으로서는 WGAD와 같은 국제인권체계의 발전에 힘쓸 필요가 있다. The UN Working Group on Arbitrary Detention (WGAD), made of independent experts appointed by the UN Human Rights Council, is a UN human rights special procedure but has established “un habeas corpus universel” that determines human rights violations and necessary remedies, including the immediate release, based on written submissions by the petitioner and the government concerned in its handling of individual petitions like a human rights treaty monitoring body. The international human rights monitoring system comprises of the human rights treaty monitoring bodies, created by international human rights treaties, and the UN special procedures, based on UN resolution. The international treaty bodies determines the violation of relevant treaty provisions in the quasi-judicial procedure and accordingly its legal interpretation and application enjoys considerable authority, despite the lack of binding force, but its utility is limited by the requirement of the state consent, exhaustion of domestic remedies, and the link between the petitioner and the victim. By contrast, the UN special procedures, mostly one-person independent expert body, acting under UN resolutions, generally do not make legal determinations in their handling of individual petitions but rather emphasize problem solving through dialogue and international pressure; it can receive petitions concerning all UN member and non-member states before the exhaustion of local remedies with little temporal limits. The WGAD was created in 1991 by UN Commission on Human Rights resolution 1991/42 under the favorable political atmosphere in the post-Cold War years, and was able to adopt the quasi-judical process for individual communications not unlike the Human Rights Committee. The WGAD petitions can target any state, does not require the prior exhaustion of local remedies, and can be submitted by non-governmental organizations (NGOs) or even by the WGAD itself. Nevertheless, the WGAD’s case-law is considered to be that of a quasi-judicial body by the Human Rights Committee, the European Court of Human Rights and other human rights bodies. The WGAD can also address the individual communications concerning arbitrary detention in the state of emergency or war. The WGAD has also developed substantive norms for the expanded interpretation of “detention (deprivation of personal liberty)” and “arbitrariness”--the literal elements of “arbitrary detention”--to not only ease individual petitions but also to enlarge its authority to make legal findings on alleged violations of rights other than the liberty of person. The WGAD jurisprudence has included house arrest and prolonged involuntary flight to a foreign legation as ‘deprivation of liberty’. Also, by utilizing the concept of “arbitrary detention lato sensu”, the WGAD has determined that detention without legal basis (category I), detention for the purpose of punishing the exercise of civil and political rights (category II), detention in violation of the right to fair trial (category III), prolonged administrative detention of foreigners (category IV) and detention on the basis of illegal discrimination (category V) qualify as arbitrary detention. The WGAD’s individual communication procedure is a unique experiment in the current international legal system that has limited enforcement and remedy mechanism. Given the difficulty of developing a regional human rights system in East Asia, South Korea needs to make greater efforts in the further development of WGAD and other international mechanisms.

저가형 Camera sensor를 이용한 자율주행 Trailer hitch angle 검출

장성빈(Sung Been Jang),신희석(Heeseok Shin),이제욱(Je Uk Lee) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11

With the recent increase in the autonomous vehicle industry, research on self-driving technology has been actively conducted on specially equipped vehicles such as buses and trailers or commercial vehicles, beyond research on autonomous driving based on general passenger vehicles. In particular, the trailer has a tracker part that a person drives and a trailer part that carries luggage. In general, in forward driving, only the length of the vehicle is a little longer, and there is no difficulty in driving. However, when driving in reverse, steering is difficult because the steering angle is opposite to that of a general vehicle. The most important part in reverse driving is the detection of the hitch angle, which is the connection part between the tracker and the trailer. Therefore, this paper aims to detect the trailer hitch angle using the rear camera, which is a low-cost sensor attached to a tracker vehicle, not an encoder or expensive sensor.

AVM 카메라의 영상매칭기법을 통한 실내 자율주차 시스템

김민구(Kim Mingu),신희석(Shin Heeseok),민경인(Min Kyungin),김정하(Kim Jungha) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.11

좌표계 변환을 통한 차선 변경 경로 생성

장재익(Jaeik Jang),신희석(Heeseok Shin),김현우(Hyunwoo Kim),김정하(Jungha Kim) 한국자동차공학회 2021 한국자동차공학회 부문종합 학술대회 Vol.2021 No.6

Nowadays, various path planning studies are being conducted to implement level 3 of autonomous driving. In this paper, coordinate conversion is proposed when it is necessary to generate a path for lane change. Coordinate conversion is conducted between Cartesian and Frenet coordinate systems. A new path for lane change is generated by converting the coordinate from previously planned path. Also, polynomials are used to make a smooth path when changing lanes. Scenario evaluation is performed in Driving Scenario Designer and shows the validity of the lane change algorithm.

자율주행 시스템의 Pure-pursuit 알고리즘을 이용한 Path Management 시스템 개발

최윤중(YunJung Choi),김현우(Hyunwoo Kim),신희석(HeeSeok Shin),김명준(MyeongJun Kim),김상준(SangJun Kim),길현준(HyunJun Gil),서주원(JuWon Seo),박선영(SunYoung Park),김재일(Jaell Kim),임효진(HyoJin Lim),김정하(JungHa Kim) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11

Research on autonomous vehicles consists of perception, judgement, and control. This paper is about the Ld method of the Pure-pursuit algorithm among the control algorithms based on the kinematic method in the control field. In the process of finding the correct L<SUB>d</SUB> for actual control, an error occurred between the detected L<SUB>d</SUB> value and the correct L<SUB>d</SUB>, and only a part of the path was detected L<SUB>d</SUB>. In order to store only the coordinates to be detected by LD in the path reference, the interval between paths was set very small, and the average interval and error of the detected LD values were calculated. The average interval and error of the detected LD value was proportional to the distance the sensor moved during the period of receiving a new signal, and accordingly, the path interval and path error were set appropriately. In the existing algorithm, the optimal interval and error are determined using the experimental data of the vehicle. The algorithm in this study may be less accurate than the existing algorithm. However, using only the target speed, the period of the sensor, and the minimum turning radius of the vehicle, it is possible to set the distance and the error of the path with high accuracy. Finally, the verification was carried out by directly controlling the autonomous vehicle.

주행 상황을 고려한 자율주행 자동차의 주행 전략 결정

장재익(Jaeik Jang),정세윤(Seyun Jung),신희석(Heeseok Shin),김정하(Jungha Kim) 한국자동차공학회 2021 한국자동차공학회 학술대회 및 전시회 Vol.2021 No.11

자율 주행 자동차를 위한 노이즈가 제거된 포인트 클라우드 지도와 LiDAR 기반 위치 인식 시스템

김수연(Suyeon Kim),강동완(Dongwan Kang),신희석(HeeSeok Shin),김정하(Jungha Kim) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11

In this paper, we propose LiDAR based localization system for autonomous vehicles using point cloud map with noise removed. Previously, GNSS and INS were used to localize autonomous vehicles. However, GNSS, which operates based on satellite signals, has a disadvantage of significantly reducing accuracy in shaded areas. LiDAR-based localization technology can overcome these shortcomings. In this paper, we use voxel grid filter to down-sampling data acquired through LiDAR, and use NDT algorithm to matching with point cloud map. By using this system, it is possible to know the location information of the autonomous vehicles. We tested the system in an actual urban area to verify its performance and showed a high level of accuracy.