The role of QR Code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR Codes and the convenience of producing and attaching a lot of information within QR Codes have been raised, and many of these reasons have made QR Codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR Codes with the same horizontal and vertical sides, and the error is to create a QR Code robot with accuracy to reach within 3mm. This paper focuses on experimental environments for testbeds during the development of QR Code-aware indoor mobility robots.

PURPOSES : This study aimed to develop data conversion of NGII HD maps to OpenDRIVE format for virtual road implementation for autonomous-driving verification. METHODS : A method of defining the reference line of OpenDRIVE on the centerline of an NGII HD map is proposed. According to the construction characteristics of the NGII HD map, the optimal conversion method through parametric cubic polynomials was used in the form of piecewise and clamped cubic polynomials. RESULTS : The study focused on curved roads that may cause problems when converting HD map data into OpenDRIVE formats. As a result of data conversion, a reference line was defined to precisely follow the alignment of NGII HD maps drawn based on MMS data, and a lively virtual road was reproduced through road lane width and lane expression. CONCLUSIONS : A virtual road in the same environment as a real road, which is one of the important factors in verifying autonomous driving technology through virtual driving simulation, was constructed. The piecewise-polynomial normal was 0.008 m on average, and as a result of calculating the distance between the endpoint coordinates of the road object and the endpoint coordinates of the converted road object on the NGII HD map, the difference between the two points was 0.163 m on average. The clamped cubic polynomials normal was observed to be an average of 0.170 m.

자율주행 시물레이터는 자율 주행을 시험하고 검증하는 일에 있어 현실에 비해 높은 비용 절감의 효과를 가 지고 오지만 높은 컴퓨터 연산량에 의해 많은 하드웨어 기기를 요구하게 된다. 게임을 이용하여 자율 주행에 필요한 학습 데이터를 획득하는 경우도 있다. 게임은 저비용 시뮬레이터로 활용되고 있지만 게임 외적인 특정 상황을 모의하기에도, 필요한 데이터 획득에도 제한적이다. 또 다른 방법으로 게임 엔진을 통한 가상 환경 모 의 연구가 수행되고 있다. 하지만 게임 엔진에서는 사용자가 직접 필요한 모델링을 해줘야 하기 때문에 개발 비용이 크게 작용된다. 특히, 3D LIDAR는 360도로 Ray를 쏴서 정밀 거리를 최소 10Hz 이내의 실시간 획득이 필요하다. 실시간으로 3D LIDAR 데이터를 획득하는 것은 GPU(Graphics Processing Unit) 사용량이 많은 작업 이기 때문에, 저비용 시뮬레이터를 위해서는 저비용 3D LIDAR 모의가 필요하다. 본 논문에서는 낮은 컴퓨터 연산을 사용하는 C++ 기반 3D LIDAR 모의 프레임 워크를 제안한다. 제안된 3D LIDAR는 다수의 언덕으로 이 루어진 비포장 Map에서 성능을 검증 하였으며, 성능 검증을 의해 본 논문에서 생성된 3D LIDAR로 간단한 LPP(Local Path Planning) 생성 방법도 소개한다. 제안된 3D LIDAR 프레임 워크는 저비용 실시간 모의가 필요 한 자율 주행 분야에 적극 활용되길 바란다.

PURPOSES : This study was conducted to analyze the driving width of the vehicle body and off-track width of front-rear tires when a large vehicle or an articulated bus passes through a roundabout. METHODS : The driving width was measured using two methods considering the off-tracking tire and the size of the vehicle body. The test conditions of the roundabout were considered as follows: number of entry/exit sections (three-legs roundabout and four-legs roundabout), number of lanes (one lane and two lanes), driving speed (10 km/h, 20 km/h, and 30 km/h), driving trajectory (centerline and maneuver), and driving path (right turn, straight, left turn, and U-turn). The driving trajectories of large buses or articulated buses were analyzed using a road design simulation tool (AutoTURN Pro). RESULTS : Consequently, it was observed that the driving width calculated using the off-track width of the front and rear tires was lower than that analyzed for the vehicle body. The width was smaller in the case of driving in the one-lane roundabout than that in the two-lane roundabout. In particular, it was analyzed that the situation in which the turning path invades the lane appeared in left-turn (East → South) and U-turn (East → East) situations. The width was narrower in the case of driving in the one-lane roundabout than that in the two-lane roundabout. CONCLUSIONS : The study results are expected to be applied for designing roads when large buses or articulated buses are selected as design vehicles.

목적 : 본 연구는 노인운전자를 대상으로 한 운전 관련 기능 및 차량 적합성을 평가한 사례를 보고하고 노인운전자의 안전운전에 필요한 중재의 방향성을 알아보고자 하였다. 연구방법 : 경기 남부 지역의 지역사회 거주 중인 노인 7명을 대상으로 선정하였다. 자료를 수집하기 위해 노인운 전자의 신체기능(인지, 운동. 감각 기능)을 평가하고 운전행동에 대한 자기 보고, 차량조절 프로그램(Carfit)을 이 용한 운전자-차량 적합성 평가를 실시하였다. 결과 : 7명의 대상자 중 3명에서 최근 1년 내 범칙금 부과와 교통사고 경험이 보고되었다. 신체기능에서는 MMSE-DS 검사와 관절가동범위 검사 결과가 모두 정상이었다. 반면 시계그리기 검사(CDT)에서 2명(28.6%), 선 로잇기 검사(TMT-B)에서 4명(57.1%)의 대상자가 어려움을 보였다. 시야검사 결과 7명의 대상자(100%) 모두 정상 보다 저하된 시야범위를 갖고 있었으며, 차량적합성 평가(Carfit)에서도 모든 대상자(100%)에서 하나 이상의 차량 적합성 문제가 나타났다. 결론 : 운전은 지역사회 참여의 수단으로 큰 의미를 가진다. 저하된 운전 관련 신체기능, 부적절한 운전행동 및 차량 적합성은 노인의 안전운전을 위협할 수 있다. 따라서 운전행동 및 차량 조절에 관련된 운전 중재가 필요하며, 본 연구에서는 제시된 평가 사례는 노인의 안전운전 중재 계획에 필요한 자료를 확보하는 방법으로 활용될 수 있다. 향후 노인운전자와 이들의 운전에 대한 자료 수집을 위한 확대 연구 및 중재 실천에 대한 연구가 시행되어야 한다.

목적 : 전기노인과 후기노인의 일반적 특성과 운전현황에 대한 비교분석을 통해서 맞춤형 조건부 운전면허제도를 마련하기 위한 기초자료를 제공하고자 한다. 연구방법 : 노인운전자 145명을 대상으로 일반적 특성과 운전현황에 대해 묻는 10개의 문항으로 구성된 설문지를 이용하였다. 결과분석을 위해서 빈도분석과 카이제곱 검정, 다중응답에 대한 교차분석을 실시하였다. 결과 : 전기노인 집단에서 여성운전자 비율이 높게 나타났으며, 운전경력을 통해 중장년 시기를 기점으로 운전을 시작하는 비율이 높은 것으로 확인되었다(p<.05). 후기노인 집단에서는 건강상의 문제로 운전을 중단하는 비율이 높았으며(p<.05), 운전이유에 대해 묻는 다중응답에 대한 분석결과에서는 쇼핑이나 종교활동, 친인척방문을 위해 운전하는 비율이 낮은 것으로 나타났다. 결론 : 이번 연구를 통해서 노인운전자를 위한 맞춤형 조건부 운전면허제도의 정착을 위해서는 성별, 운전능력의 임계연령을 고려한 체계적인 평가시스템 개발과 전문가 활용 방안, 운전환경을 고려한 추후연구의 필요성이 확인 되었다.

Driving safety of a semi-trailer is greatly reduced when driving in a section with a narrow turning radius, so a dynamic study of driving and road conditions is required. In this study, the driving stability of the semi-trailer was investigated using the RecurDyn program in consideration of the velocity and weight of the semi-trailer in the entrance curve section of the highway, and the turning angle and radius of the curved road. In order to select the model and analysis conditions according to the road type, the sloping curved road was modeled by selecting the curvature, entry length, height difference, and entrance angle of the curved section. From the analysis results, the higher the semi-trailer's entrance velocity, the heavier the weight, the narrower the entrance angle of the curved road, and the smaller the curvature, the greater the semi-trailer's maximum running angular speed which had an effect on driving stability.

This paper proposes a mathematical model that can calculate the luminescence characteristics driven by alternating current (AC) power using the current-voltage-luminance (I-V-L) properties of organic light emitting devices (OLED) driven by direct current power. Fluorescent OLEDs are manufactured to verify the model, and I-V-L characteristics driven by DC and AC are measured. The current efficiency of DC driven OLED can be divided into three sections. Region 1 is a section where the recombination efficiency increases as the carrier reaches the emission layer in proportion to the increase of the DC voltage. Region 2 is a section in which the maximum luminous efficiency is stably maintained. Region 3 is a section where the luminous efficiency decreases due to excess carriers. Therefore, the fitting equation is derived by dividing the current density and luminance of the DC driven OLED into three regions, and the current density and luminance of the AC driven OLED are calculated from the fitting equation. As a result, the measured and calculated values of the AC driving I-V-L characteristics show deviations of 4.7% for current density, 2.9% for luminance, and 1.9% for luminous efficiency.

PURPOSES : The purpose of this study is to evaluate the road design elements affecting the lateral driving safety under high-speed driving conditions with a speed limit of 140 km/h and to derive useful implications to design of safer roads. METHODS : A full-scale driving simulator was used to evaluate the various design scenarios. Different regression techniques and a random forest method were adopted to conduct comprehensive comparisons among the simulation scenarios. The relationships between the safety indicators, including the frequency of the lane departures and the standard deviation of the lateral acceleration, and the design elements were explored in terms of lateral driving safety. RESULTS : The length of the combined alignment was found to be a significant factor affecting the lateral driving safety based on the analysis of the frequency of lane departures. Regarding the standard deviation of the lateral acceleration, it was identified that the length of the horizontal curve, the length of the bridge, and the right-side superelevation must be considered significant factors associated with driving safety while designing the road under high-speed driving conditions. CONCLUSIONS : Based on the findings of this study, a set of recommendations for designing roads was proposed. For example, the proper length of the combined alignment and the horizontal curve should be determined to prevent crashes due to hazardous lateral driving events because the installation of sufficient superelevation in the bridge section would be limited under high-speed driving conditions. In addition, applying a larger horizontal curve radius with longitudinal grooving is a promising approach to tackle risky driving conditions.

In this paper, we break away from the method of removing and inspecting the GDI injector, measure the pressure change of the fuel rail pressure sensor when driving the GDI injector of a vehicle equipped with the GDI fuel system, and compare the results. analyzed.There was a pressure change in the fuel rail pressure sensor from the general drive GDI injector. There was no pressure change in the fuel rail pressure sensor when driving the GDI injector without injecting fuel. You can check the fuel injection status in the pressure change data of the fuel rail pressure sensor without removal the GDI injector.

PURPOSES : Accidents involving autonomous vehicle continue to occur. However, research on autonomous vehicle monitoring has been insufficient. The purpose of this study is to develop monitoring indicators from the perspective of vehicles and road infrastructure for the safe driving of autonomous vehicles. In addition, the purpose is to monitor autonomous vehicles and road environments using the monitoring indicators developed, as well as to analyze the characteristics of road sections where autonomous vehicles exhibit abnormalities. METHODS : Data from Pangyo Zero Shuttle, an autonomous vehicle, were used in this study. Infrastructure data installed in Pangyo Zero City were used. The data were collected from June 2019 to July 2019, during the normal driving period of the zero shuttle. The five monitoring indicators were developed by combining the vehicle operation information table collected from the V2X device of the zero shuttle and the road environment monitoring detail table collected from the infrastructure data with the road section table. In addition, an analysis of road characteristics with frequent errors is performed for each monitoring indicator. RESULTS : The three monitoring indicators from the perspective of the vehicle allowed monitoring of the sensor error, sensor communication error, and yaw rate error of the autonomous vehicle's timing and road section. In addition, the two monitoring indicators from the infrastructure perspective enabled the monitoring of events and road surface conditions on roads where autonomous vehicles drive. As a result of analyzing the road characteristics that frequently caused errors by monitoring indicators, sensor errors frequently occurred in the section waiting to enter the left-turn lane. Sensor communication errors are left-turn standby and have occurred frequently on road sections where U-turns are allowed. Finally, yaw rate error occurred frequently in sections of roads where there were no induction lines or where changes to lanes occurred frequently. CONCLUSIONS : The five monitoring indicators developed in this study allowed the monitoring of autonomous vehicles and roads. The results of this study are expected to help the safe driving of autonomous vehicles and contribute to the detection of autonomous driving abnormalities and the provision of real-time road condition information through further analysis.

PURPOSES : In this study, we review the method and equations suggested in the usual guidelines to calculate the lane widening for curved sections, and proposed values of the widths and the amount of widening that reflected the driving trajectory of an articulated bus. METHODS : A simulation was used to obtain the trajectory of articulated bus, which is adequate for a Super-Bus Rapid Transit(S-BRT) service with the longest length of the design vehicle. This study was conducted by dividing the trajectory into curved and tangential sections, and the extent of widening was analyzed by changing the rotation angle by 5°. In addition, the results related to the amount of widening from the conducted analysis were applied to particular situation of right turns of an articulated bus at urban intersection. The possible conflict situations that may occur were analyzed. RESULTS : When analyzing the rotation angle at which the size of the driving width was set to be the largest for each lane center radius, the rotation angle for a lane center radius ( =15m) was 35°, the rotation angle for a lane center radius ( =20m) was 45°, the rotation angle for a lane center radius ( =25m) was 55°, and the rotation angle for a lane center radius ( =30m) was 60°. CONCLUSIONS : As the radius increases, the required driving width and the amount of widening decrease. The rotation angle that requires the largest driving width is presented. The results show that as the central radius ( ) of the lane increases, the amount of widening for each rotation angle decreases. In addition, based on the results of the analysis of the driving width for each rotation, the trajectory of an articulated bus was applied to an at-grade intersection to check the distance required for widening from the beginning point of the curve.

PURPOSES : The purpose of this study is to disseminate the process of deriving the truck performance curve of Korea’s representative trucks in detail such that the relevant experts can use it in the future when re-selecting the representative trucks and deriving the truck performance curve accordingly. METHODS : To collect relevant data required to derive the truck performance curve, this study used four trucks that implemented the weight/power of the nation’s representative trucks, and conducted a practical driving test on four different upgrade sections. RESULTS : The truck performance curve was derived for each driving position to represent the deceleration and acceleration capabilities of the truck through the actual driving test on the upgrade sections. CONCLUSIONS : The truck performance curve derived from this study indicated that the truck’s deceleration and acceleration capabilities increased as the total weight/power of Korea’s representative trucks improved, and the design of the climbing lane demonstrated that the design method used in this study saved approximately 60% of the construction cost compared to the existing method.

The role of QR code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR codes and the convenience of producing and attaching a lot of information within QR codes have been raised, and many of these reasons have made QR codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR codes with the same horizontal and vertical sides, and the error is to create a QR code robot with accuracy to reach within 3mm. This paper focuses on the driving operation techniques during the development of QR code-aware indoor mobility robots.

In this study, the flow analyses were carried out on three kinds of front wing models. The down forces of front wings which influence the stability, cornering at driving were investigated with three models. At model 1, the maximum pressure shown on the main plate of front wing is 3177.539Pa. The maximum pressures at models 2 and 3 are shown to be 3429.677Pa and 3506.494Pa, respectively. The higher the pressure, the more resistance. So, the lower the pressure, the less resistance the model gets. At model 1, the maximum velocity of stream that flows under the front wing was shown to be the smallest among three models. In case of all three models, the pressure at which the air passes through the front wing is high in the upper part of the front wing. Among three models, model 1 is thought to be the most appropriate model to give the effect of the down force while reducing the flow resistance at driving. By utilizing this study result, the flow velocity and pressure are investigated without the flow experiment at driving due to the configuration of automotive front wing, and the flow resistance can be seen.

목적 : 본 연구는 노인의 자가운전 현황과 운전면허 관리제도에 대한 인식을 알아보고자 실시하였다. 연구 방법 : 지역사회에 거주하는 운전면허증을 소지한 60세 이상 노인을 대상으로 총 124부의 설문지를 배포하 였다. 배포한 설문지 중에서 총 93부를 회수하여 최종적으로 분석하였다. 결과 : 조사 대상자 중에서 현재 운전을 한다는 응답자가 76명(81.7%)이었고, 운전빈도는 주 1-2회가 26명(34.2%), 주 3-5회 23명(30.3%), 매일 19명(25%) 순으로 응답하였다. 운전하는 시간대는 오전 9시부터 오후 6시까지 낮 시 간대 운전이 61명(80.3)로 가장 많았다. 운전 시 가장 어려운 부분은 시력 저하라고 38명(50.0%)이 응답하였으며, 운전 중단 시기에 대해서는 ‘질환이나 장애가 발생했을 때’35명(46.1%), ‘주변에서 운전을 그만두라고 권유할 때’20명(26.3%) 순으로 응답하였다. 운전에 영향을 줄 수 있는 질환들 중에서 현재 가지고 있는 질환은 고혈압 35명(37.6%), 당뇨병(30.1%), 관절염 19명(20.4%) 순으로 많았다. 운전면허 자진반납제도, 운전기능검사, 교통안전 교육 실시에 대한 동의여부를 확인한 결과, 운전면허증 자진반납제도에 대해서는 반대의견이 73명(78.5%)으로 많았다. 반면에 운전기능검사에 대한 찬성의견은 70명(75.3%), 교통안전교육 찬성의견은 76명(81.7%)으로 반대보 다 많았다. 결론 : 본 연구를 통해 확인한 지역사회 노인들의 노인 운전자의 자가운전 현황과 새로운 운전면허 관리제도에 대한 인식에 대한 이해를 바탕으로 노인운전자들의 안전운전 증진의 방향을 모색하는 것이 필요할 것이다.

본 논문은 고령운전자의 운전 면허증 자진 반납을 유도하기 위하여 운전 시뮬레이터를 활용한 안전 운전 수행능력 평가 콘텐츠를 제안하고자 한다. 사용빈도가 많은 학술 데이터베이스에서 운전 시뮬레이터를 사용한 고령운전자 대상의 운전 능력을 평가하는 관련 문헌들을 검색한 후, 텍스트 네트워크를 사용하여 주행에 관련된 키워드들 간 연결중심성, 근접중심성, 매개중심성을 분석하였다. 이에 대한 결과로 도로유형 별 주행에서는 2차선과 4차선의 고속도로에서 연결중심성, 고속도로와 교차로에서는 매개중심성이 높게 나타났다. 그리고 주행상황 별 평가내용 키워드 분석 결과 에서는 연결중심성이 ‘좌회전’, ‘무단횡단’, ‘정체된 차량 회피’ 등에서 높게 나타났으며, 매개중심성에 서는 ‘좌회전’이 가장 많이 사용되는 평가내용으로 나타났다. 하지만 도로유형별 주행상황과 이에 대한 평가내용에 대한 근접중심성이 매우 유사하게 나타난 것은 각각의 실험 설계가 서로 비슷하다는 것을 의미한다.