조기춘 교수

Vehicle position estimation for intelligent vehicles requires not only highly accurate position information but reliable and continuous information provision as well. A low-cost Global Positioning System (GPS) receiver has widely been used for conventional automotive applications, but it does not guarantee accuracy, reliability, or continuity of position data when GPS errors occur. To mitigate GPS errors, numerous Bayesian filters based on sensor fusion algorithms have been studied. The estimati

An autonomous car is a self-driving vehicle that has the capability to perceive the surrounding environment and navigate itself without human intervention. For autonomous driving, complex autonomous driving algorithms, including perception, localization, planning, and control, are required with many heterogeneous sensors, actuators, and computers. To manage the complexity of the driving algorithms and the heterogeneity of the system components, this paper applies distributed system architecture

Part I of this paper proposed a development process and a system platform for the development of autonomous cars based on a distributed system architecture. The proposed development methodology enabled the design and development of an autonomous car with benefits such as a reduction in computational complexity, fault-tolerant characteristics, and system modularity. In this paper (Part II), a case study of the proposed development methodology is addressed by showing the implementation process of

This paper presents a Monte Carlo localization algorithm for an autonomous car based on an integration of multiple sensors data. The sensor system is composed of onboard motion sensors, a low-cost GPS receiver, a precise digital map, and multiple cameras. Data from the onboard motion sensors, such as yaw rate and wheel speeds, are used to predict the vehicle motion, and the GPS receiver is applied to establish the validation boundary of the ego-vehicle position. The digital map contains location

This paper proposes a map generation algorithm for a precise roadway map designed for autonomous cars. The roadway map generation algorithm is composed of three steps, namely, data acquisition, data processing, and road modeling. In the data acquisition step, raw trajectory and motion data for map generation are acquired through exploration using a probe vehicle equipped with GPS and on-board sensors. The data processing step then processes the acquired trajectory and motion data into roadway ge

Tracking and behavior reasoning of surrounding vehicles on a roadway are keys for the development of automated vehicles and an advanced driver assistance system (ADAS). Based on dynamic information of the surrounding vehicles from the tracking algorithm and driver intentions from the behavior reasoning algorithm, the automated vehicles and ADAS can predict possible collisions and generate safe motion to avoid accidents. This paper presents a unified vehicle tracking and behavior reasoning algori

High Definition (HD) maps are becoming key elements of the autonomous driving because they can provide information about the surrounding environment of the autonomous car without being affected by the real-time perception limit. To provide the most recent environmental information to the autonomous driving system, the HD map must maintain up-to-date data by updating changes in the real world. This paper presents a simultaneous localization and map change update (SLAMCU) algorithm to detect and u

This paper presents a precise localization method for autonomous driving systems by correcting the GPS bias error. Since GPS errors have systematic noise properties that change slowly with time, a stand-alone GPS cannot be used for localization of an autonomous vehicle. To compensate for this systematic bias error, several types of additional sources of information, including on-board motion sensors, camera vision systems, and a road map database, are applied to the localization system. The loca

This paper proposes a road slope aided position estimation algorithm based on the fusion of GPS data with information from automotive onboard sensors. Many previous studies for position estimation did not consider the effect of road slope, although many sloped roads are existing. In order to analyze the influence of road slope on position estimation, theoretical proof and simulation are performed. Based on this analysis, a road slope aided position estimation algorithm is presented, which includ

This paper proposes a road-slope estimation algorithm to improve the performance and efficiency of intelligent vehicles. The algorithm integrates three types of road-slope measurements from a GPS receiver, automotive onboard sensors, and a longitudinal vehicle model. The measurement integration is achieved through a probabilistic data association filter (PDAF) that combines multiple measurements into a single measurement update by assigning statistical probability to each measurement and by remo

A vehicle localization system can be extremely useful for intelligent transformation systems (ITS) such as advanced driver assistance systems (ADASs), emergency vehicle notification systems, and collision avoidance systems. To optimize the performance of vehicle localization systems, localization algorithms that analyze multi-sensor data processed using a Kalman filter have been developed. However, a Kalman filter with a single process model cannot guarantee the accuracy of localization under va

As an alternative to traditional remote controller, research on vision-based hand gesture recognition is being actively conducted in the field of interaction between human and unmanned aerial vehicle (UAV). However, vision-based gesture system has a challenging problem in recognizing the motion of dynamic gesture because it is difficult to estimate the pose of multi-dimensional hand gestures in 2D images. This leads to complex algorithms, including tracking in addition to detection, to recognize

A High-Definition map (HD map) is a precise and detailed map composed of various landmark feature layers. The HD map is a core technology that facilitates the essential functions of intelligent vehicles. Recently, it has come to be required for the HD map to continuously add new feature layers in order to increase the performances of intelligent vehicles in more complicated environments. However, it is difficult to generate a new feature layer for the HD map, because the conventional method of g