도심부 보행환경 개선방안에 관한 연구 : 경복궁에서 서울역까지의 가로를 중심으로

정호진 서울大學校 大學院 2004 국내석사

1980년대 초까지만 하더라고 사치품으로 여겨졌던 자가용승용차가 필수품으로 인식되었으며, 이와 함께 소통난, 주차난, 교통사고 등이 교통문제로 제기되었다. 이를 위한 해결방안으로 주로 도로공급 확충, 주차공간확대, 지하철건설 등의 방식이 주로 사용되었다. 어느새 도로는 자동차가 통행하기 위한 공간이라는 생각이 보편화 되었으며, 우리의 도시공간은 자동차 위주의 공간으로 변모되었다. 대부분의 선진도시들은 산업화 경향과 도시환경의 질 악화에 대한 새로운 각성과 더불어 교통에 대한 새로운 자각으로 무공해 교통수단인 보행과 자전거를 중요한 교통수단으로 인식하게 되었다. 우리나라도 1995년 민선1기 출범이후 서울시의 보행환경 개선을 위한 정책의지가 가시화되기 시작하였으며, 1997년 초에는 이러한 노력들의 결과로 서울시의회가 ‘서울특별시 보행권 및 보행환경 개선을 위한 기본조례’를 제정하기에 이른다. 이처럼 서울시에서 보행의 중요성을 인식하고, 보행활성화를 위한 다양한 사업방안을 제시·시행하고 있음에도 불구하고 서울의 도시환경은 보행에 적합하지 않은 부분들이 많이 존재하고 있다. 이에 본 연구에서는 서울 도심의 주요가로 중 하나인 경복궁에서 서울역까지의 가로(세종로∼태평로∼남대문로5가)를 선택하여 보행환경 조성현황에 대하여 살펴보고, 문제점을 파악하여 이를 근거로 연구대상지의 보행환경 개선을 위하여 물리적 개선방안을 제안함과 동시에 물리적 개선방안의 실질적인 시행을 위하여 그와 관련된 제도를 정리·분석하여 문제점을 찾아내어 이에 대한 개선방안을 동시에 제안하는 것이 이 연구의 목적이다. 연구대상지의 현황조사의 결과, 대상지 전반에 걸쳐 보행자 공간의 양은 충분한 편이었으나, 차도를 건너기 위해서는 대부분 지하보도를 이용해야 하는 상황으로 보행공간의 연결성이 매우 취약하고, 우회비가 매우 크게 나타났다. 또한 지하보도가 지하철 출입구와 함께 사용되는 경우 출입구가 불필요하게 많이 존재하여 지하에서의 방향성에 혼란을 주고 있었다. 또한 보도 위에서 보행자와 차량이 충돌하는 경우 자동차 위주로 보도가 처리되어 있어 보행자의 안전을 위협하는 경우가 많이 있었다. 이러한 결과는 연구대상지가 서울 도심의 중심 가로임에도 불구하고, 보행자를 배려하는 기본적인 보행환경이 갖춰져 있지 않고 있음을 의미한다. 이와 같은 현황조사의 결과를 바탕으로 연구 대상지의 기본적인 보행환경을 개선하기 위하여 보도공간의 확충 및 보도시설의 보완, 지하보도 출입구의 편의시설보완, 평면횡단보도의 설치 등의 방법을 이용하여 개선방안을 제시하였다. 보도 위의 차량 진입으로 인하여 보행자의 흐름을 단절시키고, 보행자의 안전을 위협당하는 부분을 중심으로 보도공간을 확충하였으며, 지하보도 출입구 편의시설은 횡단보도 설치계획안과 지하보도의 사용용도를 고려하여 에스컬레이터의 설치 혹은 경사로 설치 지점을 제안하였다. 평면횡단보도의 설치간격은 최대 300M을 기준으로 하여 주변에 보행을 유발시키는 용도가 위치하는 지점을 고려하여 설치 지점을 정하였다. 본 연구에서는 서울 도심의 중심가로를 대상으로 보행환경의 실태를 조사하여, 서울시의 다양한 보행활성화 정책 의지와 무관하게 기본적인 보행환경이 조성되어 있지 않은 현황을 파악하고, 이에 보행에 있어 기본적인 환경을 조성하기 위한 개선방안을 제시하고, 대상지 가운데 의미 있는 장소에 대하여 보행환경 개선을 위한 설계안을 제시하였다는데 의의가 있다. An automobile which was a luxury till in the early 1980s is now considered a necessity and along with cars many traffic problems such as traffic jam, parking problems and car accidents have occurred. To solve these problems, we extended parking space and constructed subway. So soon the concept that road is for cars has been wide spread and our city has transformed to automobile-centered space. Most developed countries, which have suffered from industrialization and city pollution, have already started to regard bicycling and walking important transportation system as they do not pollute air. In Korea, plans to improve the pedestrian condition have started to appear since the Mayor of Seoul who was first elected by popular vote in 1995, and as a result of such efforts Seoul City Council enacted 'Seoul Improvement of Pedestrian Rights and Environment Basic Ordinance' in the early 1997. In this manner, Seoul recognized the importance of walking and they are presenting and enacting various plans to activate walking. But there exists many inadequate parts for pedestrians in Seoul. In this study, I examined the current walking condition from Gyeongbokgung to the Seoul Station, one of the main streets of inner Seoul. Suggesting practical plans to improve walking condition of the chosen area on the basis of the defaults as well as analyzing and amending the concerning system for the practical usage are the main purpose of this study. According to the survey, there were enough pace for pedestrians over the chosen area but the connection between streets were very weak as people need to go underground to cross roads and detour rate appeared to be very large. And too many exits were in use to confuse people where the entrances of an underground passage and a subway were same. Also as for the accidents of pedestrian and automobile, the pedestrians' safety was threatened as the cars are given the first consideration. All this means that even though the chosen area is right inner Seoul, the basic walking condition for the pedestrians is not prepared yet. Based on my result, I presented several improvement schemes such as expending passages, complementing walkway facilities and subway exits and constructing crosswalk to make the walking condition better. The sidewalk was expended around the space where pedestrians are interrupted and threatened by accessing automobiles. And I proposed to make elevators and slant walkways at subway exits, considering the frequent usage of underground passages, and construction plans of the crossroads. I made the space between crosswalk maximum 300m and located them where there are things to make people walk. This research is about studying current walking condition over the main streets of inner Seoul and learning that it is still insufficient in spite of the city's various improving plans and will. It is significant to note that this study suggests plans to make basic conditions for pedestrians and also proposed reconstruction schemes to improve walking conditions of important places of the chosen area.

신발 장착 관성 센서 기반 보행자 추측 항법의 센서 대역폭 및 샘플링 주파수에 따른 성능 분석

이재홍 서울대학교 대학원 2019 국내석사

개인의 위치를 기반으로 다양한 서비스를 제공하는 기술들에 대한 관심이 높다. 이러한 기술은 개인 항법 시스템(PNS, Personal Navigation System)이라 불리는데, 예로, 소방관이나 군인의 임무수행 중 위치 정보 제공이나 쇼핑몰 내에서 고객들의 위치 정보 제공 등 다양한 분야에서 사용되고 있다. 개인 항법 시스템 중 보행 항법 시스템(PDR, Pedestrian Dead Reckoning)은 관성 센서를 사용하여 보행자의 위치를 추정한다. 신발에 관성 센서를 부착한 보행 항법은 관성 항법을 기반으로 한다. 자이로와 가속도계이 바이어스와 백색 잡음에 의해 발생하는 추정 오차를 줄이기 위해서 관성 항법은 영속도 보정(ZUPT, zero-velocity update)과 결합된다. 영속도 보정은 보행자 신발의 속도가 접지기(stance phase)에서 0이라고 가정한다. 바이어스와 백색 잡음으로 인한 오차는 ZUPT등을 이용하여 줄일 수 있지만, 다른 원인으로 인한 오차는 여전히 남아 있다. 보행 중 신발의 움직임은 다양한 주파수 성분으로 표현된다. 특히, 신발이 지면에 닿으면서 충격이 발생하는 heel-strike에서는 자이로와 가속도계 신호가 급격히 변하면서 고주파 성분이 포함될 것이다. 센서는 대역폭과 샘플링 주파수에 의해 측정할 수 있는 주파수 범위가 결정된다. 대역폭 또는 샘플링 주파수가 작을 경우, 이를 초과하는 주파수 성분이 측정되지 않아 측정 정확도가 낮아지고 위치 오차가 발생한다. 본 논문에서는 보행 주기 동안 센서가 측정한 신호를 주파수 분석을 하고 측정 신호의 정확도의 저하를 방지하기 위한 주파수 범위를 제안한다. 다양한 대역폭과 샘플링 주파수에 따라 보행 항법 시스템의 위치 추정 성능을 비교하여 제안한 주파수 범위의 타당성을 검증한다. There is a high interest in technologies that provide various services based on personal location. These service is called personal navigation system (PNS), and it is used in a variety of fields such as providing location information during the mission of firefighters or soldiers, and providing customers’ location in shopping malls. Pedestrian dead reckoning (PDR), a personal navigation system, uses an inertial sensor to estimate the position of a pedestrian. PDR with foot-mounted IMU is based on inertial navigation system (INS). In order to reduce the estimation error caused by gyro and accelerometer bias and white noise, INS is combined with zero-velocity update (ZUPT). The ZUPT assumes that the velocity of the pedestrian shoe is zero in the stance phase. Error due to bias and white noise can be reduced by using ZUPT, but error still remain due to other factors. The movement of the shoe during walking is represented by various frequency components. In particular, the gyro and accelerometer signal change suddenly and contain high-frequency components in the heel-strike, when the impact occurs as the shoe touches the ground. The IMU determines the frequency range that can be measured by the bandwidth and the sampling rate. If the bandwidth or sampling rate is narrow, the frequency components exceeding boundary can not measured and position error occurs because the measurement accuracy is lowered. In this paper, I propose a frequency range to analyze the signal measured by the sensor during the gait cycle and to prevent the degradation of the accuracy of the signal. The validity of the proposed frequency range is verified by comparing the position estimation performance of the PDR system with various bandwidth and sampling rate.

Which Streets Are Complete? Mapping Pedestrian, Transit, and Cycling Infrastructure at Scale in San Francisco, CA

Moran, Marcel E University of California, Berkeley ProQuest Disser 2023 해외박사(DDOD)

Contemporary American streets are dominated by the automobile, both its movement and storage, which took root in the early 20th century and has been supported by transportation planners in the decades since. Pedestrian fatalities remain stubbornly high - even in cities with "Vision Zero" goals - and cars generate significant levels of both local air pollution and globally-relevant greenhouse gasses. Moreover, the default use of curbside lanes as on-street parking precludes a number of other street designs, such as wider sidewalks, protected bike lanes, transit bulbs and islands, parklets, rain gardens, and street trees. This dissertation probes these long-standing and consequential street layouts with methods that are both highly granular (accurate to the block level), and at the same time, comprehensive to an entire municipality. San Francisco, California, a dense, high-income, and nominally "progressive" American city serves as the case for three separate analyses: an in-person census of roughly 3,000 municipal bus stops, and review of satellite-imagery of nearly 6,400 intersections for the presence or absence of marked crosswalks, and the provision of on-street parking and its obstruction of a growing bike-lane network. Chapter 1 demonstrates that crosswalk provision varies dramatically across San Francisco, from Census tracts with 100% of intersections exhibiting marked crosswalks, to others with less than 10% coverage. Chapter 2 entails the largest bus-stop census of its kind, covering the entire SFMTA system. This approach finds that one third of all bus stops are blocked by on-street parking, and two thirds lack seating of any kind, as well as spatial clusters of stop amenities. Indeed, both high-quality bus stops and marked crosswalks are present to a far greater extent in the city's northern half, unexplained fully by transit service, density, or pedestrian volumes. Lastly, Chapter 3 identifies fifty miles of angled parking in San Francisco, a format that roughly doubles on-street parking capacity, and decreases the opportunity for high-quality bicycle lanes. These studies provide both salient datasets to guide San Francisco's street improvements (of which some progress at City Hall has already occurred), and serve as proof of concepts for planners and researchers elsewhere to probe their own blocks granularly and at scale. Indeed, this dissertation demonstrates new frontiers in applied urban analytics, and broadens and challenges the academic literature on transportation equity. It does so by expanding the types of street elements to be spatialized across neighborhoods, and demonstrates how the provision of seemingly-mundane features such as bus stops, crosswalks, and on-street parking can mirror (and exacerbate) other long-running investment disparities.

Concept-aware ensemble system for pedestrian detection

Lin, Helin 서울대학교 대학원 2014 국내석사

In ADAS, multiple classifier system on pedestrian detection is occupying important position because of its merit that each classifier can be able to create synergistic approaches to compensate the other member classifier’s inability. On the other hand, according to different poses of pedestrians and variable background, once trained pedestrian detector needs to be tuned dynamically along the variation of real-world environment, thus the system is requested to incrementally accept new information and retain the old one at the same time. This thesis presents an incremental learning, environment-adaptive ensemble system for pedestrian detection by combining pedestrian detector constituted by multiple classifiers with front-end concept recognizer that can turn off inefficient member classifiers adaptively. Through adopting incremental learning algorithm, newly added batch dataset is trained by learning algorithm and the newly generated classifier is united to the existing ensemble along with the update of the voting weight. As the update of voting weight is only taken when the new training is carried out and focuses on the performance on current environment, temporal trade-off on performance between current and old environment is inevitable. This problem is addressed by applying concept recognizer in front of the ensemble thus turning off ineffective classifiers and selecting the most efficient voting weight vector adaptive to each pedestrian candidate. With the intervention of the front-end concept recognizer, the system can retain good performance on old environment while does not lose focus on current environment.

저가 GPS 수신기와 MEMS IMU를 이용한 보행자 항법 시스템

김연실 서울대학교 대학원 2011 국내석사

Design and Implementation of a Pedestrian Danger Prevention System using Deep Learning and Computer Vision

THON MUNIROT 충북대학교 2024 국내석사

In an era where people often get distracted by their phones rather than being aware of their surroundings, having a reliable danger detection system is a must. This thesis paper explores the development and implementation of a danger prevention system for pedestrian safety using deep learning and computer vision technology, specifically within the school area. By combining robust object detection capabilities with advanced object tracking algorithms, the system can continuously monitor the movement of pedestrians and cars within the predefined risk areas. These risk areas are configurable polygonal zones strategically positioned in locations where pedestrian-vehicle interactions are most likely to occur, such as near building entrances and adjacent to parking lots. A crucial aspect of the system is its ability to estimate proximity distances between detected pedestrians and cars within the risk areas. This is achieved through a post-processing step that employs the Euclidean distance formula to calculate the straight-line distance between the center points of the detected objects. If the estimated distance falls below a predetermined threshold, indicating a high risk of collision, the system triggers visual alert signals to a signal lighting tower. The multi-level danger assessment system uses different colored lights on a signal tower to show various danger levels, providing clear and quick warnings. This real-time notification system could alert pedestrians, giving them awareness and authority to take proactive actions, potentially preventing accidents and minimizing the risk of harm to pedestrians. Comprehensive experimental evaluations, conducted using real-world video footage captured near a building in the Chungbuk National University campus, demonstrate the system's accuracy in object detection and its effectiveness in assessing and responding to potential pedestrian-vehicle collision risks. With an overall accuracy of 93.7% in detecting dangerous interactions, the proposed system showcases its potential as a valuable tool for promoting pedestrian safety in high-risk areas.

Mobile scouts sensing for military operations in mountain environments

이성남 Graduate School, Yonsei University 2015 국내박사

In military operations, an accurate localization system is required to navigate and direct troops to destinations in mountain environments. Traditional terrain information detection uses manual annotation of terrain features on maps, but this method is time-consuming and requires advanced knowledge of map construction. Previous work has used laser sensors to detect terrain information such as obstacles. However, the laser-based method is not applicable for human-centric tracking in mountain environments and requires expensive hardware. The global positioning system (GPS) is now widely used for localization, but GPS signals are unreliable and even susceptible to deception in the operational field. In addition, it is difficult to preserve the robustness of GPS-based localization against jamming of signals. With the widespread use of embedded sensors, a sensor-based pedestrian tracking scheme has become an attractive option. Pedestrian tracking technology provides practical location-tracking services in non-GPS environments. A typical pedestrian tracking system does not require any training ahead of use and is independent of environmental changes. However, pedestrian tracking systems using motion sensors such as accelerometer and digital compass suffer from a major drawback in that errors in estimated displacement accumulate over time because of noisy sensor readings. This thesis presents a group-based standalone system that automatically constructs terrain maps and simultaneously localizes soldiers in mountain environments. First, a pedestrian tracking system is described that uses group mobility information from several pedestrians forming stable moving clusters. This information is shared and coordinated to overcome the accumulated tracking error inherent in the inertial measurement unit (IMU). Experimental results from a prototype implemented in a smartphone show that location error is reduced by up to 43% as compared to traditional dead-reckoning tracking methods. Second, a pedestrian tracking system is described that automatically detects terrain features and constructs a terrain map for a mountain. The goal is to track user location and to provide an accurate terrain map for military operations without relying on the existing infrastructure. The scheme estimates terrain features using an inertial smartphone sensor and uses group information to improve the robustness of map construction. In a prototype implemented in a smartphone to evaluate its performance on a mountain, the proposed system successfully constructed a terrain map despite inherent tracking errors caused by noisy sensors. Finally, the system estimates landmarks using inertial sensors and utilizes group information to improve the robustness of map construction. Extensive evaluation confirms that our system successfully corrects system localization drift error without use of existing infrastructure.

개인항법시스템의 방향각 추정을 위한 자세 추정 필터

김현욱 서울대학교 대학원 2009 국내석사

UWB ranging and PDR combined indoor positioning algorithm in smartphone

이강토 서울대학교 대학원 2020 국내석사

In this paper, an indoor positioning system that combines UWB positioning and PDR is introduced. The proposed scheme improves the performance of PDR using UWB ranging data. Length estimation and step detection in traditional PDR are substituted with speed estimation, which is based on deep learning. Heading calculation in traditional PDR is calibrated by UWB ranging data. Finally, improved PDR is combined with UWB ranging. Noble UKF-based algorithm which considers NLOS environment is used for combination. We prove that the performance of UWB ranging-PDR combined algorithm is better than simple UWB positioning or improved PDR algorithm through experiments. 본 논문에서는 UWB 측위 기법과 Pedestrian dead reckoning (PDR)을 함께 이용하는 새로운 실내 측위 알고리즘을 제시하였다. 제시된 알고리즘은 PDR의 성능을 UWB 측위 결과를 이용하여 향상시켰다. 전통적인 PDR에서 보폭 추정과 걸음 감지는 본 논문의 알고리즘에서는 속도 추정으로 대체되었으며, 본 논문의 속도 추정은 딥러닝 모델을 이용해서 이루어 졌다. 또한 이동 방향은 UWB 측위 데이터를 이용하여 보정되었다. 최종적으로 향상된 PDR의 결과와 UWB ranging의 결과를 unscented Kalman filter를 이용하여 합쳤다. 본논문에서 제시된 PDR의 성능은 기존의 PDR보다 좋은 성능을 보였다. 또한 UWB ranging과 improved PDR을 합친 알고리즘이 각각을 독립적으로 사용했을 때보다 더 좋은 성능을 보여주었다.

보행자의 회전 특성에 기반한 추측항법 시스템의 개선방안 연구

손정설 중앙대학교 대학원 2021 국내석사

스마트폰과 같은 휴대용 단말기를 사용하여 실내 환경에서도 사용자의 위치를 안정적으로 판별하기 위한 위치판별 솔루션이 계속해서 연구되고 있다. 특히 S-H 기반의 PDRS는 주변 환경의 변화에 영향을 거의 받지 않으며, 성능이 낮은 MEMS IMU의 측정값을 가지고도 높은 정확성으로 보행자의 위치를 판별해 낼 수 있다는 장점으로 인해 오늘날 대표적인 실내 위치판별 솔루션으로써 주목받고 있다. 그러나 S-H기반 PDRS에서는 위치판별이 진행되는 동안 휴대용 단말기를 특정 위치에 고정시킨 상태에서 진행해야 한다는 문제점이 있으며, 이로 인해 위치판별 기법을 이용하는 동안에는 단말기를 조작할 수 없으므로 사용성을 저해하는 원인으로 작용한다. 본 연구에서는 단말기의 배치 상태를 고려하지 않고, 단말기의 측정값으로부터 판별된 중력가속도와 보행자의 회전축 성분 사이의 관계만을 활용하여 단말기의 배치 상태로부터 독립적인 진행방향 판별기법을 제안하였다. 실험 결과를 통해 보행자의 회전 동작이 발생한 경우 회전방향을 좌회전 또는 우회전 으로 정확하게 판별할 수 있을 뿐 아니라, 보행자의 회전각도를 3.53˚ 이내의 오차범위 내로 판별하는 데 실험에서 제안한 기법을 사용할 수 있음을 나타내었다. 이와 더불어, 실내·외 환경에서 위치판별을 진행하기 위해 연구에서 제안한 진행방향 판별기법을 적용한 S-H PDRS를 설계하고 구축하는 과정 또한 나타내었으며, 보행자의 위치판별 실험에 해당 시스템을 적용한 결과 83.5%와 89.2%의 정확성을 각각 확보함을 확인하였다. Today, a number of studies are being conducted on positioning techniques to reliably determine the location of a pedstrian in indoor environments using portable devices, such as smartphones. In particular, S-H-based PDRS is a representative indoor positioning solution due to the advantage of rare affection by changes in surrounding environment and being able to determine locations with high accuracy even with measurements from low-performance MEMS IMU. Still a problem exists with S-H-based PDRS, however, that requires the tracking device to be held in certain position during pedestrian tracking which makes it impossible to use while using the tracking system, thus hindering usability of system. This study proposes a method of determining user’s heading direction independent of the placement of tracking device by utilizing only the relationship between gravitational acceleration determined from IMU measurements and the pedestrian's axis of rotation. Experimental results indicate that the direction of rotation can be accurately determined by left or right turns if a pedestrian's rotation behavior occurs, as well as the proposed technique can be used to determine the pedestrian's rotation angle within an error range of 3.53˚. Also the process of designing and constructing S-H PDRS using the technique proposed by the study to conduct positioning in indoor and outdoor environments was shown, and the application of the system to positioning experiments confirmed 83.5% and 89.2% accuracy, respectively.