• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.177-185
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• 2016

This paper presents a method to design a controller for active suspension with 1-DOF decoupled models. Three 1-DOF decoupled models describing vertical, roll and pitch motions are used to design a controller in order to generate a vertical force, roll and pitch moments, respectively. These control inputs are converted into active suspension forces with geometric relationship. To design a controller, a sliding mode control is adopted. Frequency domain analysis and simulation on vehicle simulation software, CarSim$^{(R)}$, show that the proposed method is effective for ride comfort.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1246-1253
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• 2009

To be high efficient for a navigation of unmanned ground vehicle, it must be able to distinguish between safe and hazardous regions in its immediate environment. We present an advanced method using laser range finder for building global 2D digital maps that include environment information. Laser range finder is used for mapping of obstacles and driving environment in the 2D laser plane. Rotary encoders are used for localization of UGV. The main contributions of this research are the development of an algorithm for global 2D map building and it will turn a UGV navigation based on map matching into a possibility. In this paper, a map building algorithm will be introduced and an assessment of algorithm reliability is judged at an each environment.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.744-750
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• 2010

To segment instances of vehicle classes in a sparse stereo-matching data set, this paper presents an algorithm for clustering based on DP (Dynamic Programming). The algorithm is agglomerative: it begins with each element in the set as a separate cluster and merges them into successively larger clusters according to similarity of two clusters. Here, similarity is formulated as a cost function of DP. The proposed algorithm is proven to be effective by experiments performed on various images acquired by a moving vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.701-705
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• 2014

This article presents a comparison among several yaw and roll motion controllers for vehicle rollover prevention. In the previous research, yaw and roll motion controllers can be independently designed for rollover prevention. Following this idea, several yaw and roll motion controllers are designed and compared in terms of rollover prevention. For the yaw motion control, PID, LQR, SMC (Sliding Mode Control) and TDC (Time-Delay Control) are adopted. For the roll motion control, LQR, LQ SOF (Static Output Feedback) control, PID, and SMC are adopted. To compare the performance of each controller, simulation is performed on a vehicle simulation package, CarSim$^{(R)}$. From simulation, TDC and LQ SOF are the best for yaw and roll motion control, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.969-976
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• 2003

A remote control strategy for vehicles in Intelligent Vehicle Highway System (IVHS) is considered. An optimal scheduling of a limited communication channel is proposed for lead vehicle control in a platoon. The optimal scheduling problem is to find the optimal communication sequence that minimizes the cost obtained inherently by an optimal control without the communication constraint. In this paper, the PID control law which guarantees the string stability is used for the lead vehicle control. The fact that the PID control law is equivalent to the approximately linear quadratic tracker allows to obtain the performance measure to find an optimal sequence. Simulations are conducted with five maneuvering platoons to evaluate the optimality of the obtained sequence.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.210-216
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• 2015

This paper proposes a method to determine vehicle driving state using the driving characteristics index. This index is a quantitative value to classify the driving state of a vehicle with its velocity and heading angle in that instant. It can classify driving state into straight driving, lane changing driving and curve driving in real time. In addition, the number of positional information is movably set up by designed region of interest. The proposed index is expressed on the stable driving states. Each driving state has characteristic tendency, and is compared with index distributional areas. The proposed method is verified by the actual driving experiment on the KATECH proving ground.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.194-198
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• 2015

In this paper, a remote emergency stop system to improve the safety of an automated driving vehicle is proposed. One of the most serious problems of the previous wireless remote emergency system is that it does not work when the wireless channel is damaged in case of an emergency because it is composed of a single communication channel. Therefore, the proposed remote emergency stop system composed of a portable wireless remote system and a stationary wireless remote system is designed and the remote emergency stop system for automated driving vehicles is developed. By applying it to an automated driving vehicle to check it's performance, the wireless remote system is tested. Emergency stops using the portable wireless remote system is tested when the stationary wireless remote system is disconnected. Also, emergency stops using the stationary wireless remote system are tested when the portable wireless remote system is disconnected. The results of the emergency stop test show a satisfactory performance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.263-267
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• 2007

This study proposes a new methodology to estimate the traffic capacity of a personal rapid transit(PRT) system. The proposed method comprises three steps. The first step models the guideway network(GN) of PRT as a digraph, where its node and link represent a station and a one-way guideway link between two stations, respectively. Given local vehicle control strategies, the second step formulates the local traffic capacities through the nodes and links of the GN model. The third step estimates the worst-case local traffic demands based on a shortest-path routing algorithm and an empty vehicle allocation algorithm. By comparing the traffic estimates to the local traffic capacities, we can determine the feasibility of the given GN in traffic capacity.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.875-882
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• 2007

In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.298-312
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• 2014

This paper describes control applications in automobiles. Many aspects of automotive applications of advanced control methods, which include suspension systems, stability control systems, engines, hybrid vehicle control systems, electric vehicle controls systems, advanced driver assistance systems and automated driving control systems, are reviewed. The control methods used in each area are briefly reviewed to help readers understand the applicability and effectiveness of these methods. In addition, some new trends in the research of automotive applications are described.