• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.7
• /
• pp.599-605
• /
• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

• The Journal of Korea Robotics Society
• /
• v.18 no.3
• /
• pp.299-307
• /
• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.15 no.3
• /
• pp.533-542
• /
• 2020

In this study, we developed a PC - based motorcycle simulator based on the development technology of the virtual patrol motorcycle training system. In order to get the impression that the motorcycle simulator is operating in a realistic way, it is important to have a reliable signal transmission and operation feeling between the driver and the simulator. In order to achieve this, we developed a system that can apply the sub-systems of the actual vehicle to the motorcycle simulator in order to generate the same operation feeling as the actual vehicle. Based on these results, We have developed a method for generating a feedback queue. Vehicle dynamics simulates real-time vehicle motion by receiving input from a steering wheel, accelerating / decelerating pedal, etc. operated by a driver on a vehicle simulator and transmitting the result to a visual and acoustic system, It is the central element of the simulator to generate. I want to summarize the main requirements of simulation dynamics.

• Journal of Korean Society of Transportation
• /
• v.26 no.6
• /
• pp.39-47
• /
• 2008

With dramatic development of IT technology and start of DMB service, installing the DMB equipment in a vehicle for watching TV programs and literal or pictorial traffic information are increasing. Watching the DMB during driving the vehicle could cause visual and cognitive distraction to drivers as much as eating food, operating radio and using mobile phone. However, there is not much empirical research for this topic and no research examined the effect of watching the DMB on driving behaviors in Korea. So, the present study examined the effect of watching the DMB on the driving behaviors with car simulator experiment. Within subject design was used in the study. That is, all subjects drove the vehicle both in the watching DMB condition and the non-watching DMB condition. The results indicated that subjects in the watching DMB condition took longer time to arrive at the destination and operated accelerator and brake pedal rapidly than subjects in the non-watching DMB condition. That is, their overall driving stability was lower than non-watching subjects'. Additionally, we examined the difference among the DMB control conditions (i.e., keypad condition, touch-pad condition and remote controller condition) in the driving behaviors. Finally, we discussed the limitations and the implications of the present study.