• 한국정보전자통신기술학회논문지
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• 제14권5호
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• pp.385-393
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• 2021

본 논문에서는 차량 멀티코어 프로세서를 통한 ESC(Electronic Stability Control) 시스템을 위한 멀티코어 기반 제어기를 제시한다. 차량용 멀티코어 프로세서와 ESC 시스템의 아키텍처를 고려할 때 ESC 소프트웨어의 전체 수행 시간은 멀티코어에 최적화되어 있다. 일반적으로 차량용 멀티코어 시스템에서는 코어 간 동기화, 멀티코어에 대한 테스크 할당, 코어 종속 변수에 대한 메모리 할당을 고려해야 한다. 본 논문에 사용된 ESC 시스템은 초기화, SlipRatio 계산, YawRate 계산, ABS, 통신으로 구성된다. 제안된 설계 방법을 기반으로 싱글코어 프로세서는 멀티코어 프로세서로 확장된다. ESC 시스템은 기능 모듈 할당, 세마포어, 인터럽트, 코어 별 변수 할당과 같은 멀티코어 최적화 방법을 사용하여 멀티코어 제어기로 재설계된다. 실험 결과로 멀티코어 프로세서의 수행 시간이 싱글코어 프로세서에 비해 59.7% 단축되었다.

• 드라이브 ㆍ 컨트롤
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• 제16권4호
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• pp.48-55
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• 2019

The Electronic Stability Program (ESP), a system that improves vehicle safety, also known as YMC (Yaw Motion Controller) or VDC (Vehicle Dynamics Control), is a system that operates in unstable or sudden driving and braking situations. Developing conditions such as unstable or sudden driving and braking situations in a vehicle are very dangerous unless you are an experienced professional driver. Additionally, many repetitive tests are required to collect reliable data, and there are many variables to consider such as changes in the weather, road surface, and tire condition. To overcome this problem, in this paper, hardware and control software such as the ESP controller, vehicle engine, ABS, and TCS module, composed of three control zones, are modeled using MATLAB/SIMULINK, and the vehicle, climate, and road surface. Various environmental variables such as the driving course were modeled and studied for the real-time ESP real-time simulator that can be repeatedly tested under the same conditions.

• 대한기계학회논문집A
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• 제28권5호
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• pp.517-523
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• 2004

Recently, wheel slip controllers with controlling the wheel slip directly has been studied using the brake-by-wire actuator. The wheel slip controller is able to control the braking force more accurately and can be adapted to various different vehicles more easily than the conventional ABS systems. The wheel slip controller requires the information about the tire braking force and road condition in order to achieve the control performance. In this paper, the tire braking forces are estimated considering the variation of the friction between brake pad and disk due to aging of the brake, moisture on the contact area or heating. In addition, the road friction coefficient is estimated without using tire models. The estimated performance of tire braking forces and the road friction coefficient is evaluated in simulations.

• International Journal of Automotive Technology
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• 제8권2호
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• pp.211-217
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• 2007

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS (Anti-lock Brake System) systems. In realizing the wheel slip control systems, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance and stability enhancement. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm is proposed for maximizing the braking force. An adaptive law is formulated to estimate the braking force in real-time. The wheel slip controller is designed based on the Lyapunov stability theory considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm searches for the optimal target slip value based on the estimated braking force. The performance of the proposed wheel slip control system is verified in HILS (Hardware-In-the-Loop Simulator) experiments and demonstrates the effectiveness of the wheel slip control in various road conditions.

• 한국소음진동공학회논문집
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• 제20권10호
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• pp.976-982
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• 2010

This paper proposes a novel type of pressure control mechanism which can apply to vehicle ABS (anti-lock braking system) utilizing the piezoactuator based valve system associated with the pressure modulator. As a first step, a flapper-nozzle of a pneumatic valve system is devised by integrating the piezoacuator to the flexible beam structure. The dynamic modeling of the valve system is then undertaken and subsequently the governing equation of pressure control is derived considering the pressure modulator. A sliding mode controller is designed in order to achieve accurate pressure tracking control in the presence of actuator uncertainty as well as input pressure variation. It is shown through computer simulation that an accurate pressure tracking for sinusoidal motion whose magnitude is 40 bar is achieved by utilizing the proposed pressure control mechanism.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.261-264
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• 1997

A contactless eddy current type braking system is developed to take advantages of the recent brake system which uses hydraulic force can show high efficiency in a certain velocity region, but not in a high velocity region, and has initial response delay time and pressure build-up time which make stopping distance longer. These are the limits of mechanical brake system of a contact type, which makes a concept brake system required. So, in this paper, the contactless brake system .of a inductive current type is chosen instead of hydraulic brake system. This brake system can be used almost forever for being no wear and contributed to lightening weight of a vehicle. Besides, the contactless brake system can be used as that of electric or solar car with anti-lock brake system. The analysis of induced electromotive force and braking torque obtained with theoretical approximate model, the design of a braking system and a nonlinear controller, and the results of simulation of the ABS, experiment are included.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1738-1743
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• 2004

This paper presents an automobile traction control system by using a sliding mode controller with disturbance observer for estimating the car-body speed. First, we show that the control system, which combines an automobile system and a disturbance observer, can be divided into a controllable system and an estimated one. And, we found out that the effect of the traction control and ABS depends on the air resistance of the car. Then, the sliding mode control system is designed using the obtained combined system. And finally, the stability of this control system is verified by simulation and it shows a very satisfactory results.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2005년도 추계학술발표대회 및 정기총회
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• pp.1359-1362
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• 2005

본 논문은 차량 및 공장 자동화 분야에서 널리 쓰이고 있는 Controller Area Network 의 안정성 보장을 위한 Fault-Tolerant 프로토콜을 제안한다. 제안된 Fault-Tolerant 프로토콜은 실시간 Fault-Tolerant 시스템을 대상으로 한 Time-Triggered 프로토콜의 중복 메커니즘을 이용하며 event-triggered 방식인 CAN 에 알맞게 변형하여 이용한다. 본 논문의 프로토콜은 Atmel 사의 AT89C51CC03 을 이용하여 구현하여 가능성을 검증 하였다. 제시한 프로토콜을 이용하여 엔진과 X-by-Wire, ABS 분야와 같은 안정성-중시 시스템에 좀더 높은 안정성을 부여할 수 있을 것이다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2013년도 춘계학술발표대회
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• pp.735-738
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• 2013

CAN(Controller Area Network)은 차량내부의 제어하기 위하여 디바이스, 센서, 액츄에이터 등을 연결하는 비동기 직렬버스 네트워크이다. 이 CAN은 ECU들 사이에 통신을 위해 효율적으로 사용되고 있다. 또한 CAN은 엔진 진단, ABS, 에어백 등과 같은 메시지를 전송하며 창문 조작, 전조등 등의 제어 명령들을 전송한다. 본 논문에서는 차량 네트워크 환경으로부터 차량상태를 WiFi 통신을 이용하여 운전자에게 스마트폰으로 제공하는 시스템을 구현하였다. 또한 차량의 연비관리, 차량 관리하는 차계부, 블랙박스 기능이 포함된 안드로이드 애플리케이션을 구현하였다.

• 한국자동차공학회논문집
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• 제13권3호
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• pp.102-109
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• 2005

Wheel-slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS systems. But, in order to achieve the superior braking performance through the wheel-slip control, real-time information such as the tire braking force is required. For example, in the case of EHB (Electro-Hydraulic Brake) systems, the tire braking force cannot be measured directly, but can be approximated based on the characteristics of the brake disk-pad friction. The friction characteristics can change significantly depending on aging of the brake, moisture on the contact area, heat etc. In this paper, a wheel slip The proposed wheel slip control system is composed of two subsystems: braking force monitor and robust slip controller In the brake force monitor subsystem, the tire braking forces as well as the brake disk-pad friction coefficient are estimated considering the friction variation between the brake pad and disk. The robust wheel slip control subsystem is designed based on sliding mode control methods and follows the target wheel-slip using the estimated tire braking forces. The proposed sliding mode controller is robust to the uncertainties in estimating the braking force and brake disk-pad friction. The performance of the proposed wheel-slip control system is evaluated in various simulations.