• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1060-1065
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• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• 전자공학회논문지
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• 제51권9호
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• pp.208-214
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• 2014

차선유지 제어시스템, 적응식순항 제어시스템과 같은 첨단운전 지원시스템은 기본적으로 차량의 거동 정보를 기반으로 구동되지만, 최근 도로의 기하학적 정보를 추가적으로 활용하는 연구가 활발히 진행되고 있다. 특히, 도로의 종단경사는 차량의 가감속 제어 및 항법알고리즘 구현에 있어 필수적인 정보로서 DGPS-RTK와 같은 고가의 장비로 직접 측정하는 방법과 디지털 맵에 저장된 속성정보를 활용하는 방식이 제안되고 있으나, 상용화 관점에서는 아직 많은 문제점이 존재한다. 따라서, 본 논문에서는 추가 센서의 장착없이 연속형 확장칼만필터를 활용하여 차량의 동특성과 도로종단경사를 효율적으로 추정하는 알고리즘을 제안한다. 도로종단경사를 포함하는 3자유도 차량동역학 모델과 차량의 내부 네트워크롤 통해 수집할 수 있는 차량의 상태정보를 기반으로 확장칼만필터를 설계하여 차량의 동특성과 도로종단경사를 추정한다. 제안된 알고리즘은 시뮬레이션과 실차실험을 통해 그 성능을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1130-1133
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• 2003

The goal of this research is developing advanced lane detecting algorithm for unmanned vehicle. Previous lane detecting method to bring on error become of the lane loss and noise. Therefore, new algorithm developed to get exact information of lane. This algorithm can be used to AGV(Autonomous Guide Vehicle) and LSWS(Lane Departure Warning System), ACC(Adapted Cruise Control). We used 1/10 scale RC car to embody developed algorithm. A CCD camera is installed on top of vehicle. Images are transmitted to a main computer though wireless video transmitter. A main computer finds information of lane in road image. And it calculates control value of vehicle and transmit these to vehicle. This algorithm can detect in input image marked by 256 gray levels to get exact information of lane. To find the driving direction of vehicle, it search line equation by curve fitting of detected pixel. Finally, author used median filtering method to removal of noise and used characteristic part of road image for advanced of processing time.

• 한국자동차공학회논문집
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• 제7권6호
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• pp.165-173
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• 1999

HILS system consists of hardwares which are engine and dynamometer and softwares which is vehicle model without the engine. It is well-known that because of engines's nonlinearity it is difficult to describe an engine exactly and not to lose it reality coincidently. But HILS system is the high technology that can compensate this weakness by using a real engine instead of model. The various experiments regarding the ACC which are not normally available for real vehicle tests have been performed by the HILS system. From the results , the HILS system is expected to decrease the experimental accident rate and save costs and time. Compared with simulation, HILS experimental results show similarities and expected to increase road capacity.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권4호
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• pp.499-507
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• 2018

Autonomous Underwater Vehicle (AUV), which are becoming more and more important in ocean exploitation tasks, needs energy conservation urgently when sailing the complex mission path in long time cruise. As hull lines optimization design becomes the key factor, which closely related with resistance, in AUV preliminary design stage, uncertainty parameters need to be considered seriously. In this research, Myring axial symmetry revolution body with parameterized expression is assumed as AUV hull lines, and its travelling resistance is obtained via modified DATCOM formula. The problems of AUV hull lines design for the minimum travelling resistance with uncertain parameters are studied. Based on reliability-based optimization design technology, Design For Six Sigma (DFSS) for high quality level is conducted, and is proved more reliability for the actual environment disturbance.

• 한국자동차공학회논문집
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• 제8권2호
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• pp.92-101
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• 2000

The objective of this paper is to design the controller for longitudinal vehicle following which makes the vehicle follow the lead vehicle and keeps a safety distance without human driver operation. This paper presents a sliding mode control algorithm for the ACC system. The controller is based on three sliding surfaces. Each surface plays an individual control-deviation control, throttle control and brake control. In addition to sliding mode control, we propose some additional schemes to enhance controller performance. The first one is a gear shift-down controller which makes tractive force increase with a change of gear ratio. The other is a predictive correction method which reduces slinky effect.

• 대한원격탐사학회지
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• 제20권5호
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• pp.307-313
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• 2004

The trajectories of 8 autonomous profiling floats deployed in the Kuroshio Extension region in February 2001 are used to depict the circulation pattern at the surface and 2000db. The corresponding sea surface topography maps created from satellite altimeter and dynamic height climatology were compared with the tracks of nearly coincident floats and were found to agree well in most cases except for the period June 5 to 16 2001. It is shown that over the period the conspicuous breakaway of the floats from an expected path is possibly associated with the abnormal path of the Kuroshio Extension such as an outbreak event, as revealed by AVHRR infrared and SeaWiFS chlorophyll-a images and cruise data in cross sections.

• 한국산학기술학회논문지
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• 제21권3호
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• pp.57-64
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• 2020

첨단 운전자 보조시스템(ADAS, Advanced Driver Assist System)의 주요 기술에는 적응형 순항 제어(ACC, Advanced Cruise Control), 주행 조향보조 시스템(LKAS, Lane Keeping Assist System), 자동 긴급제동 시스템(AEB, Autonomous Emergency Braking) 등이 있다. ADAS 중 LKAS는 카메라(camera)와 적외선 센서(sensor)를 사용하여 운전자가 의도하지 않은 차선이탈이 발생하였을 때, 조향 보조장치를 제어하여 주행 차선으로 복귀하는 시스템이다. 이러한 시스템의 안전성 평가와 검증을 위해 실차시험을 진행한다. 그러나 LKAS 동작 후 임의의 추가 조향각이 인가될 경우에 대한 연구는 미흡하다. 본 논문에서는 선행연구에서 제안한 시나리오에 대해 Prescan을 이용하여 추가 조향각 인가 모델링(modeling)기법을 개발하고 시뮬레이션(simulation) 하고, 실차시험을 통해 취득한 데이터(data)와의 비교분석으로 모델링 기법의 타당성을 검증하였다. 앞바퀴부터 차선까지 최대 거리오차는 0.56 m이며, 시뮬레이션과 실차시험의 차선 복귀 속도의 차이로 인해 발생하였다. 시뮬레이션과 달리 실차시험은 주행 차선으로 복귀 속도가 느려 이탈하는 차의 횡방향 변화가 상대적으로 적어 시뮬레이션과 오차가 발생한 것으로 판단된다. 시뮬레이션과 실차시험 값의 비교분석 결과 차선복귀 속도 차이는 있지만 앞바퀴부터 차선까지 거리가 약 0.5m로 수렴하는 경향성을 나타내어 신뢰성을 확인할 수 있었다.

• 자동차안전학회지
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• 제10권2호
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• pp.20-28
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• 2018

Currently, sharp increase of car is on the rise as a serious social problem due to loss of lives from car accident and environmental pollution. There is a study on ITS (Intelligent Transportation System) to seek coping measures. As for the commercialization of ITS, we aim for occupancy of world market through ASV (Advanced Safety Vehicle) related system development and international standardization. However, the domestic environment is very insufficient. Core factor technologies of ITS are Adaptive Cruise Control, Lane Keeping Assist System, Forward Collision Warning System, AEB (Autonomous Emergency Braking) system etc. These technologies are applied to cars to support driving of a driver. AEB system is stop the car automatically based on the result decided by the relative speed and distance with obstacle detected through sensor attached on car rather than depending on the driver. The purpose of AEB system is to measure the distance and speed of car and to prevent accident. Thus, AEB will be a system useful for prevention of accident by decreasing car accident along with the development of automobile technology. This study suggests a scenario to suggest a test evaluation method that accords with domestic environment and active response of international standard regarding the test evaluation method of AEB. Also, by setting the goal with function for distance, it suggests theoretic model according to the result. And the study aims to verify the theoretic evaluation standard per proposed scenario using car which is installed with AEB device through field car driving test on test road. It will be useful to utilize the suggested scenario and theoretical model when conducting AEB test evaluation.

• 한국HCI학회논문지
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• 제12권4호
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• pp.17-25
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• 2017

이 연구는 자동차-인간 상호작용 디자인의 관점에서 사용자경험을 핵심 가치로 하는 경험 마케팅 패러다임의 효과를 확인하고자 하였다. 주행 맥락과 비주행 맥락을 구분하여 스마트 크루즈 컨트롤과 스마트 트렁크를 사례로 하여 전통적 마케팅과 경험 마케팅 메시지를 대비한 실험을 시행하였다. 분석 결과 두 기능 모두 경험 마케팅 메시지가 전통적 메시지 노출에 비해 전반적 만족도가 높았다. 유용성, 사용성, 감성에서도 부분적으로 경험 마케팅 메시지 효과가 높게 나타났다. 이 연구의 의의는 경험 마케팅 패러다임을 자동차 UX에 적용하여 검증한 데 있으며, 실무적으로는 스마트 자동차 시스템의 경험 디자인 가치를 예증하였다.