• 한국자동차공학회논문집
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• 제19권1호
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• pp.17-24
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• 2011

TMED(Transmission Mounted Electric Device) parallel hybrid configuration can realize EV(Electric Vehicle) mode by disengaging the clutch between an engine and a transmission-mounted motor to improve efficiencies of low load driving and regenerative braking. In the EV mode, however, jerk can be induced since there are insufficient damping elements in the drive-train. Though the jerk gives demoralizing influence upon driving comport, adding a physical damper is not applicable due to constraints of the layout. This study suggests the jerk reduction control, composed of active damping method and torque profiling method, to suppress the jerk without hardware modification. The former method creates a virtual damper by generating absorbing torque in the opposite direction of the oscillation. The latter method reduces impulse on the mated gear teeth of the drive-train by limiting the gradient of traction torque when the direction of the torque is reversed. To validate the effectiveness of the suggested strategy, a series of vehicle tests are carried out and it is observed that the amplitude of the oscillation can be reduced by up to 83%.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2747-2752
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• 2003

This paper has develops a new framework to understand the human’s driving maneuver based on the expression as HDS focusing on the driver’s stopping maneuver. The driving data has been collected by using the three-dimensional driving simulator based on CAVE, which provides three-dimensional visual information. In our modeling, the relationship between the measured information such as distance to the stop line, its first and second derivatives and the braking amount has been expressed by the PWPS model, which is a class of HDS. The key idea to solve the identification problem was to formulate the problem as the MILP with replacing the switching conditions by binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control law’ according to the following scenario: At the beginning of the stopping behavior (just after finding the stopping point), the driver decelerate the vehicle based on the acceleration information, and then switch to the control law based on the distance to the stop line.

• 대한기계학회논문집A
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• 제24권1호
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• pp.134-143
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• 2000

A train performance simulation (TPS) software is a computer program that simulates the operation of a train system over a specified railway route and it is widely used in railroad operation and research applications. Numerical and graphical results from the simulation software, which is developed in this study, provide information on such performance variables as travel time. running speed, energy consumption at a specific time interval and in overall service time as the train moves along the route. Three types of input data are required for a computer simulation: track information, train information, and running conditions. The simulation of train performance starts with several simple mathematical models including train configuration. traction efforts, running resistance. and braking requirements. Based on the basic specifications of Korean High Speed Railway, System. this study, puts a focus on the estimation and assessment of train performance comparing. the specific train configurations of KEST20/11. CPLE20/10. PROP20/10, which are proposed from the previous G7 projects.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 추계학술대회 학술발표 논문집 제15권 제2호
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• pp.488-491
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• 2005

본 논문에서는 인공지능을 이용해서 엔진오일을 자동으로 교환시스템을 제안 하고자 한다. 모범운전자도, 엔진오일을 교환하는 시기를 정확하게 예측하기란 매우 어렵다. 왜냐하면 엔진오일 색깔이 검은색이거나 주행거리가 3000 km 이상이 되었을 때에 엔진오일을 교환해야만 하는 것이 아니기 때문이다. 최적의 엔진오일 교환시기를 예측하기 위해서는 엔진오일 색깔, 엔진오일 점도와 도로조건, 급제동 및 급발진 조건을 고려해야하기 때문이다. 그러므로 본 논문에서는 이러한 문제점을 해결하기 위해서 퍼지규칙 및 신경망을 이용해서 엔진오일교환시기를 예측하는 전문가시스템을 개발하였다.

• International Journal of Automotive Technology
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• 제8권4호
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• pp.493-504
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• 2007

This paper proposes a stereo vision-based forward obstacle detection and distance measurement method. In general, stereo vision-based obstacle detection methods in automotive applications can be classified into two categories: IPM (Inverse Perspective Mapping)-based and disparity histogram-based. The existing disparity histogram-based method was developed for stop-and-go applications. The proposed method extends the scope of the disparity histogram-based method to highway applications by 1) replacing the fixed rectangular ROI (Region Of Interest) with the traveling lane-based ROI, and 2) replacing the peak detection with a constant threshold with peak detection using the threshold-line and peakness evaluation. In order to increase the true positive rate while decreasing the false positive rate, multiple candidate peaks were generated and then verified by the edge feature correlation method. By testing the proposed method with images captured on the highway, it was shown that the proposed method was able to overcome problems in previous implementations while being applied successfully to highway collision warning/avoidance conditions, In addition, comparisons with laser radar showed that vision sensors with a wider FOV (Field Of View) provided faster responses to cutting-in vehicles. Finally, we integrated the proposed method into a longitudinal collision avoidance system. Experimental results showed that activated braking by risk assessment using the state of the ego-vehicle and measuring the distance to upcoming obstacles could successfully prevent collisions.

• 한국자동차공학회논문집
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• 제20권1호
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• pp.14-19
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• 2012

On-line and real-time information of the longitudinal velocity is the essential factor for the Advanced Vehicle Control Systems such as ABS(Anti-lock Brake System), TCS(Traction Control System), ESC (Electronic Stability Control) etc. However, the longitudinal velocity cannot be easily measured or calculated during braking maneuvering. A new algorithm is presented for the estimation of the longitudinal velocity with the measurements of the vehicle longitudinal/lateral acceleration, steering angle and yaw rate. The algorithm is designed utilizing the Extended Kalman Filter based on the 3 degree of freedom vehicle model. In order to compensate for the biased sensor signal on the inclined road, the inclined angle is also estimated. The performance of the proposed estimation algorithm is evaluated in field tests.

• 한국자동차공학회논문집
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• 제15권6호
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• 전기학회논문지P
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• 제64권4호
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• pp.220-230
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• 2015

Rolling stock RAMS is a field of engineering which integrates reliability, availability, maintainability and safety (RAMS) characteristics into an inherent product design property through rolling stock system engineering process. It is implemented to achieve operational objectives successfully, and recently the RAMS has become a rapidly growing engineering discipline because it has a great potential to ensure safety and improve cost effectiveness. However, the Korean rolling stock industry has not yet implemented RAMS management in the rolling stock engineering process, despite the issue having been addressed since the introduction of the KTX. Thus, this paper discusses the processes, methods and techniques for RAMS assessment in three parts. Firstly, it outlines a process of the overall RAMS performance assessment for achieving technical RAMS design criteria. Secondly, it discusses a process for assessing the operational RAM and allocating the RAM. This paper also proposes a model for assessing safety-based risk management, which includes five analytic techniques for identifying the causes and consequences of a system failure. Finally, a case example is provided for the risk assessment of the pneumatic braking device.

• Journal of Electrical Engineering and Technology
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• 제8권5호
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• pp.1070-1077
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• 2013

Owing to the consistent increase in energy efficiency issues, studies for improving regenerative energy utilization have been receiving attention in the Urban DC railway systems, where currently, the utilization of regenerative energy is low due to the lack of a specific plan for using this energy. The regenerative energy in railway systems has a low efficiency problem which results in the increase of the catenary voltage and a possibility to create problems to the electrical devices connected to the system. This paper deals with the power integration of large urban railway subsystems to improve regenerative energy utilization where the railway subsystems are integrated with other railway subsystems to improve the energy efficiency. Through the case studies, to find the realistic effect of integrated operation, the Seoul Metro subsystems, namely Line 5 and Line 7, has been applied. Also, evaluation for the electricity cost saving has been performed by using KEPCO electricity cost table.