• 제목/요약/키워드: Driving Constraints

검색결과 72건 처리시간 0.028초

최적의 Moving Window를 사용한 실시간 차선 및 장애물 감지 (Detection of a Land and Obstacles in Real Time Using Optimal Moving Windows)

  • 최승욱;이장명
    • 대한전자공학회논문지SP
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    • 제37권3호
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    • pp.57-69
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    • 2000
  • 본 논문에서는 주행차량에 장착된 CCD 카메라를 통하여 획득되어진 영상으로부터 moving window를 사용하여 차선을 인식하고 장애물을 감지하는 방법을 제안한다 입력되는 동영상을 실시간에 처리하기 위해서는 하드웨어적으로 상당히 많은 제약을 초래한다. 이러한 문제점을 극복하고 영상을 사용하여 실시간에 차선 인식 및 장애물을 감지하기 위해, 도로조건과 차량상태에 바탕을 둔 최적의 window 크기를 결정하고 그 window 영상만을 처리하여 차선 인식 및 장애물 감지를 실시간에 가능하게 하는 기법을 제안한다 영상의 각 프레임에 대하여 moving window는 칼만필터에 의해 정확성이 향상된 예측방향으로 옮겨진다. 제안된 알고리즘의 효용성을 고속도로 주행영상을 사용한 실험을 통해 보여준다

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병렬형 하이브리드 전기자동차 구동계의 Jerk 저감 제어 (Drive-train Jerk Reduction Control for Parallel Hybrid Electric Vehicles)

  • 박준영;심현성
    • 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%.

일체형 고조파 조절기를 갖는 마그네트 기어 감속기의 특성 연구 (Characteristic Study of a Magnet Gear Speed Reducer with a Unified Harmonic Modulator)

  • 이상준;정광석
    • 한국생산제조학회지
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    • 제24권3호
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    • pp.348-354
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    • 2015
  • Using a magnetic gear, the speed and torque of the driving axis can be decreased and increased, respectively, similar to a mechanical speed reducer. In particular, because the driving side can be isolated mechanically from the load side, the magnetic gear was developed for application with environmental constraints. Of the existing topologies used for the magnet gear, the filtering method of a specified magnetic component is the most competitive. In this paper, a novel unified harmonic modulator is applied to filter the specified component. The torque conversion method using this modulator is described in detail, and the key factors of the modulator are derived from the influence on the resulting torque. The experimental setup was constructed and its torque transmission efficiency measured for varying loads. The transient characteristic from an excessive load is compared with the theoretical simulation.

LMI-based $H_{\infty}$ Controller Design for a Line of Sight Stabilization System

  • Lee, Won-Gu;Keh, Joong-Eup;Kim, In-Soo;Lee, Man-Hyung
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.497-497
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    • 2000
  • This paper is concerned with the design of LMI based H$_{\infty}$ controller for a line of sight(LOS) stabilization system. This system which is even linearized to analyse nonlinear characteristic has also a lot of uncertainties. In addition, the angular velocity disturbance from the vehicle's driving deteriorates the stabilized LOS, main purpose of this system. In case of fast driving, particularly, all components which are ignored and skipped to make mathematical modelling act as the uncertainties against this system. The robustness against these uncertainties has been also continuously demanded including the well tracking performance for the target. Therefore, this paper employed H$_{\infty}$ control theory to satisfy these problems and LMI method to make suitable controller with few constraints for this system. Although this system matrix doesn't have full rank, this method make it possible to design H$_{\infty}$ controller and deal with R and S matrices for reducing its order. Consequently, this paper shows that the re-analyses on the real disturbances are achieved and the proposed robust controller for them has better disturbance attenuation and tracking performance. This paper contributes the applicability of reduced order H$_{\infty}$ controller to real system by handling LMI..

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전력계통 제약을 고려한 플러그인 전기자동차 충전계획 수립 (Charging Schedule Establishment of PEVs considering Power System Constraints)

  • 권한나;국경수
    • 한국산학기술학회논문지
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    • 제19권5호
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    • pp.632-639
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    • 2018
  • 최근 플러그인 전기자동차에 대한 적극적인 보급 정책이 추진되고 있으나 플러그인 전기자동차는 전력계통에 직접 연계되어 충전수요를 공급받기 때문에 충전수요의 집중도에 따라서는 전력계통의 설비확충이 요구될 수도 있다. 반면 전력계통의 설비확충은 많은 시간과 투자가 소요되어 현실적으로 제한될 수밖에 없기 때문에 기존의 전력망을 효율적으로 이용하여 플러그인 전기자동차의 충전수요를 안정적으로 공급하는 것은 플러그인 전기자동차의 보급 확대에도 중요한 요소라고 할 수 있다. 따라서 본 논문에서는 주어진 전력계통에서 선로조류와 모선전압과 같은 제약조건을 만족하면서 플러그인 전기자동차의 충전수요를 공급하기 위한 충전계획 수립방안을 제안한다. 이를 위해 자동차의 주행 패턴과 충전 요금제를 기준으로 플러그인 전기자동차 충전수요의 요구량과 충전 시작시간을 전기자동차별로 모델링 한 후 이를 전력계통 모델에 연계하여 조류계산을 계산하여 전력계통의 운전 상태를 모의하였다. 또한 선로의 전력조류와 모선의 전압에 대한 제약 조건의 만족 여부를 확인하며 제약조건에 위반이 발생하는 경우 이를 완화하기 위해 제약조건에 직접 관련된 플러그인 전기자동차의 충전수요를 조정하여 계통제약의 만족여부를 재확인하는 과정을 반복함으로써 주어진 전력계통의 제약조건을 만족할 수 있는 플러그인 전기자동차의 충전계획을 수립하였다.

토크 벡터링을 적용한 전기차의 선회 성능 평가에 관한 연구 (A Study of Torque Vectoring Application in Electric Vehicle for Driving Stability Performance Evaluation)

  • 이종현;이경하;김일호;정덕우;허승진
    • 한국자동차공학회논문집
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    • 제22권3호
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    • pp.250-256
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    • 2014
  • EV(Electric Vehicle) has many benefits such as prevention of global warming and so on. But due to driving source changing from combustion engine to battery and e-motor, new R&D difficulties have arisen which changing of desired vehicle performance and multidisciplinary design constraints by means of strong coupled multi-physics domain problems. Additionally, dynamics performances of EV becomes more important due to increasing customer's demands and expectations for EV in compare with internal combustion engine vehicle. In this paper suggests model based development platform of EV through integrated simulation environment for improving analyse & design accuracy in order to solve multi-physics problem. This simulation environment is integrated by three following specialized simulation tools IPG CarMaker, AVL Cruise, DYMOLA that adapted to each purpose. Furthermore, control algorithm of TV(Torque Vectoring) system is developed using independent driven e-motor at rear wheels for improving handling performance of EV. TV control algorithm and its improved vehicle performances are evaluated by numerical simulation from standard test methods.

전방향 이동성을 갖는 안정한 볼봇 개발 (Development of Stable Ballbot with Omnidirectional Mobility)

  • 박재한;김순철;이수영
    • 제어로봇시스템학회논문지
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    • 제19권1호
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    • pp.40-44
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    • 2013
  • The ball-shaped mobile robot, so called ballbot has single point contact on ground and low energy consumption in motion because of the reduced friction. In this paper, a new ballbot is presented, which has omnidirectional mobile platform inside of it as a driving system. Thus the ballbat has omnidirectional mobility without nonholonomic constraints. Kinematics and inverse kinematics of the ballbat is derived also in this paper.

CONTEXT-AWARE ROUTING ARCHITECTURE ON TELEMATICS SENSOR COMMUNICATION NETWORK

  • Lee Eunkyu;Kim Minsoo;Jang Byung-Tae
    • 대한원격탐사학회:학술대회논문집
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    • 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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    • pp.546-549
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    • 2005
  • It is evident that advancement of ubiquitous technologies in the near future guarantees more convenient and plentiful living. With regarding to car life, we dream of an automatic driving without any effort of operation. This paper touches the realization issue, a convergence of wireless sensor network and Telematics specializing on an information routing mechanism between participating components in Telematics sensor communication network. We list up new requirements of wireless sensor network deployed for Telematics services. Then context-aware routing architecture is proposed in order to solve these constraints, in which a network topology for routing can be dynamically configured according to the combination of context models of network components.

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경량전철 고무차륜 AGT 하중의 동적특성을 고려한 강박스거더의 단면 최적설계 (Optimum Design of Steel Box Girder Considering Dynamic Characteristics of LRT with Rubber Wheel)

  • 이희업;이준석;방춘석;최일윤
    • 한국철도학회:학술대회논문집
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    • 한국철도학회 2004년도 춘계학술대회 논문집
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    • pp.1197-1204
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    • 2004
  • The metropolitan cities and operation companies of urban transit railway are driving to construct the LRT(light rail transit) system because of the advantage of construction cost and environmental serviceability. This study suggests the optimal design method of steel box girder considering dynamic characteristics of LRT with rubber wheel. The behavior and design constraints are formulated based on the structural design criteria for LRT. Genetic algorithm is applied to the minimum weight design of structural system. A typical example is solved to illustrate the applicability of the proposed minimization algorithm. From the results of application example, the optimum design of steel box girder is successfully accomplished. Therefore, this system can act as a consultant to assist novice designers in the design of steel box girder for LRT with rubber wheel.

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A real time method of vehicle system dynamics

  • Bae, Daesung
    • 한국공작기계학회논문집
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    • 제10권2호
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    • pp.18-28
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    • 2001
  • Super computers has been utilized to carry out vehicle dynamics in real time. This research propose an implicit integra-tion method for vehicle state variables. Newton chord method is empolyed to solve the equations of motion and con-straints. The equations of motion and constraints are formulated such that the Jacobian matrix for Newton chord method is needed to be computed only once for a dynamic analysis. Numerical experiments showed that the Jacobian matrix generat-ed at the initial time could have been utilized for the Newton chord iterations throughout simulations under various driving conditions. Convergence analysis of Newton chord method with the proposed Jacobian updating method is carried out. The proposed algorithm yielded accurate solutions for a prototype vehicle multibody model in realtime on a 400 MHz PC compatible.

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