• 한국시뮬레이션학회논문지
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• 제25권1호
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• pp.35-43
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• 2016

자동차 산업에서 임베디드 시스템의 비중이 증가하면서, 임베디드 시스템의 불량 검출과 평가를 위한 시험 방법들이 연구되고 있다. 하드웨어 인 더 루프 시뮬레이션은 실시간 임베디드 시스템의 개발 및 시험을 위해서 사용되는 시험 방법이다. 본 연구는 자동차에서 사용되는 임베디드 시스템인 ECU의 하드웨어 인더 루프 시뮬레이션 방법에 대해서 정의한다. 이 방법은 실제 차량 데이터를 기반으로 ECU에게 가상차량환경을 제공할 수 있는 시험 모델을 작성할 수 있다. 시험 모델은 시험기로부터 ECU에게 센서 신호와 CAN 메시지를 모사할 수 있는 참조 정보를 가진다. 본 연구의 하드웨어 인 더 루프 시뮬레이션은 목표한 ECU의 불량을 검출할 수 있다.

• 한국소음진동공학회논문집
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• 제17권12호
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• pp.1170-1178
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• 2007

Repeated hardware tests and tuning, investing cost and time, are usually required to assure a satisfactory performance of the suspension seat. In this study, an EILS(ECU-in-the-loop) method was proposed to develop a controller for a semi-active suspension seat with a MR(magneto-rheological) damper. EILS system was developed using a real-time seat dynamics model communicating with ECU hardwares under a closed loop environment utilizing Matlab/Simulink and xPC $TargetBox^{TM}$. A sky-hook based control algorithm with optimized damping coefficients was verified to reduce the energy consumption and to improve the vibration response performance.

• 한국자동차공학회논문집
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• 제22권5호
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• pp.35-43
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• 2014

The automobile industry requires technological innovations to reduce fuel consumption with the public interest in environmental conservation in recent years. Thus, the hybrid system is applied not only to passenger cars but also commercial vehicles. The purpose of this paper is to develop engine ECU_ILS to develop commercial hybrid vehicles. In order to develop the engine and vehicle, the dynamometer and exhaust gas analyzer is needed. However, a lot of time and cost are required. In contrast, the model-based development environment that can be applied to a variety of test conditions can reduce development time. Therefore, a HILS system environment that can consider the behavior of actual vehicles for evaluation of the control logic, fuel consumption and exhaust gas is required. This engine ECU_ILS system was developed in this study, can analyze parameter such as the fuel injection rate, fuel injection time, fuel consumption and exhaust gas like the actual vehicle test using map data. Also, this system is expected to be able to analyze the characteristic of vehicle behavior and the development of peripheral device in relation to engine and vehicles. This HILS system can be used to develop control strategies of commercial hybrid vehicle systems in the future.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.849-854
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• 2007

This paper describes design and tuning of a full-range Adaptive Cruise Control (ACC) with collision avoidance. The control scheme is designed to control the vehicle so that it would feel natural to the human driver and passengers during normal safe driving situations and to avoid rear-end collision in vehicle following situations. In this study, driving situations are determined using a non-dimensional warning index and time-to-collision (TTC). A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC System. An ECU-Brake Hardware-in-the-loop Simulation (HiLS) was developed and used for an evaluation of ACC System. The ECU-Brake HiLS results for alternative driving situation are compared to manual driving data measured on actual traffic way. The ACC/CA control logic implemented in an ECU was tested using the ECU-Brake HiLS in a real vehicle environment.

• 제어로봇시스템학회논문지
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• 제8권10호
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• pp.898-906
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• 2002

Antilock Brake System (ABS) is designed to prevent wheels from being locked-up under emergency braking of a vehicle. Therefore it improves directional stability of the vehicle, shortens stopping distance, and enhances maneuvering during braking, regardless of road conditions. Hardware In-the-Loop Simulation (HILS) is an effective tool for design Performance evaluation and test of vehicle subsystems such as ABS, active suspension, and steering systems. This paper describes a HILS model for ABS/ ASR(Acceleration Slip Regulation) system applications. A fourteen degrees-of-freedom vehicle dynamics model is simulated in an alpha-chip processor board. The proposed HILS system is tested with a basic ABS control algorithm. The design and implementation of HILS system for the ABS ECU(Electronic Control Unit) development of commercial vehicle are presented. The results show that the proposed HILS system can be used to test the performance, stability, and reliability of a vehicle under braking.

• International Journal of Automotive Technology
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• 제6권6호
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• pp.599-604
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• 2005

A functional suspension model is proposed as a kinematic describing function of the suspension, that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of test and simulation results demonstrates the validity of the proposed functional suspension modeling method. The model is computationally very efficient to achieve real-time simulation on TMS 320C6711 150 MHz DSP board of HILS (hardware-in-the-loop simulation) system for ECU (electronic control unit) evaluation of semi-active suspension.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.609-611
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• 2000

ABS(Antilock Brake System), Prevents the wheels from "locking" and improve steering during braking. Currently, safety and environmental issues are a major concern in the automotive industry. ABS has become the vital brake system HILS (Hardware In-the-Loop Simulation) is an effective tool for design. performance evaluation and test of developed vehicle subsystems such as ABS. suspension. and steering systems. This paper describes a HILS model for an ABS/ASR application Also the design and implementation of HILS system for development of the ABS ECU(Electronic Centre) Unit) for commercial vehicle are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2564-2566
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• 2000

HILS(Hardware In-the-Loop Simulation) is an effective tool for design, performance evaluation and test of developed vehicle subsystems such as ABS(Antilock Brake System), suspension, and steering systems. This paper describes a HILS model for an ABS/ASR application. Also the implementation of HILS system for performance test of the ABS ECU(Electronic Control Unit) for commercial vehicles is presented.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1717-1725
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• 2008

In this paper, the HILS system is proposed for the AWS ECU of the bi-modal tram. Using the HILS of the AWS ECU, the behavior of the vehicle can be predicted and the reliability of the AWS system also can be verified. The hardware part of the HILS system includes the ECUs, hydraulic systems, steering linkages and sensors of the bi-modal tram. The software part of the HILS system contains the virtual vehicle model and sensor emulation. Driver input conditions, such as vehicle velocity and front steering angle, are provided to the ECUs by the software. The driving simulation of the bi-modal tram is carried out by the HILS. Also, the reliability of the AWS system, including the ECUs and hydraulic systems, is verified.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1231-1236
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• 2008

Since the bi-modal tram is too long so that the traditional steering system controlled only the first axle increases its turning radius, it is not suitable to the domestic road environment. In addition, it become hard to make fine parking with the traditional steering system. To resolve the problem, the bi-modal tram requires an all wheel steering system (AWS) that the second axle is controlled by the first axle's degree and the velocity of vehicle, and the third axle is steered by the articulation angle's degree and the velocity of degree. This paper addresses the factors for the AWS ECU design, the strategies to solve the problems, the core technologies for the implementation, and also the outcomes and analysis of the performance evaluation of implemented system.