• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.67.4-67
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• 2002

Antilock brake System (ABS) is a essential safety equipment for modern vehicles. It prevents wheels from being locked-up when emergency braking of a vehicle is required. So it can improves directional stability of the vehicle, shortens stopping distance. Heavy Vehicles such as trucks and buses use mainly pneumatic pressures for their braking systems, where pneumatic modulators control the flow rate of compressed air thus braking pressures in the wheels. In this paper, a antilock braking algorithm which is suitable for heavy vehicles was developed. This algorithm uses limit cycle of wheels and is implemented in the ABS ECU. The developed algorithm and ECU were tested in the labo..

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.240-248
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• 1999

This paper presents a lane-change collision avoidance control algorithm for autonomous vehicles that will be used in AHS(Automated Highway System). In the proposed control algorithm, nominal control inputs are generated by solving the inverse vehicle dynamic equations of motion for a lane-change maneuver. In addition, a corrective steering input from preview as well as DYC (Direct Yaw Moment Control) may be included to reduce unpredictable errors and to insure yaw directional stability, respectively. The performance of the algorithm is evaluated with an ABS HILS system which consist of 17 DOF vehicle model and real ABS hardware parts. The HILS simulation results show that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.114-122
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• 2021

In this paper, an automated vehicle intersection collision accident was analyzed through simulation. Recently, the more automated vehicles are distributed, the more accidents related to automated vehicles occur. Accidents may show different trends depending on the sensor characteristics of the automated vehicle and the performance of the accident prevention system. Based on NASS-CDS (National Automotive Sampling System-Crashworthiness Data System) and TAAS (Traffic Accident Analysis System), four scenarios are derived and simulations are performed. Automated vehicles are applied with a virtual system consisting of an autonomous emergency braking system and algorithms that predict the route and avoid collisions. The simulations are conducted by changing the sensor angle, vehicle speed, the range of the sensor and vehicle speed range. A range of variables considered vehicle collision were derived from the simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.224-232
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• 2015

In order to develop an active safety system which avoids or mitigates collisions with preceding vehicles such as autonomous emergency braking (AEB), accurate state estimation of the nearby vehicles is very important. In this paper, an algorithm is proposed using 3 dynamic models to better estimate the state of a vehicle which has various dynamic patterns in both longitudinal and lateral direction. In particular, the proposed algorithm is based on the Interacting Multiple Model (IMM) method which employs three different dynamic models, in cruise mode, lateral maneuver mode and longitudinal maneuver mode. In addition, a Probabilistic Data Association Filter (PDAF) is utilized as a data association algorithm which can improve the reliability of the measurement under a clutter environment. In order to verify the performance of the proposed method, it is simulated in comparison with a Kalman filter method which employs a single dynamic model. Finally, the proposed method is validated using radar data obtained from the field test in the proving ground.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.12
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• pp.1949-1957
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• 2016

Rapid Expansion of EVs(Electric Vehicles) is inevitable trends, to comply with eco-friendly energy paradigm according to Paris Agreement and to solve the environment problems such as global warming. In this paper, we analyze the limit point of transformer acceptable capacity as the increase of power demand considering EVs supply in the near future. Through the analysis of transformer utilization, we suggest methods to analyze the spare capacity of transformer for the case of optimal efficiency operation and emergency operation respectively. We have the results of 18.4~29% spare capacity for the charging infrastructure to the rated capacity of transformer by analyzing the existing sample apartments. It is analyzed that the acceptable number of EVs is 0.09~0.14 for optimal efficiency operation and 0.06~0.13 for emergency operation. Therefore, it is analyzed the power demand of EV will exceed the existing transformer spare capacity in 7~8 years as the annual growth rate of EVs is prospected 112.5% considering current annual growth rate of EVs and the government EV supply policy.

• Journal of Auto-vehicle Safety Association
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• v.12 no.4
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• pp.61-69
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• 2020

As a sales volume of autonomous vehicle continually grows up, regulations on this new technology are being introduced around the world. For example, safety standards for the Level 3 automated driving system was promulgated in December 2019 by the Ministry of Land, Infrastructure and Transport of Korean government. In order to promote the development of autonomous vehicle technology and ensure its safety simultaneously, the regulations on the automated driving systems should be phased in to keep pace with technology progress and market expansion. However, according to SAE J3016, which is well known to classify the level of the autonomous vehicle technologies, the description for classification is rather abstract. Therefore it is necessary to describe the automated driving system in more detail in terms of the 'Level.' In this study, the functions and characteristics of automated driving system are carefully classified at each level based on the commentary in the Informal Working Group (IWG) of the UN WP29. In particular, regarding the Level 4, technical issues are characterized with respect to vehicle tasks, driver tasks, system performance and regulations. The important features of the autonomous vehicles to meet Level 4 are explored on the viewpoints of driver replacement, emergency response and connected driving performance.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.12 no.6
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• pp.29-36
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• 2013

This study is the fundamental research to establish evacuation planning and to analyze evacuation planning characteristics in Gumi-city based on existing network and traffic characteristics data. Assuming an emergency situation, it compared with evacuation time estimates between using existing traffic signal system and proposed lane-based routing method through micro simulations. As a result, using existing traffic signal system could not affect the evacuation times in each level of emergency conditions. However this study found that proposed lane-based routing method is very effective to reduce an evacuation time compared with using existing traffic signal system. Also the proposed method is verified to reduce an evacuation time especially in extreme emergency circumstances.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.10C
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• pp.749-757
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• 2008

In this paper, we propose an authentication scheme for EVPT (Emergency Vehicle Priority Transit) service in Vehiclar Ad-hoc Networks (VANET) enable a variety of vehicle comfort services, traffic management applications, and infotainment services. These are the basis for a new generation of preventive and active safety functions. By intelligently controlling signalling at intersections, providing additional information to the driver and warning the driver in critical situations. we therefore focus on vehicle-to-infrastructure communication for the authentication between emergency vehicles and traffic lights system. This authentication process should identify the vehicle, and provide privacy protection.

• Journal of KIISE:Information Networking
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• v.34 no.5
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• pp.340-347
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• 2007

Vehicle safety service can be effectively achieved with inter-vehicle communication technologies, in which moving vehicles transmit a safety related urgency information such as traffic accidents, sudden stops, obstacle appearance etc. They usually utilize a broadcast of message propagation method because the communicating vehicles are not known each other. The pure broadcasting scheme does not satisfy the requirements of vehicle safety communication service due to the transmission delay with frequent message collisions. To resolve this problem, this paper presents a group based propagation method for the multi-hop transmission, in order to deliver an urgency message to the reasonable size of vehicle troop. A group header is elected in considering of the position information of vehicles and radio transmission range. And a vehicle equivalent group is formed with the header. With benefits of the group based transmission, it is possible to minimize the unnecessary transmission and the possibility of message collisions. Simulation results show that the message propagation performance is so stable regardless of vehicle's congestion degree.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.683-686
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• 2018

Autonomous vehicles are the 4th industrial revolution that utilizes artificial intelligence(AI) and superconducting technology, and is a world-wide investment and research project. However, a Uber vehicle under test in Arizona, USA, was accidentally killed by pedestrians crossing the road in the dark night, and accidents occurred when the Tesla vehicle was exposedto the backlightof the sun. These problems were caused by misunderstandings and choice about sensors mounted on autonomous vehicles due to bad weather such as snow, rain, and sunlight. In this paper, we analyze the composition of the autonomous vehicle and the cause of the accident, and consider the criteria that should be judged in case of emergency in which human accidents may occur. This paper analyzes the composition of autonomous vehicles and causes of accidents, and considers the criteria that should be choice in an emergency where an accident may occur.