• 자동차안전학회지
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• 제15권2호
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• pp.13-20
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• 2023

This paper presents a fault tolerant control strategy for Steer-by-Wire (SbW) systems. Among many problems to be solved before commercialization of SbW systems, maintaining reliability and fault tolerance in such systems are the most pressing issues. In most previous studies, dual steering motors are used to achieve actuation redundancy. However, relatively few studies have been conducted to introduce fault tolerant control strategies using rear wheel steering system. In this work, an actuator fault in front wheel steering is compensated by active rear wheel steering. The proposed fault tolerant control algorithm consists of disturbance observer and sliding mode control. The fault tolerant control performance of the proposed approach is validated via computer simulation studies with Carsim vehicle dynamics software and MATLAB/Simulink.

• 대한인간공학회지
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• 제28권2호
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• pp.9-16
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• 2009

The aim of this study was to evaluate the effects of the driving performance and workload according to changing driving environment and types of steering wheel. Twelve drivers who participated in this study consisted of two groups; six Japanese as the left-lane drivers who was accustomed to driving on left-hand side of the road, and six Europeans, Americans, and Korean as the right-lane drivers who was accustomed to driving on right-hand side of the road. They were asked to operate a driving simulator while using two different types of steering wheel (for the left-hand side driving and the right-hand side driving). During the experiment, a range of data were measured including driving performance, mental workload, and eye movements which were recorded in order to identify the amount of time looking towards the in-vehicle route guidance. Results indicated that the use of the steering wheel by parallel moving led to increase high attentional demand and worse glance behavior to traffic signs for the left-lane drivers. In the case of the right-lane drivers, the effects by changing driving direction were more effective than the types of steering wheel due to their habit or traits.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.311-312
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• 2006

In this paper, steering systems for mobile robot with permanent magnet wheels are discussed. The mobile robot with permanent magnet wheels can have three different types of steering and driving configurations; two-wheels, three-wheels, four-wheels. By a Two-WD(Wheel Driving) system, driving and steering characteristics are controlled by ratio of each wheel speeds. Three-WD system is steered by a front wheel and driven by rear wheels. Four-WD system has better stability than two wheel system. Usually the permanent magnet wheel has nearly none slip. Thus turning radius of the mobile robot with three-WD and four-WD System will be increased and the steering and driving system will be complicated. To solve this problem, two magnet wheels with two dummy wheels are used in this study. fuming radius of the developed mobile robot is small and the structure of the robot is simple. It is possible to move forward, backward, to turn left and right, and to rotate freely with two-WD. This study proved that two-WD system is very suitable fur the mobile robot with permanent magnet wheels.

• 한국자동차공학회논문집
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• 제3권3호
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• pp.119-128
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• 1995

A driver-vehicle model means the integrated dynamic model that is able to estimate the steering wheel angle from the driver's desired path based on the dynamic characteristics of the driver and vehicle. In this paper, the dynamic characteristics of several four-wheel steering systems with the simultaneously steerable front and rear wheels are investigated and compared by means of the driver-vehicle model. Especially, the presented analysis results are obtained by using the ISO test codes such as lane change, double lane change and slalom, and the effects of the driver's steering response time and vehicle speed are examined on the responsiveness and stability of vehicle.

• 한국자동차공학회논문집
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• 제2권5호
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• pp.101-109
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• 1994

Recently, four-wheel steering systems have been developed and studied as one of the latest automotive technologies for improving the handling characteristics of a vehicle. In much of the proposed four-wheel steering systems, the side slip angle at the vehicle's center of gravity is maintained at zero. This approach allows the greater maneuverability at low speed by means of counter-phase rear steering and the improved stability at high speed through same-phase rear steering. In this paper, the effects of several four-wheel steering systems are studied and discussed on the responsiveness and stability of the vehicle by using the linear analysis. Especially, the effects of the cornering stiffnesses of both front and rear wheels are investigated on the yaw velocity gain and critical speed of the vehicle.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2569-2571
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• 2000

In the vehicle steering system, we can consider two methods to steer the vehicle. One is a front wheel steering(FWS), the other is a four wheel steering(4WS). The four wheel steering method has been recently introduced to improve the steering performance. In this paper, we present a design of the four wheel steering controller. First, we constructed the neural network two degree of freedom PID controller to control the 4WS system. Then we compared the performance of conventional PID controller with our proposed controller in terms of yaw rate and side slip velocity. The computer simulation results show that 4WS system controlled by the proposed controller has well driving performances than the other.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 I
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• pp.439-443
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• 2001

The steering wheel vibrations such as shimmy, brake judder and shake are affected by the vibration characters of steering and suspension. For the analysis of shimmy, nonuniformities of tire can be considered the major sources. This study investigates unbalances and uniformities of tire in which the lateral force variation is highly correlated with shimmy. The hardness of suspension bushes can be modified to change the dynamic behavior of suspension that is effective to reduce the sensitivity of shimmy.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.363-364
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• 2012

• 대한의용생체공학회:의공학회지
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• 제38권4호
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• pp.197-204
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• 2017

The aim of this study was to evaluate driving performance of normal subjects for controlling the steering wheel by using foot operated steering devices in the driving simulator. Many people with complete bilateral loss or loss of use of upper limbs but with normal lower limbs are frequently left without use and/ or control of their hands, arms, or the upper extremities of their bodies. As a result, persons disabled in this manner have problems in operation an automobile because they cannot grasp and manipulate a conventional steering wheel. Therefore, if foot operated steering devices are used for controlling the vehicle on in people with disabilities, the disabled people could improve their community mobility by driving a car safely. Ten normal subjects were involved in this research to evaluate steering performance by using three types of steering devices(conventional steering wheel, pedal type foot steering, circular type foot steering) in driving simulator. STISim Drive 3 program was used for testing the driving performance in two road scenarios: straight road and curved road at low and high speed of vehicle (40 km/h and 80 km/h). This study used two-way ANOVA to compare the influences of two factors(type of foot steering device and road scenario) in the three dependent variables of steering performance(standard deviation of lateral position, the lateral position of vehicle and the number of line crossing). The average values of the three dependent variables(standard deviation of lateral position, lateral position and the number of line crossing) of driving performance were significantly smaller for conventional steering wheel or pedal type foot steering than circular type foot steering.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.95-101
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• 2015

In this paper, we develop a sliding mode control for steering wheel angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the steering wheel angle. The sliding mode steering wheel angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the steering wheel angle control is available for the driver's convenience. The performance of the proposed method was validated via experiments.