• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.6
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• pp.194-207
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• 2000

In this paper, we suggest a vision-based lane change control system, which can be applied on the straight road, without additional sensors such as a yaw rate sensor and a lateral accelerometer. In order to reduce the image processing time, we predict a reference line position during lane change using the lateral dynamics and the inverse perspective mapping. The sliding mode control algorithm with a boundary layer is adopted to overcome variations of parameters that significantly affects a vehicle`s lateral dynamics and to reduce chattering phenomenon. However, applying the sliding mode control to the system with a long sampling interval, the stability of a control system may seriously be affected by the sampling interval. Therefore, in this paper, a look ahead offset has been used instead of a lateral offset to reduce the effect of the long sampling interval due to the image processing time. The control algorithm is developed to follow the desired trajectory designed in advance. In the design of the desired trajectory, we take account of the constraints of lateral acceleration and lateral jerk for ride comfort. The performance of the suggested control system is evaluated in simulations as well as field tests.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.799-804
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• 2004

Dynamic characteristic of CD/DVD deck for vehicle is analyzed in this paper. Generally CD/DVD deck for vehicle is used from inferior environment with the vibration of the vehicle and shock of outside and so on. Therefore it must have the structure which is stabilized from the vibration to prevent read error. For this purpose, vibration characteristic of the deck for vehicle should be identified. To analyze characteristic of the deck system, we perform the signal analysis and modal testing using the FFT analyzer. Also we change the design factor degrading the performance of the deck system and verify the efficiency improvement using the acceleration measurement occurring to the sound discontinuation.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.696-701
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• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• Wind and Structures
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• v.21 no.3
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• pp.311-329
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• 2015

A method for analyzing the coupled wind-vehicle-bridge system is proposed that also considers the shielding effect of the bridge tower with triangular wind barriers. The static wind load and the buffeting wind load for both the bridge and the vehicle are included. The shielding effects of the bridge tower and the triangular wind barriers are incorporated by taking the surface integral of the wind load. The inter-history iteration is adopted to solve the vehicle-bridge dynamic equations with time-varying external loads. The results show that after installing the triangular wind barriers in the area of the bridge tower, the bridge response and the vehicle safety factors change slightly. The peak value of the train car body acceleration is significantly reduced when the wind barrier size is increased.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.1 s.232
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• pp.139-144
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• 2005

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion. have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.05a
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• pp.256-259
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• 2002

Recently, most vehicles has the Automatic transmission system as their transmission system. The automatic transmission system operates with fixed shift patterns. In the opposite of manual operation, it is easy and convenient for driving. Though these merit, the system can not evaluate the driver's intension because of usage of firmed shift pattern. Especially, when the load has declination the AT system must operate for engine break effect. Namely, if the vehicle drives on the load of decrease, the acceleration of the vehicle goes to high then. At that time, the shift goes to down position the vehicle has some negative acceleration with the resistance of engine. To consider driver's intension in this case, we must consider both the driving intensity of driver and the status of load. In this paper, we developed flexible automatic transmission system by using the proposed moduled neural networks which can learn the status of the load and driver's intensity As a result, we compare the transmission system using firmed shift pattern and the proposed transmission system and show the good performance in the change of shift position.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.3
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• pp.40-49
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• 1996

The problem related to the rotational vibration at steering wheel end of passenger cars during high speed driving is investigated. to analyze vibration of steering wheel, a steering system of passenger car is modelled in twelve degrees of freedom including backlash effect of rack and pinion gear system. The one degree of freedom system with backlash in investigated by the analytical method. Consequently the skeleton curve and the frequency response curves are computed. The steering system is analyzed by the numerical simulation using the 4th order Runge-Kutta method, the obtained results are compared with the experimental data. Also the effects of the change of rack gear tooth stiffness and backlash on the acceleration level of steering wheel are investigated. As a result, it can be found that the acceleration level of steering wheel becames lower as the rack gear tooth stiffness becames higher, and that acceleration level becames high as the magnitude of backlash between rack and pinion gear increase.

• International Journal of Highway Engineering
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• v.9 no.4
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• pp.215-226
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• 2007

To verify the performance of roadside barriers, occupant risk indices are calculated from acceleration and angular velocity data of vehicle crash tests. The occupant risk indices to be computed include THIV(Theoretical Head Impact Velocity), PHD(Post-impact Head Deceleration), ASI(Acceleration Severity Index), OIV(Occupant Impact Velocity) and ORA(Occupant Ridedown Acceleration). There is a confusion due to different values of occupant risk indices produced for the same test data because various computational procedures and data processing methods can be applied to compute them. To slove this problem the effects of various numerical procedures and data processing methods on occupant risk indices were investigated. If the sampling rate specified in the guidelines is used for full-scale vehicle crash tests, an interpolation of impact time and numerical integration methods do not result in an appreciable change of THIV and OIV. The way to determine 10msec moving average for PHD and zero offset of data processing should be specified in the guidelines because 10msec moving average and zero offset methods have a significant influence on occupant risk indices.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.1035-1041
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• 2005

Dynamic characteristics of CD/DVD deck fur vehicle are analyzed in this paper. Generally CD/DVD deck for vehicle is used from inferior environment with the vibration of the vehicle, shock of outside and so on. Therefore it must have the structure which is stabilized from the vibration to prevent read error. For this purpose, vibration characteristic of the deck for vehicle should be identified. To analyze characteristic of the deck system, we perform the signal analysis and modal testing using the EFT analyzer. Also we change the design factor degrading the performance of the deck system and verify the efficiency improvement using the acceleration measurement occurring to the sound discontinuation.