• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.198-208
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• 2022

In this paper, an autonomous driving system is implemented for the Segye AI Robot Race Competition that multiple vehicles drive simultaneously. By utilizing the ERP42-racing platform, RTK-GPS, and LiDAR sensors provided in the competition, we propose an autonomous driving system that can drive safely and quickly in a road environment with multiple vehicles. This system consists of a recognition, judgement, and control parts. In the recognition stage, vehicle localization and obstacle detection through waypoint-based LiDAR ROI were performed. In the judgement stage, target velocity setting and obstacle avoidance judgement are determined in consideration of the straight/curved section and the distance between the vehicle and the neighboring vehicle. In the control stage, adaptive cruise longitudinal velocity control based on safe distance and lateral velocity control based on pure-pursuit are performed. To overcome the limited experimental environment, simulation and partial actual experiments were conducted together to develop and verify the proposed algorithms. After that, we participated in the Segye AI Robot Race Competition and performed autonomous driving racing with verified algorithms.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.583-586
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• 2003

There are electric four-wheeled vehicles to assist elder people. Because of the vehicles'dynamic characteristic such as impossible to move abeam, it is difficult for these people who has little experience and has little knowledge to drive. Also to judge the future state of dynamic obstacles and to decide how to elude them safely are more difficult. We installed the predictive fuzzy controller(evaluates the future states which several kinds of operation candidates were done and chooses the best one) that modeled humans'algorithms in the system. Human predicts the future states of dynamic obstacles and chooses an operation(wait, steer, go back, etc) to elude safely. To elude dynamic obstacles flexibly, we added expert's knowledge for safe driving to this controller. In this paper, we propose the intelligent soft driving system by the controller that can elude dynamic obstacles safely, and we confirm the effectiveness by a simulation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.12a
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• pp.271-274
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• 2001

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 fixed shift pattern, To consider driver's intension, we must consider both the driving intensity of driver and the status of vehicle. In this paper, we developed flexible automatic transmission system by using the proposed moduled neural networks which can learn the status of the vehicle and driver's intensity As a result, we compare the transmission system using fixed shift pattern and the proposed transmission system and show the good performance in the change of shift position.

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.1188-1192
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• 1992

This paper presents a driving controller for the electric vehicle using BLDC motor. The system consists of a BLDC motor, an IGBT Inverter and digital controller. The special featare of the driving controller are discussed, with emphasis s on the optimize the performance of the system. Also, Some experimental verification of the drive performance is given.

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.1182-1184
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• 1992

In case of chopper control is used for the d.c motor In the electric vehicle(EV) in general step down chopper is used for the driving and the step-up chopper is used for the regeneration. Bilateral variable ratio chopper system(BVRCS) formed by parallel combination of upper two chopper methods step-down, step-up and step-up/down chopper operations by duty cycle, circuit element and driving condition. In this paper, BVRCS is proposed for the simulated and experimented control of d.c motor in the EV. By the result of simulation BVRCS represents same driving power compared to the step-down and excellent breaking power compared to the step-up chopper system because of the greater motor current.

• Journal of the Korean Society of Safety
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• v.25 no.3
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• pp.112-117
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• 2010

This study presents a methodology to evaluate the driving safety of vehicles against localized high wind on the roads over the valleys or along the coasts. Risk level for vehicle accident is derived from the side slip caused by cross wind, and then safety criteria based on reliability for driving stability are defined. The level of safety is classified according to probability of exceeding against wind speed using the concept of extreme value statistics. To attain the safety level of vehicle on bridges, numerical simulations using Computational Fluid Dynamics(CFD) are performed. Based on this result, risk reduction and quality improvement is expected through analysis for each alternative in bridges design, construction and operation & maintenance stage with proposed process

• Journal of Institute of Convergence Technology
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• v.4 no.2
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• pp.67-70
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• 2014

Recently EU has been recognized that there is a difference of emission quantity between emission certification test mode and real-road driving test. Accordingly the European Commission is currently preparing to require real-road testing as part of the passenger car type-approval process in the EU. vehicle manufacturers from 2017 are expected to test new vehicles not only under laboratory conditions but also on the real-road, using PEMS equipment. Therefore the purpose of this study is to analyze the emission and Fuel Economy of CVS-75 mode test using chassis dynamometer and RDE test using PEMS equipment by PHEV passenger car.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.129.2-129
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• 2001

Visual effects are important cues for providing occupant s with virtual reality in a vehicle simulator which imitates real driving. The viewpoint of an occupant is sensitively dependent upon the occupant´s posture, therefore, the total body motion must be considered in a graphic simulator. A real time simulation is required for the dynamic analysis of complex human body motion. This study attempts to apply a neural network to the motion analysis in various driving situations. A full car of medium-sized vehicles was selected and modeled, and then analyzed using ADAMS in such driving conditions as bump-pass and acceleration. A multibody system analysis software, MADYMO, was used in the motion analysis of an adult male dummy in the seated position. Position data of the head were collected as inputs to the viewpoint movement. Based on these data, a back- propagation neural network was ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.709-712
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• 2003

The existing technical limitation makes engineer imitate nature to solve engineering problems. Recently Micro Air Vehicle(MAV) imitating the mechanism of birds or insects is being developed. Especially Ultra Flite supported by DARPA is studying hummingbird aerodynamics to relate that information to MAV. To drive MAV bender piezoelectric(PZT) actuators are used due to the convinience of control and the small size. But the displacement of the PZT actuators are very small, and the wing driving mechanism which amplifies the stroke generated by the PZT actuators has constraints in design and manufacture because of the small dimension. In this paper a wing design concept and a efficient driving mechanism are proposed. Electroactive polymers(EAPs) are used as wing mechanism actuators. Using OpenGL the mechanisms are simulated graphically. Also a prototype actuator is being developed and verified by digital Mockup with CATIA. Basic kinematics of the mechanism is studied.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.957-960
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• 2013

Eco driving comprises the use of feedback information that informs the driver of vehicle performance. This paper evaluated the performance of feedback device that reported instantaneous fuel economy to drivers while driving. We took the measurement by getting data through OBD port from commercial vehicle covered 67 km on road. The changes observed in fuel efficiency were established 10.6 % improvement in fuel economy.