• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.4
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• pp.174-180
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a wheel slip control system is developed for maintaining the vehicle stability based on the braking monitor, wheel slip controller and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw moment controller and fuzzy logic. The performance of the proposed wheel slip control system is verified in simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.4
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• pp.167-175
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• 2001

This paper presents design of active roll controller of a vehicle and experimental study using the electric actuating roll control system. Firstly, parameter sensitivity analysis is performed based on 3DOF linear vehicle model. The controller is designed in the frame work of gain-scheduled H$\infty$ control scheme considering the varying parameters induced by laden and running vehicle condition. In order to investigate a feasibility of an active control system, experimental work is performed using hardware-in-the -loop setup which has been constructed by the devised electric actuating system and the full vehicle model with tire characteristics. The performance is evaluated by experiment using hardware-in-the -loop simulation under the conditions of some steer maneuvers and parameter variations.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.8
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• pp.172-179
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• 1999

This paper presents a simple but effective DYC algorithm which enhances vehicle lateral stability by using an anti=lock brake system (ABS). In the proposed algorithm, only the front outer wheel is controlled during cornering maneuver instead of controlling all four wheels because the wheel has the largest role in DYC and it is easy and simple to control the only one wheel. An ABS Hardware - In -The -Loop Simulation ( HILS) system that may be used to realistically test real vehicle dynamic behavior in a lab is used for evaluating the proposed DYC algorithm in severe situations where a vehicle is destabilized without DYC . The HILS results show that the proposed DYC algorithm has the potential of maintaining vehicle stability in some dangerous situations.

• Proceedings of the KSR Conference
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• 1999.05a
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• pp.135-142
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• 1999

This paper deals with dynamic characteristics of automated guideway transit vehicle with rubber tires. Several models for guideway system of LRT(Light Rail Transit) have been Proposed because of the necessity of guideway system for LRT with rubber tires on exclusive rail unlike steel tires. Here, steering system and bogie system are investigated to compare with dynamic characteristics. On selecting guideway system, the way of vehicle operation should be considered and simultaneously the dynamic characteristics of the vehicle must be evaluated with respect to each guideway. The results show that stability is essential for vehicle with steering system, and that single-axle bogie system gives the good stability, though it is necessary to reduce the guide-wheel force

• Proceedings of the KSR Conference
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• 1998.05a
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• pp.540-547
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• 1998

light rail vehicle is modeled as a 2 d. o. f linear system for the design of vertical suspension characteristics and a 4 d. o. f. linear system for the design of lateral suspension characteristics. FRA's class-5-track irregularity is used for the exciting disturbance on track. Suspension stiffness and damping is selected on the basis of the ride quality and suspension stroke trade-off for the bogie of light rail vehicle. The optimum value of primary and secondary suspension characteristics is determined. And the stability of full vehicle model for the LRV is analyzed using the VAMPIRE program and critical speed is determined.

• ETRI Journal
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• v.37 no.3
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• pp.617-625
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• 2015

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.11
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• pp.1685-1691
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• 2004

This paper describes the fault detection and failsafe logic to be used in an Electronic Stability Program(ESP). The aim of this paper is to prevent of erroneous controls in the ESP. Developed this paper introduces the fault detection logic and evaluation of residual signals. The failsafe logic consists of four redundant sub-models, which can be used for detecting the faults in various sensors (yaw rate, lateral acceleration, steering wheel angle). We present two mathematical residual generation methods : one is a method using the average value and the other is a method using the minimum value of the each residual. We verified a failsafe logic developed using vehicle test results also we compare vehicle model based simulation results with test vehicle results.

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.50-55
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• 2013

When it comes to commercial vehicles, their unique characteristics - center of gravity, size, weight distribution - make them particularly vulnerable to rollover. On top of that, conventional heavy vehicle brake exhibits longer actuation delays caused in part by long air lines from brake pedal to tires. This paper describes rollover prevention algorithm that copes with the characteristics of commercial vehicles. In regard of compensating for high actuating delay, predicted rollover index with short preview time has been designed. Moreover, predicted rollover index with longer preview time has been calculated by using road curvature information based on environment information. When rollover index becomes larger than specific threshold value, desired braking force is calculated in order to decrease the index. At the same time, braking force is distributed to each tire to make yaw rate track desired value.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.2600-2608
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• 2011

The dynamic stability of railway vehicle has been one of the important issues in railway safety. The dynamic simulator has been used in the study about the dynamic stability of railway vehicle and wheel/rail interface. Especially, a small scale simulator has been widely used in the fundamental study in the laboratory instead of full scale roller rig which is not cost effective and inconvenient to achieve diverse design parameters. But the technique for the design of the small scale simulator for the fundamental study about the dynamic characteristics of the wheel-rail system and the bogie system has not been well developed in Korea. Therefore, the research about the development of the small scale simulator and the bogie has been conducted. As this paper, To predict the dynamic behavior of railway vehicle, we studied running stability test of 1/5 scaled bogie that similarity laws is applied using small scale derailment simulator. For the operation of the small scale derailment simulator, it is required to investigate the performance and characteristics of the system. This could be achieved by a comparative study between an analysis and an experiment. This paper presented the analytical model which could be used for verifying of the test results and understanding of the physical behavior of the dynamic system comprising the small scale bogie and the simulator.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1905-1913
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• 2011

The dynamic characteristic of bogie that is driving system of railway vehicle is very important regarding decision of vehicle characteristics as running safety and comport. The dynamic characteristic test of bogie is tested on full size in place on field testing on track. But, the testing on the full size caused many problems. To overcome these problem by full size test, the Railway Safety Research Center in Seoul National University of Science & Technology developed 1/5 scale size of small scale derailment simulator and is currently testing running stability of 1/5 scaled bogie. Also To take effectively advantage of running stability test using small scale derailment simulator in actuality design and reliability estimation, it is necessary comparison and examination with field test and theoretical analysis result In this paper. to achieve running stability analysis of 1/5 scaled bogie on small scale derailment. the program using MATLAB that is fast compose and analysis the motion equation of Saemaul power bogie is developed. It is achieved analysis according to various specification (weight, size, suspension, etc..) and is evaluated corelation between test result and dynamic characteristic of actual railway vehicle.