• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.87-94
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• 2015

This paper proposes a situation awareness method based on data fusion and independent objects for autonomous driving in on-road environment. The proposed method, designed to achieve an accurate analysis of driving situations in on-road environment, executes preprocessing tasks that include coordinate transformations, data filtering, and data fusion and independent object based situation assessment to evaluate the collision risks of driving situations and calculate a desired velocity. The method was implemented in an open-source robot operating system called ROS and tested on a closed road with other vehicles. It performed successfully in several scenarios similar to a real road environment.

• Proceedings of the KIEE Conference
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• 2002.11d
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• pp.187-190
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• 2002

Plasma Display Panel(PDP) has been recognized as one of the most competitive display panel. Hence, the importance of PDP driving circuit is getting higher and higher. At the same time, it is strongly required for the driving circuit to be high efficiency, high stability, and cost effective one. In this work, a stable PDP driving circuit is developed by improving the circuit configuration. And the reliability and the productivity of the driving circuit are improved by using the Intelligent Power Module(IPM) technology. Finally operating characteristics of the developed IPM driving circuit are verified by using signal source board developed.

• Journal of Auto-vehicle Safety Association
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• v.14 no.1
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• pp.20-25
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• 2022

This paper presents a development of simulation environment for validation of autonomous driving (AD) algorithm based on Robot Operating System (ROS). ROS is one of the commonly-used frameworks utilized to control autonomous vehicles. For the evaluation of AD algorithm, a 3D autonomous driving simulator has been developed based on LGSVL. Two additional sensors are implemented in the simulation vehicle. First, Lidar sensor is mounted on the ego vehicle for real-time driving environment perception. Second, GPS sensor is equipped to estimate ego vehicle's position. With the vehicle sensor configuration in the simulation, the AD algorithm can predict the local environment and determine control commands with motion planning. The simulation environment has been evaluated with lane changing and keeping scenarios. The simulation results show that the proposed 3D simulator can successfully imitate the operation of a real-world vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.496-499
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• 1997

This paper describes the operating software of a motion system developed for a driving simulator, consisting of a six degree of freedom Stewart platform driven hydraulically. The drive logic, consisting of an washout algorithm, inverse kinematic analysis, and a control algorithm, has been developed and applied for creating high fidelity motion cues. The basic environment of the operating software is based on LabVIEW 4.0 and DLL modules compiled by Fortran.

• Journal of applied mathematics & informatics
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• v.30 no.1_2
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• pp.1-14
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• 2012

In this paper, the problem of determining the optimal car-deriving strategy has been examined. In order to find the optimal driving strategy, we have modified a method based on measure theory. Further, we demonstrate that the modified method is an efficient and practical algorithm for dealing with optimal control problems in a canonical formulation.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.129-143
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• 2021

This paper proposes actuator fault detection and adaptive fault-tolerant control algorithms using performance index and human-like learning for longitudinal autonomous vehicles. Conventional longitudinal controller for autonomous driving consists of supervisory, upper level and lower level controllers. In this paper, feedback control law and PID control algorithm have been used for upper level and lower level controllers, respectively. For actuator fault-tolerant control, adaptive rule has been designed using the gradient descent method with estimated coefficients. In order to adjust the control parameter used for determination of adaptation gain, human-like learning algorithm has been designed based on perceptron learning method using control errors and control parameter. It is designed that the learning algorithm determines current control parameter by saving it in memory and updating based on the cost function-based gradient descent method. Based on the updated control parameter, the longitudinal acceleration has been computed adaptively using feedback law for actuator fault-tolerant control. The finite window-based performance index has been designed for detection and evaluation of actuator performance degradation using control error.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.281-285
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• 2013

In this paper, a design scheme of a cruise control system for an electric vehicle using piece-wised PD control is proposed. Cruise control of electric vehicles is one of the major performance elements. Drive motors having linear characteristics ideally is required in order to achieve the cruise driving. But practical motors have nonlinear characteristics and the performance of the motors can be improved by the closed-loop control to compensate it. In this paper, we improved the performance of by applying piece-wised PD control because the driving motors having nonlinear characteristics are difficult to obtain adequate performance only using closed-loop control. In order to test the proposed method, the experiments were carried out by applying the proposed method after setting up an electric vehicle equiped with a driving motors having large nonlinear characteristics. The experiment results of the proposed piece-wised PD control shows better performance than that of closed-loop control.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.243-249
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• 2015

In direct vehicle teleoperation, a human operator drives a vehicle at a distance through a pair of master and slave device. However, if there is time delay, it is difficult to remotely drive the vehicle due to slow response. In order to address this problem, we introduced a novel methodology of shared vehicle teleoperation using a virtual driving interface. The methodology was developed with four components: 1) virtual driving environment, 2) interface for virtual driving environment, 3) path generator based on virtual driving trajectory, 4) path following controller. Experimental results showed the effectiveness of the proposed approach in simple and cluttered driving environment as well. In the experiments, we compared two sampling methods, fixed sampling time and user defined instant, and finally merged method showed best remote driving performance in term of completion time and number of collision.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.62-65
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• 2004

An optimal robust controller design method for gun driving system is discussed in this paper. The parameters of the gun driving controller are tuned by using the LQR characteristics for the performance and robustness. Tuning method that optimize velocity error gives a significant improvement over the existing PID tuning methods. It is shown that the tuning result of real gun driving system which is regarded as rigidness model or stiffness model satisfy performance and robustness.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1313-1317
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• 2005

This paper presents the overall design, manufacture, and test result of the high capacity (more than 150 Am^2) magnetic torquer for the use of satellite control. To provide an electrical current to the magnetic torquer, the driving electronics is also constructed. The integration and test of the magnetic torquer and its driving electronics are performed via the magnetic field measurement according to the distance and the magnetic torque measurement with torque-meter. To compare the performance obtained from the test results we also perform computer simulation with three-dimensional model.