• Journal of Auto-vehicle Safety Association
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• v.12 no.3
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• pp.13-19
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• 2020

This paper presents steering controller for unintended lane departure avoidance under crosswind using vehicle lateral disturbance estimation. Vehicles exposed to crosswind are more likely to deviate from lane, which can lead to accidents. To prevent this, a lateral disturbance estimator and steering controller for compensating disturbance have been proposed. The disturbance affecting lateral motion of the vehicle is estimated using Kalman filter, which is on the basis of the 2-DOF bicycle model and Electric Power Steering (EPS) module. A sliding mode controller is designed to avoid unintended the lane departure using the estimated disturbance. The controller is based on the 2-DOF bicycle model and the vision-based error dynamic model. A torque controller is used to provide appropriate assist torque to driver. The performance of proposed estimator and controller is evaluated via computer simulation using Matlab/Simulink.

• Proceedings of the KIEE Conference
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• 2007.04c
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• pp.119-121
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• 2007

The increment of electric power demand causes interest on new higher power system such as 42V Power Net, and furthermore necessity for development of energy storage device is highlighted recently. Owing to high efficiency and easy speed control of brushless DC(BLDC) motor, the demand of BLDC motor that has high power and low noises are increasing. Especially demand of interior permanent magnet(IPM) type BLDC with high efficiency and high power in electric motion vehicle is increasing. This paper presents the design of the BLBC motor for EHPS(Electro-Hydraulic Power Steering) in 42V system and verified the characteristics by simulation and test results.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.446-455
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• 2010

The research presented covers the design and control method of unmanned ground vehicle (UGV). An electric vehicle is used and is driven by DC motor. The power system on the UGV has been adjusted and actuators have been installed for steering and brake automation. A toggle switch is implemented to easily switch between manual and autonomous states. The UGV state is monitored by a velocity sensor, as well as steering and brake position sensors. An emergency stop device was designed and installed to quickly and safely stop the UGV. Different control methods, including the PID controller, were studied for improved steering responsiveness, and results were confirmed through experimentation. Satisfactory performance was achieved and several possible areas of future research have arisen.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.1
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• pp.162-167
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• 2004

In this research the Co-simulation technique for an electric power steering system with MATLAB/SIMULINK and a full vehicle model with ADAMS has been developed. The dynamic responses of vehicle chassis and steering system are evaluated. Then, a full vehicle model interacted with EPS control is concurrently simulated with an impulsive steering wheel torque input to analyze the stability of 'free control' or hands free motion for Sports Utility Vehicle. This integrated method allows engineers to reduce the prototype testing cost and to shorten the developing period.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.730-734
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• 2007

National projects on renewable energy and new energy are driven more actively than ever in many countries for the exhaustion of fossil fuel energy from the turn of the century. Such activities began to spread out in railway industry with centering around west European countries. Electric energy is generated on the hybrid vehicle itself, which contributes to reduction of the cost for construction of the infrastructure required for the supply of electric power. Hybrid tram is mainly composed of propulsion system to control electric energy, automatic guidance system to control steering and operation, and central vehicle unit to control and monitor major electronic devices. Generation and supply of electric power are made by the combination of engine generator and battery, or fuel cell and super capacitor.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.795-796
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.797-798
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• 2010

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.1
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• pp.8-13
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• 2012

In this paper, Hybrid Electric Vehicle is directly designed and manufactured for base study of HEV's system and Green Car. Foundation design consists of power train design and the frame design. The power train concept includes motor, engine, generator and battery. And the concept of the frame is the single-seat of this self-made HEV. A frame installed in hybrid system contains suspension, steering wheel, seat, accelerating pedal, brake pedal, clutch handle and various chassis parts with bearings. Electromagnetic clutch is equipped to transmit engine power to drive axle. The control algorism make using LabVIEW to control of an engine and a motor depending on drive condition. A parallel type hybrid system is manufactured to control operation of a motor and an engine depending on vehicle speed.

• Journal of the Korean Society of Safety
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• v.32 no.5
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• pp.13-19
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• 2017

In this paper, study of vehicle fire cases caused by connector and power wiring of anti-lock brake system(ABS) module damage is presented. The purpose of ABS module is to improve braking and steering ability under sudden stop of the vehicle by repeatedly activating and releasing the brake with electric signal via electric control unit. The electric control unit for ABS may experience incomplete contact between power line and signal line or electrical breakdown on the printed circuit board by undergoing repetitive signal change which would consequently result in electrical heat and spark, eventually leading to automotive fire. Therefore, the purpose of this paper is to provide fundamental data by analyzing connector and power wiring of ABS module damage conducive to the precise investigation on the cause of vehicle fire.