• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.2-51
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• 2001

A vehicle driving simulator is a virtual reality device which makes a human being feel as if the one drives a vehicle actually. The driving simulator is effectively used for studying interaction of a driver-vehicle and developing the vehicle system of new concepts. The driving simulator consists of a motion platform, a motion controller, a visual and audio system, a vehicle dynamic analysis system, a vehicle operation system and etc. The vehicle dynamic analysis system supervises overall operation of the simulator and also simulates dynamic motion of a multi-body vehicle model in real-time. In this paper, the main procedures to develop the driving simulator are classified by 4 parts. First, a vehicle motion platform and a motion controller, which generates realistic motion using a six degree of freedom Stewart platform driven hydraulically. Secondly, a visual system generates high fidelity visual scenes which are displayed on a screen ...

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.645-650
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• 2010

In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.1
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• pp.169-175
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• 2009

Real-time multibody vehicle dynamics software has been developed for virtual handling tests. The software can be utilized for HILS(Hardware In the Loop Simulations) and consists of three modules such as a graphical vehicle modeling preprocessor, a real time dynamics solver, and a virtual reality graphic postprocessor for virtual handling tests. In the graphical vehicle modeling preprocessor, vehicle hard point data for a suspension model are automatically converted into multibody vehicle model. In the real time dynamics solver, the efficient subsystem synthesis method is used to create multibody equations of motion for a subsystem by a subsystem. In the virtual reality graphic postprocessor, an animator has been also developed by using Matlab Virtual Reality Toolbox for virtual handling tests.

• Journal of Auto-vehicle Safety Association
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• v.14 no.1
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• pp.45-54
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• 2022

Recently, the introduction of Cooperative Intelligent Transport Systems (C-ITS) has been attempted to solve the limitation of only the sensor of the vehicle itself. For example, vehicles traveling at intersections can drive more safely through C-ITS. By using V2X communication of WAVE and LTE, the driver can receive the status and time of traffic lights. However, LTE has a larger transmission delay time than WAVE, so timimg data may not match in real time. In this paper, using the SPaT message, it was confirmed that LTE has a larger C-ITS service transmission delay time than WAVE. Finally, it was confirmed that the timing data of SPaT provided by LTE corrected by the algorithm is similar to SPaT provided by WAVE. It was confirmed that safer intersection driving is possible based on real-time.

• KIEAE Journal
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• v.14 no.4
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• pp.27-33
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• 2014

This study analyzed the electric vehicle recharging station status with recharging time limitation due to long waiting time, and figured out the user status by user interviews. And then this study verified the validity of hypothesis in terms of environmental design perspective and suggested layout of recharging station model. 21 recharging stations in Korea and station operation cases of 7 countries were examined. Except for the USA, the reality of electric vehicle recharging station today is the 1st proving stage focusing on the infrastructure construction of electric vehicle recharging station. It focuses on performance of recharging facility, use efficiency and operation environment of electric vehicle. About the effective waiting time of the user to use it should be studied. The current conditions of recharging station are as follows: Lack of independent recharging space, lack of facility that reduces external effect of recharging space, and lack of lounge for users during the waiting time. These three are essential factors constructing a suggesting model after basic layout, which needs proper measurement on the long recharging time and long waiting time. The essential factors are applied to electric vehicle recharging station layout so that users might use 'digital refresh" i.e. lounge and information contents service during the waiting time which provides convenience of recharging and emotional space with users. Such upgrade recharging station environmental model might resolve the burden of long recharging time which may contribute to the popularization of electric vehicles.

• IE interfaces
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• v.12 no.4
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• pp.557-566
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• 1999

This paper considers a door-to-door service system in which pickups or deliveries are performed by a trip of a single vehicle. Each customer request specifies the quantity of the load transported, the location, and the time window within which it is to be picked up or delivered. Since the system is demand responsive, i.e., new or emergent requests become available in real-time, the current vehicle route has to be reconstructed to include these requests. In this case, only continuous vehicle tracking enables control over the requests and ensures that the requests are satisfied on time. This paper suggests a pilot pickup/delivery management system integrating a geographic information system(GIS) and a global position system(GPS) to efficiently deal with such a dynamic environment. The GIS offers a way of displaying the vehicle route on digital maps for the region under concerned. Also displayed is the current location of the vehicle obtained from the GPS. A heuristic algorithm is used to dynamically determine the vehicle route. A practical example is provided to show the feasibility of the system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.261-264
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• 1997

In case of high speed and high mobility multibody tracked vehicle, it is hard to develop the realtime simulation model for track tension control because of the hundreds of highly nonlinear equations. In order to design more trustworthy realtime simulator for track tension control, it is necessary to use off-line tracked vehicle model. In this study, a step by step procedure is presented to develop realtime simulation model based on off-line tracked vehicle model. Simulation results show that modified off-line multibody tracked vehicle model can be used for real time simulation to control the track tension.

• Journal of the Korea Society of Computer and Information
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• v.24 no.1
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• pp.167-178
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• 2019

In this paper, we study the multi-objectives vehicle and drone routing problem with time windows, MOVDRPTW for short, which is defined in an urban delivery network. We consider the dual modal delivery system consisting of drones and vehicles. Drones are used as a complement to the vehicle and operate in a point to point manner between the depot and the customer. Customers make various requests. They prefer to receive delivery services within the predetermined time range and some customers require fast delivery. The purpose of this paper is to investigate the effectiveness of the delivery strategy of using drones and vehicles together with a multi-objective measures. As experiment datasets, we use the instances generated based on actual courier delivery data. We propose a hybrid multi-objective evolutionary algorithm for solving MOVDRPTW. Our results confirm that the vehicle-drone mixed strategy has 30% cost advantage over vehicle only strategy.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.823-830
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• 2009

For developing automotive parts and telematics devices the real car test often shows limitation because it needs high cost, much time and has the possibility of the accident. Therefore, a Vehicle Driving Simulator (VDS) instead of the real-car test has been used by some automotive manufactures, research centers, and universities. The VDS is a virtual reality device which makes a human being feel as if one drives a vehicle actually. Unlike actual vehicle, the simulator has limited kinematic workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model fully. In order to overcome these problems, a washout algorithm which restricts workspace of the simulator within the kinematic limits is needed, and analysis of dynamic characteristics is required also. However, a classical washout algorithm contains several problems such as time delay and generation of wrong motion signal caused by characteristics of filters. Specially, the classical washout algorithm has the simulator sickness when driver hardly turns brakes and accelerates the VDS. In this paper, a new washout algorithm is developed to enhance the motion sensitivity and improve the simulator sickness by using the vehicle tilt signal which is generated in the real time vehicle dynamic model.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.741-746
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• 2001

This paper presents an investigation of a vehicle-to-vehicle distance control using a Hardware-in-the-Loop Simulation(HiLS) system. Since vehicle tests are costly and time consuming, how to establish a efficient and low cost development tool is an important issue. The HiLS system consists of a stepper motor, an electronic vacuum booster, a controller unit and two computers which are used to form real time simulation and to save vehicle parameters and signals of actuator through a CAN(Controller Area Network). Adoption of a CAN for communication is a trend in the automotive industry. Since this environment is the same as that of a real vehicle, a distance control logic verified in laboratory can be easily transfered to a test vehicle.