• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.87-96
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• 2013

This paper shows how the performance of an ESC(Electronic Stability Control) system can be affected by the selection of in-vehicle network protocols such as CAN or FlexRay. The vehicle control performance under ESC operation is analyzed by EILS(ECU-In-the-Loop Simulation). The experimental set-up for the EILS of the ESC system consists of two 32-bit microcontroller boards communicated with CAN or FlexRay protocols. A 7-DOF vehicle model and an ESC algorithm with 2-DOF reference vehicle model are implemented on each microcontroller respectively. It is shown by experimental results that the ESC system using the FlexRay protocol can achieve better performance than that using the CAN protocol for a fast and accurate lane changing.

• Journal of Korean Society of Transportation
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• v.24 no.7 s.93
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• pp.101-114
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• 2006

Recently due to the increase of cars and city life, the traffic congestion has worsened. It Is particularly worse in the center of the metropolis. Within the general public means, the public transport buses have the advantage of being more cheap, accessible and mobile. But as there is no separate lane for buses, the collision of cars and buses are creating damage to public service. In order to solve this situation, the bus priority signal system has been introduced to reduce the bus travel time and improve its services. The purpose of this study is to establish bus priority signal algorithm which builds bus efficiency under the real-time traffic signal control system and to analyze the effect of it. As the green time was calculated against real time (under the real-time traffic signal control system), compared to existing bus priority signal there was a reduction in cross street loss. The modified cycle was used to maintain signal progression. A case study was carried out using VISSIM simulation model. In result of this study, we found that there was a decrease in bus travel time despite some evidence of car delays and compared to existing bus priority signal the delay of dishonor could be reduced dramatically. The analysed result of person delay using MOE, is that there is evidence that when bus priority signal is in effect, the person delay is reduced.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.496-500
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• 1998

Not merely running at the designated constant speed as the classical cruise control, the adaptive cruise control (ACC) maintains safe headway distance when the front is blocked by other vehicles. One of the most essential part of ACC System is the range sensor which can measure the position and speed of all objects in front continuously, ignore all irrelevant objects, distinguish vehicles in different lanes and lock on to the closest vehicle in the same lane. In this paper, the hierarchical object recognition algorithm (HORA) is proposed to process raw scanning laser data and acquire valid distance to target vehicle. HORA contains two principal concepts. First, the concept of life quantifies the reliability of range data to filter off the spurious detection and preserve the missing target position. Second, the concept of conformation checks the mobility of each obstacle and tracks the position shift. To estimate and predict the vehicle position Kalman filter is used. Repeatedly updated covariance matrix determines the bound of valid data. The algorithm is emulated on computer and tested on-line with our ACC vehicle.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.11
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• pp.24-35
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• 2012

In this paper, we propose a dynamic lane control scheme with a traffic predictor module and a rate controller for reconciling with commercial optical PHY modules in energy efficient optical Ethernet systems. The commercial high speed optical Ethernet system capable of 40/100Gbps employs 4 or 10 multiple optical transceivers over WDM or multiple optical links. Each of the transceivers is always turned on even if the link is idle. To save energy, we propose the dynamic lane control scheme. It allows that several links may be entirely turned off in a low traffic load and frames are handled on the remaining active links. To preserve the byte order even if the number of active links may be changed, we propose a rate controller to be sat on the reconciliation sublayer. The main role of the controller is to insert null byte streams into the xGMII of inactive lanes. For the PHY module, the null input streams corresponding to inactive lanes will be disregarded on inactive PMDs. It is very handy to implement the rate controller module with MAC in FPGA without any modification of commercial PHYs. It is very crucial to determine the number of active links based on the fluctuated traffic load, we provide a simple traffic predictor based on both the current transmission buffer size and the past one with different weighting factors for adapting to the traffic load fluctuation. Using the OMNET++ simulation framework, we provide several performance results in terms of the energy consumption.

• 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.

• Journal of Drive and Control
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• v.17 no.4
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.13 no.3
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• pp.25-37
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• 2014

Recently, our local governments are conducting the introduction of tram system because it is recognized as an effective public transit that can solve a traffic jam in downtown, decreasing public transit share and environmental issues in world wide cities. We developed the Active Priority Control Strategy to efficiently operate a tram in our existing traffic signal system. This study organized the tram system for operating the Active Priority Signal Control, developed the algorithm that calculates a tram-stop dwell time in order to pass the downstream intersection without a stop. The dwell time is determined by arrival time at tram-stop, downstream signal time, and the location of a opposite tram, it can be reduced by choosing the optimal one among Signal Priority Controls. Using the VISSIM and VISVAP model, we conducted a simulation test for the city of Chang-won that it is expected to install a tram system. It showed that a developed signal control strategy is effective to prevent a tram's stop in intersections, to reduce a tram's travel time.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.718-724
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• 2013

In today's automotive industry, there exist several systems that help drivers reduce the possibility of accidents, such as the ADAS (Advanced Driver Assistance System). The ADAS helps drivers make correct and quick decisions during dangerous situations. This study analyzed the performance of the IMM (Interacting Multiple Model) method based on multiple Kalman filters using the data acquired from a driving simulator. An IMM algorithm is developed to identify the current discrete state of neighboring vehicles using the sensor data and the vehicle dynamics. In particular, the driving modes of the neighboring vehicles are classified by the cruising and maneuvering modes, and the transition between the states is modeled using a Markovian switching coefficient. The performance of the IMM algorithm is analyzed through realistic simulations where a target vehicle executes sudden lane change or acceleration maneuver.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1874-1879
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• 2004

This paper validates new type electric power steering (EPS) system which is driven by a uni-direction rotational motor and two electromagnetic clutches. The assist motor of the new type EPS produces a torque for assisting the steering in only one direction and two electromagnetic clutches transmit the assist torque to the pinion gear in either left or right direction with respect to the steering rotation. In order to evaluate the static and dynamic characteristics of the new type EPS, the EPS has been modeled by using the well known customized software such as MSC.ADAMS and MSC.CarSim. The ADAMS software has been used to investigate the static characteristics of the proposed system. ADAMS, however, can not describe dynamics of a vehicle and perform the simulation under the various road conditions. Thus the dynamic characteristics of the vehicle including the EPS are analyzed very well by using the CarSim software. A sinusoidal steering input command is applied to the propose EPS system in order to evaluate the static characteristics, while the double lane changes are applied to the vehicle with the EPS in order to evaluate the dynamic performance. Through a series of simulations, we can conclude that the propose EPS shows the stable dynamic characteristics when the rotational direction is changed.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.4
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• pp.313-323
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• 2017

As vehicles become more intelligent this is focused on ways to enhance safety and convenience for both drivers and passengers. In particular, x-by-wire systems that replace rigid mechanical components with dynamically configurable electronic elements are being developed to expand intelligent functions, such as adaptive cruise control or lane departure warning system. Because the malfunction of safety-related modules controlling critical functions, such as brakes, throttle, and steering in x-by-wire systems, can cause injury or death, safety and reliability are the most critical issue for automotive vendors and parts manufacturers. In an effort to develop better and effective brake-by-wire system, this paper presents EMB system by using the low speed electric vehicle, which is not required large braking force, with motor controller. In addition, we design performance evaluation system of EMB with 1/4 low speed electric vehicle model and suggested EMB is evaluated through the performance evaluation system.