• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.222-228
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• 2003

Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.65-73
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• 2001

In this paper, a mobile system using multi-wheel steering and driving mechanism is proposed to maximize maneuverability of the wheeled mobile system. Among various possible configurations, the two-wheel steering and driving systems, which is minimal in structural requirement, is proposed to reduce the complexity in actual design and difficulties in control. The system possesses three or four degrees of freedom depending on the orientations of two wheels, one or two for driving and two for steering, which implies that the system's mobility is always less than three DOF. The proposed system, nonetheless, can exactly emulate characteristics of the omnidirectional motion as long as the planned path is smooth i.e., the curvature changes continuously while velocity is not zero. Efficient kinematic and dynamic control algorithms are proposed for position and orientation control of the proposed wheeled mobile system.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.162-171
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• 1999

The most important part in automated transport systems is steering control for lane keeping Most of systems developed so far have used the visual information for steering control. In this study, the steering control algorithm based on visual servoing has been developed and tested by applying it on Radio Controlled(R/C) model car equipped with one CCD camera. We also demonstrated the feasibility of using it as a pre-test car before the real car experiment in developing automated vehicles. In order to solve the problem of the limited spave and load of a model car, remote-brained approach has been taken. For steering control of a model car, the PD controller which uses the look ahead offset to generate control input has been implemented and the characteristics of the controller has been explained in view of kinematics. Some experimental results have been also illustrated so as to show the control performance and stability.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.287-292
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• 2005

In this paper, a state steering strategy using digital control method for chained system is presented. The chained system can be derived from the velocity or acceleration constraints that cannot be integrable. Especially, the chained system derived from an acceleration constraints is called the high order chained system. Such a system classified as a nonholonomic systems and cannot be controlled to its equilibrium points by continuous and time-invariant controller. Therefore discontinuous and time varying controller should be applied to control nonholonomic system. Using variable transformation, two sub system can be obtained from the chained or high order chained system. Deadbeat control and iterative state steering methods are proposed to control the systems that obtained from the variable transformation. Simulation results are given to show the effectiveness of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.728-733
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• 2003

In human-mechanical cooperative systems, a significant issue is to improve the control performance and the maneuvering feeling of human operation. However, since it is not easy to evaluate the feeling of operators numerically, control engineers design controllers only through experience. Thus, in this paper, a new evaluation method for control performance of human-mechanical cooperative system is proposed based on the reserge waveform. Various distortions of waveform represent deteriorations of control performance and maneuvering feeling. In some cases, since there is a tradeoff between the control performance and the maneuvering feeling, it is difficult to compensate for both of them by usual feedback controllers. To overcome this situation, the two degrees of freedom control system is applied to human-mechanical cooperative system. Some numerical simulation results for an electric power steering system are shown to confirm the effectiveness of proposed control design method.

• Journal of the Korean Institute of Navigation
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• v.5 no.2
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• pp.59-88
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• 1981

Many studies have been done in the field of fuzzy logic theory, but it's application is not so much, and particularly, there isn't any application to the ship's steering system, until now. This paper is to survey the effect of application of fuzzy logic control to the ship's steering system. The controller is made up of a set of Linguistic Control Rules which are conditional linguistic statements connecting the inputs and the output, and take the inputs derived from the errors, that is, deviation angle and it's angular velocity. These two variables together give information about the state of the steering system, and the Linguistic Control Rules are implemented on the digital computer. The characteristics of this system were investigated through the computer simulation and satisfactory results compared with that of the conventional PD controller were obtained.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.4
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• pp.87-96
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• 1996

The proportional pressure control valve(PCV) is an essential component in the open loop controlled rear wheel steering gear of the four wheel steering(4WS) system on the passenger car. The valve should have versatile functions and higher performance. But, it is hard to find the proportional pressure control valve suitable for the 4WS system. In this paper, the determination of the valve parameters was studied by the stability discrimination and the characteristic analysis for the purpose of the development of a new PCV for the 4WS. The mathematical model of the valve was derived from the valve-cylinder system and the programme for numerical computation was developed. The transfer function of the system was obtained from the mathematical model. The characteristics of the valve were inspected through the experiment and compared to those obtained by numerical method. And then the stability discrimination of the system was done by root locus and the analysis of characteristics was done by the developed programme. From the experiment and the analysis of characteristics was done by the developed programme. From the experiment and the inspection, the appropriation of mathematical model and the usefulness of the programme were confirmed. And the parameters which might affect the performance of the valve can be determined by considering the stability discrimination, the characteristics analysis and required functions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.86-94
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• 2019

This paper describes the development of unmanned vehicle remote control system which is configured with steering and accelerating/braking hardware to improve the sense of reality and safety of control. Generally, in these case of the remote control system, a joystick-type device is used for steering and accelerating/braking control of unmanned vehicle in most cases. Other systems have been developing using simple steering wheel, but there is no function of that feedback the feeling of driving situation to users and it mostly doesn't include the accelerating/braking control hardware. The technology of feedback means that a reproducing the feeling of current driving situation through steering and accelerating/braking hardware when driving a vehicle in person. In addition to studying feedback technologies that reduce unfamiliarity in remote control of unmanned vehicles, it is necessary to develop the remote control system with hardware that can improve sense of reality. Therefore, in this study, the reliable remote control system is developed and required system specification is defined for applying force-feedback haptic control technology developed through previous research. The system consists of a steering-wheel module similar to a normal vehicle and an accelerating/braking pedal module with actuators to operate by feedback commands. In addition, the software environment configured by CAN communication to send feedback commands to each modules. To verify the reliability of the remote control system, the force-feedback haptic control algorithms developed through previous research were applied, to assess the behavior of the algorithms in each situation.

• Journal of Auto-vehicle Safety Association
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• v.9 no.3
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• pp.19-23
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• 2017

This paper presents a lateral driver model with neuromuscular system to evaluate the performance of electric power steering (EPS). Output of most previously developed driver models is steering angle. However, in order to evaluate EPS system, driver model which results in steering torque output is needed. The proposed lateral driver model mainly consists of 2 parts: desired steering angle calculation and conversion of steering angle into steering torque. Desired steering angle calculation part results in steering angle to track desired yaw rate for path tracking. Conversion of steering angle into torque is consideration with neuromuscular system. The proposed driver model is investigated via actual driving data. Compared to other algorithms, the proposed algorithm shows similar pattern of steering angle with human driver. The proposed driver can be utilized to efficiently evaluate EPS system in simulation level.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2883-2890
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• 2000

In this study, a Hardware-In-The-Loop-Simulation(HILS) system for developing a Electric-Power-Steering(EPS) system is designed. To test a EPS by HILS system, a mathematical vehicle model with a steering system model has been constructed. This mathematical model has been constructed. This mathematical model has been downloaded to the Digital-Signal-Processor(DSP) board. To realize the lateral force acting on the front wheel in a real car. the steering wheel angle sensor and vehicle velocity have been used for input signal. The force sensor has been used for a feedback signal. The full vehicle states could by simulated by the HILS system. Consequently, the HILS system could by used to analyze control-parameters of a EPS that contributes to the maneuverability and stability of a vehicle. At the same time, the HILS system can evaluate the whole performance of the vehicle-steering system. Also the HILS system could do test could not be executed in real vehicle. The HILs system will useful for developing the control logic for the EPS system.