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무인 자율 주행 지게차를 위한 네트워크 기반 분산 제어 시스템의 구조
이주경(Jukyung Lee),이상협(Sanghyob Lee),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
To enhance the productivity of material handling system in an automated warehouse, an unmanned autonomous forklift will necessitate more elementary functions and systemic integration. However, it is very difficult tasks to integrate various functions for autonomous driving and fork handling. That is because a wiring will rapidly increase when electronic devices such as sensors, actuators, and controllers are increased and the computing capacity of processors will rapidly increase when additional functions are implemented. To reduce these problems, this paper presents an unmanned autonomous forklift with the network-based distributed control system scheme. In the network-based distributed control system scheme, one or two functions are implemented at one microcontroller with a restricted computing capacity and modules are connected with CAN network.
샤시 네트워크 시스템을 위한 FlexRay 스케줄링 알고리즘
이종갑(JongGap Lee),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
In the future, an intelligent car requires high level applications such as fault tolerance and high data rate. Existing CAN which is the most popular In-Vehicle Network protocol until now cannot support these applications. So FlexRay appeared for complement to CAN. FlexRay is time-triggered protocol and I has deterministic characteristics. But scheduling algorithm for support FlexRay is very complicated and there is no standard scheduling algorithm. In this paper, therefore, we propose two FlexRay scheduling algorithm using CAN database. One is called 'Message-based scheduling algorithm', another is 'Communication node-based scheduling algorithm'. 'Message-based scheduling algorithm' use messages, ' Communication node-based scheduling algorithm' use communication nodes in a cluster for scheduling. This paper suggests these two scheduling algorithm going one step forward valuates them.
Dual CAN 시스템을 위한 Kalman 기반 Traffic balancing 알고리즘 개발
이종갑(JongGap Lee),이석(Suk Lee),이경창(Kyungchang Lee) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
The controller area network (CAN) is the dominant protocol for in-vehicle networking systems because it provides bounded transmission delay among electronic control units (ECUs) at data rates between 12Kbps and 1Mbps. And, many automotive companies have chosen the CAN protocol for their chassis network system of intelligent vehicles. However, the increasing number of ECUs in the intelligent vehicle and the need for more intelligent functions require a network system with more network capacity and real-time capability. As one approach to enhance the network capacity of a CAN system, this paper introduces a CAN system with dual communication channels. And, this paper presents Kalman based traffic-balancing algorithm that predicts the traffic of each channel using Kalman filter and allocates frames to the more appropriate channel. An experimental test bed using commercial off-the-shelf microcontroller with two CAN controllers was used to demonstrate the feasibility of the Kalman based traffic-balancing algorithm.
샤시 네트워크 시스템을 위한 FlexRay 스케줄링 알고리즘
이주경(Jukyung Lee),이종갑(JongGap Lee),이경창(Kyungchang Lee) 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
In the future, an intelligent car requires high level applications such as fault tolerance and high data rate. Existing CAN which is the most popular In-Vehicle Network protocol until now cannot support these applications So FlexRay appeared for complement to CAN. FlexRay is time-triggered protocol and I has deterministic characteristics. But scheduling algorithm for support FlexRay is very complicated and there is no standard scheduling algorithm. In this paper, therefore, we propose two FlexRay scheduling algorithm using CAN database. One is called ‘Message-based scheduling algorithm’, another is ‘Communication node-based scheduling algorithm’. ‘Message-based scheduling algorithm’ use messages, ‘Communication node-based scheduling algorithm’ use communication nodes in a cluster for scheduling. This paper suggests these two scheduling algorithm going one stop forward valuates them.
박지훈(Jeehun Park),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
Cyber physical system(CPS) is a system featuring a tight combination of, and coordination between, the systems computational and physical elements. Today, a pre-cursor generation of cyber physical systems can be found in areas as diverse as aerospace, automotive, chemical processes, energy, healthcare, manufacturing, and consumer appliances. This paper presents a cyber physical system where system components are connected to a shared network, and control functions are divided into small tasks that are distributed over a number of embedded controllers with limited computing capacity. In this paper, in order to decrease the traffic of embedded network for automotive, communication procedure with small traffic is designed.
X-By-Wire 시스템을 위한 통신 프로토콜의 성능 평가
김만호(Manho Kim),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Today, many protocols have been developed to satisfy various requirements for automobile application. Especially, the X-By-Wire system is issued in automobile company, and protocols such as TTP, TTCAN, and Flex Ray have been developed by many automobile companies. However, because any protocol is not dominant in the market yet, it is very difficult to choice appropriate protocol for X-By-Wire system. Hence, this paper presents the performance evaluation of CAN and TTP via discrete event simulation to compare features of X-By-Wire protocols. Through numerous simulation experiments, several important performance indices such as the transmission failure rate, average system delay (data latency), and maximum system delay have been evaluated.