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첨단안전자동차의 국제안전시험 적용을 위한 무인 평가 시스템 개발 - Part Ι
김영일(Youngil Kim),이승환(Seunghwan Lee),소민우(Minwoo Sho),권재준(Jaejoon Kwon),홍태욱(Taewook Hong),박기홍(Kihong Park) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
The collision avoidance system, a component of the active safety system in automobiles, is constantly developing to reduce further transportation-related fatalities and injuries. As a result, various automotive manufacturers are interested in upholding international safety test standards and the objective evaluation methods for the next prospective active safety system. Under an international paradigm of vehicle safety, notable organizations such as the EURO NCAP will also rate the AEBS (Autonomous Emergency Braking System) in 2014 to assess vehicle safety performance as set out by both domestic and overseas automotive manufacturers. The currently existing active safety assessment system is classified under two significant methods. One is a static test via applying a vehicle-shaped balloon or dummy to the vehicle. The second is a dynamic test involving a vehicle equipped with a dummy by a crane for crash-test simulation. The main advantage of these experiments is that the following equipment can be reused for future crash-test studies. These methods should not, however, be exempt from uncertainty and further limitations. For instance, there is a high probability that environmental sensors attached to crash-test vehicles may miss detection, record a false alarm, or that the dummy, equipped with the crane, cannot be driven in the same way as a real-life vehicle, further hindering overall consistencies of each test. Therefore, in this paper, we have developed an evaluation system utilizing an automated vehicle to overcome such limitations of the conventional active safety assessment system.
고속 자율 주행 차량의 고자유도 모델 기반 조향제어 알고리즘 개발
이승환(Seunghwan Lee),임승국(Seungkuk Lim),소민우(Minwoo Sho),권재준(Jaejoon Kwon),홍태욱(Taewook Hong),박기홍(Kihong Park) 한국자동차공학회 2013 한국자동차공학회 학술대회 및 전시회 Vol.2013 No.11
This paper is study of steering control for path tracking of autonomous vehicle. One of the core technologies of autonomous vehicle is steering control technology for accurate path tracking. Conventional steering control algorithms have been applied for controlling the low-speed driving. Steering control on the low-speed driving is possible by using the 2-D.O.F. model. To prepare for a variety of driving conditions, steering control algorithms for high-speed driving should be developed. But, cornering stiffness and lateral load transfer by roll should be considered for controlling the high-speed driving. In order to reflect these factors for controlling the high-speed driving, the steering control algorithm based on nonlinear 3-D.O.F. model should be developed. For verifying the developed algorithm, developed steering control algorithm based on nonlinear 3-D.O.F. was compared with conventional steering control algorithm.