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[ITS 부문] 원격 주행을 위한 무인 자동차의 센서 FUSION 설계와 성능 분석에 관한 연구
김민석(Min-seok Kim),심재홍(Jae-heung Sim),박영훈(Young-hoon Park),윤득선(Duk-sun Yun),김정하(Jung-ha Kim) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The unmanned vehicle should take notice of its location and recognize circumstance around the place itself for enabling tele operation of unmaned vehicle. During the operation, it is a serious control strategy that the vehicle can detect obstacles and avoid collision on the road. For these abilities, we designed sensor fusion system, which is comprised by four main unmaned vehicle parts: front & side sensor system and acceleration & brake control system for longitudinal motion control, vision system for keeping the lane and steering control system for the lateral motion control.<br/> In this study, mechanical and electronic parts are implemented to operate unmaned vehicle as a integrated system, which includes vehicle driving DC motor, another DC motor for brake actuator system, step motor for steering control and all of them are controlled by one processor.<br/> A laser range finder is used to detect for long distance of front side. And ultra-sensors are<br/> used for detecting close-distance of lateral side.<br/> Algorithm for operating each control parts is developed and AICC logic is applied and enhanced experimentally.
김민석(Min-seok Kim),윤득선(Duk-sun Yun),심재홍(Jae-heung Sim),박영훈(Young-hoon Park),김정하(Jung-ha Kim) 한국자동차공학회 2001 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2001 No.5_2
The unmaned vehicle is composed of three parts: the front & side sensor system for keeping the lane and avoiding obstacles, the acceleration & brake control system for longitudinal motion control, and the steering control system for the lateral motion control. Each system helps the unmanned vehicle which should take notice of its location and recognize obstacles around the place by itself and make a decision how much fast to proceed according to circumstances. During the operation. The control strategy that the vehicle can detect obstacles and avoid collision on the road involves with vehicle vclocity very much. therefore, We have to define a traction system which is powered by DC-motor so that, unmanned vehicle can control its velocity accurately.<br/> In this study, we find mechanical and electronic parts are implemented to operate unmaned vehicle as a integrated system, which includes vehicle driving DC motor, another DC motor for brake actuator system, step motor for steering control and all of them are controlled by one processor. A laser range tinder is used to detect for long distance of front side. And ultra-sensors are used for detecting close-distance of lateral side.<br/>