다중 순환 최소 자승 및 성능 지수 기반 종방향 자율주행을 위한 적응형 구동기 고장 허용 제어 및 탐지 알고리즘 개발

오세찬,이종민,오광석,이경수 사단법인 한국자동차안전학회 2022 자동차안전학회지 Vol.14 No.2

This paper proposes multiple RLS and actuator performance index-based adaptive actuator fault-tolerant control and detection algorithms for longitudinal autonomous driving. The proposed algorithm computes the desired acceleration using feedback law for longitudinal autonomous driving. When actuator fault or performance degradation exists, it is designed that the desired acceleration is adjusted with the calculated feedback gains based on multiple RLS and gradient descent method for fault-tolerant control. In order to define the performance index, the error between the desired and actual accelerations is used. The window-based weighted error standard deviation is computed with the design parameters. Fault level decision algorithm that can represent three fault levels such as normal, warning, emergency levels is proposed in this study. Performance evaluation under various driving scenarios with actuator fault was conducted based on co-simulation of Matlab/Simulink and commercial software (CarMaker).

편집후기 (열차 자율주행 실현을 위한 IT 융합특집)

오세찬,김주엽,박종헌,강경란,김용규 한국통신학회 2018 韓國通信學會論文誌 Vol.43 No.5

차세대 무선통신 기반 열차제어기술

오세찬 한국철도학회 2018 철도저널 Vol.21 No.3

윌리엄 포크너와 포스트모더니즘

오세찬 신영어영문학회 2001 신영어영문학회 학술발표회 자료집 Vol.2001 No.1

지상 ATP와 연동장치 통합형 무선통신 기반 열차제어시스템

오세찬,김영주 한국산학기술학회 2023 한국산학기술학회논문지 Vol.24 No.11

The current communication-based train control system relies on wayside ATP for distance control and EI for switching control in each jurisdictional area. However, the separate existence of ground ATP and EI leads to complex control flows. Moreover, EI utilizes a fixed-block-based interlocking logic, which degrades the control performance of the moving-block-based ATP. To address these issues, this study proposes a new regional controller structure and control principle that functionally integrates ground ATP and EI. The proposed integrated zone controller simplifies the interlocking logic by excluding redundant functions from EI, allowing for a more streamlined control process. This paper also presents changes to the interface structure based on domestic standard specifications following system integration. Operational scenarios using the proposed control principles are introduced, and a comparative analysis of control performance is conducted against the existing communication-based train control system, emphasizing the simplified system structure and workflow. In the simulation results, the proposed system shows approximately a 50% improvement in predecessor train trackability compared to the existing system, along with around a 10% reduction in minimum safety distance and minimum headway time. The proposed integrated zone controller is expected to be applied and utilized in future Korean radio-based train control systems.

실험적 방법에 의한 Cylindrical bar의 파형 해석에 관한 기초적 연구

오세찬 全北大學校 學徒護國團 1983 全國大學生學術硏究發表論文集 Vol.8 No.-

종방향 자율주행의 미지 고장 재건을 위한 순환 최소 자승 기반 적응형 슬라이딩 모드 관측기 개발

오세찬,송태준,이종민,오광석,이경수 사단법인 한국자동차안전학회 2021 자동차안전학회지 Vol.13 No.1

This paper presents a RLS based adaptive sliding mode observer (A-SMO) for unknown fault reconstruction in longitudinal autonomous driving. Securing the functional safety of autonomous vehicles from unexpected faults of sensors is essential for avoidance of fatal accidents. Because the magnitude and type of the faults cannot be known exactly, the RLS based A-SMO for unknown acceleration fault reconstruction has been designed with relationship function in this study. It is assumed that longitudinal acceleration of preceding vehicle can be obtained by using the V2V (Vehicle to Vehicle) communication. The kinematic model that represents relative relation between subject and preceding vehicles has been used for fault reconstruction. In order to reconstruct fault signal in acceleration, the magnitude of the injection term has been adjusted by adaptation rule designed based on MIT rule. The proposed A-SMO in this study was developed in Matlab/ Simulink environment. Performance evaluation has been conducted using the commercial software (CarMaker) with car-following scenario and evaluation results show that maximum reconstruction error ratios exist within range of ±10%.

상대제동 모델 기반 이동폐색 열차제어시스템

오세찬,김영주 한국산학기술학회 2022 한국산학기술학회논문지 Vol.23 No.9

Currently, the most advanced train control system, the moving block train control system, uses communication between onboard and wayside to track the train position and has high transport efficiency. However, it uses an absolute braking model with only the train location information, so there is a limit to improving the transport capacity. This paper proposes a relative braking model and a new movement authority structure to improve the interval control performance. The proposed model can shorten the interval by using the speed information of the preceding train to calculate the braking distance of the following train. The new movement authority consists of distance and speed information and is generated by the train. To enable relative braking, the position report and movement authority packet structure of the domestic standard (KRS SG 0069) is proposed for the movement-obstructed train control system. The interval control performance of the proposed method was compared with that of the existing system. The simulation results show that the minimum safe braking distance is improved by up to 30% based on an urban railway. It is expected that the proposed model will be utilized in the moving block train control system and standards in the future. 현재 가장 진보된 열차제어시스템인 이동폐색 열차제어시스템은 차·지상 간 무선통신을 이용하여 실시간 위치 추적이 가능하며 높은 수송효율을 가진다. 그러나 현재의 이동폐색 열차제어시스템은 열차의 위치정보만을 이용한 절대 제동모델을 이용하기 때문에 수송력 향상에 한계가 존재한다. 본 논문은 이동폐색 열차제어시스템의 간격제어 성능 향상을 위해 상대제동 모델과 새로운 이동권한 구조를 제시한다. 제안된 상대제동 모델은 선행 열차의 속도정보를 후행 열차가 자신의 제동거리 계산에 이용함으로써 간격을 단축할 수 있다. 새로운 이동권한은 거리와 속도정보로 구성되며 열차가 생성한다. 상대제동이 가능하도록 이동폐색 열차제어시스템의 국내 표준규격(KRS SG 0069)의 위치보고 및 이동권한 패킷구조를 새롭게 제시한다. 상대제동 모델의 성능 분석을 위해 제안된 상대제동 모델 기반 이동폐색 열차제어시스템의 간격제어 성능과 기존 절대 제동모델 기반 이동폐색 열차제어시스템의 간격제어 성능을 비교한다. 시뮬레이션 결과를 통해, 열차제어시스템의 성능을 나타내는 최소 안전 제동거리가 도시철도 기준으로 최대 30% 향상됨을 확인할 수 있다. 본 논문에서 제안된 상대제동 모델은 향후 이동폐색 열차제어시스템 및 표준에 반영하여 활용할 수 있을 것으로 기대된다.

철도차량 원격운전 기술 개발동향

오세찬,김정태 한국철도학회 2023 철도저널 Vol.26 No.2

무선통신기반 열차제어시스템을 위한 개선된 ATP 핸드오버

오세찬,김영주 한국산학기술학회 2022 한국산학기술학회논문지 Vol.23 No.12

All trains in a communication-based train control(CBTC) system report their position to a wayside ATP in the jurisdictional area and travel when the wayside ATP provides movement authority, which is a limit of the distance to travel. For a train to travel between two or more jurisdictions, handover is required. Handover is a complex process of exchanging control information between the train and ground ATP. This study analyzes the problems of the handover algorithm of the Korean Radio-based Train Control System (KRTCS) and proposes a handover algorithm that supports various operation schedules by handover revocation or handover authority transfer according to the traveling direction and position of a train. In addition, a handover message structure for the Korean Railway Standards(KRS SG 0069) of KRTCS is proposed to support the new handover algorithm. In order to analyze the performance of the proposed handover algorithm, a zone for a train model and route was defined. Through simulation, the handover suggested in the existing standard and various operation schedules were compared and analyzed. The simulation results confirmed that the proposed handover algorithm enables stable handover even in situations such as a direction change at all handover sections. 무선통신기반 열차제어시스템의 모든 열차는 관할영역의 지상 ATP에 자신의 위치를 보고하고 지상 ATP로부터주행 가능한 거리의 한계인 이동권한을 받아 주행한다. 열차가 두 개 이상의 관할영역을 주행하기 위해서는 열차와 지상ATP간 복잡한 제어정보 교환 절차인 핸드오버가 필요하다. 본 논문은 한국형 무선통신기반 열차제어시스템의 핸드오버알고리즘의 문제점을 분석하여 이를 보완할 수 있는 핸드오버 알고리즘을 제시한다. 제안된 핸드오버 알고리즘은 열차의주행 방향과 위치에 따라 핸드오버 취소 또는 핸드오버 권한 이전을 수행함으로써 다양한 운행 스케줄을 지원한다. 또한새로운 핸드오버 알고리즘을 지원하도록 한국형 무선통신기반 열차제어시스템의 한국철도표준규격(KRS SG 0069)의핸드오버 메시지 구조를 새롭게 제시한다. 제안된 핸드오버 알고리즘의 성능분석을 위해 열차 모델과 노선에 대한 zone 을 정의하고 시뮬레이션을 통해 기존 표준규격에서 제시한 기존 핸드오버와 다양한 운행 스케줄을 대상으로 비교분석한다. 시뮬레이션 결과를 통해 제안된 핸드오버 알고리즘은 모든 핸드오버 영역에서의 방향 전환 등의 상황에도 안정적인 핸드오버가 가능함을 확인할 수 있다.