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3D 가변 조향 비 맵을 이용한 AFS와 ESC 통합 제어기의 설계
조정민(Jeongmin Cho),박장희(Janghee Park),김승기(Seungki Kim),허건수(Kunsoo Huh) 한국자동차공학회 2016 한국자동차공학회 부문종합 학술대회 Vol.2016 No.5
The purpose of this study is to design an UCC(Unified Chassis Controller) composed of AFS(Active Front Steering), which is based on 3D VSR(Variable Steering Ratio) map, and ESC(Electronic Stability Control). AFS and ESC control the yaw motion and side-slip angle of vehicle to improve steering performance and driving stability. The proposed 3D VSR map is made up with longitudinal velocity and steering angle considering the yaw rate gain and steering sensitivity. The gear ratio decreases to relieve a burden of drivers and increases to improve maneuver stability at low and high speed, respectively. In addition, the purposed VSR map takes account of steering angle to cope with emergency. Desired yaw rate is calculated from bicycle model and tracked by model predictive control(MPC). The proposed algorithm is validated by using the computer simulation software, CarSim and MATLAB/Simulink.
운전자의 조향 개입을 고려한 자동 긴급 제동 시스템의 설계
조정민(Jeongmin Cho),김승기(Seungki Kim),허건수(Kunsoo Huh) 한국자동차공학회 2015 한국자동차공학회 부문종합 학술대회 Vol.2015 No.5
The purpose of this study is to design a brake control algorithm for meeting the driver`s steering will during AEB in operation. When the driver recognizes obstacles suddenly, the driver steers abruptly during AEB in operation. At this time it is difficult to generate sufficient lateral tire force depending on the driver`s steering input because AEB uses the maximum tire force in longitudinal direction. The proposed AEB control algorithm calculates desired deceleration by using relative distance, velocity of vehicle model and desired yaw rate for brake control using the driver model with steering wheel angle. Finally, the algorithm makes the brake force distributed for heading to direction which driver wants to go. The proposed algorithm is validated by using the computer simulation software, CarSim and MATLAB/Simulink.