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노면 상태를 고려한 AEB 시스템 제동 개입 시점에 관한 연구
강태완(Taewan Kang),유원근(Wongeun Yoo),김남한(Namhan Kim),소민우(Minwoo Soh),권재준(Jaejoon Kwon),홍태욱(Taewook Hong),박기홍(Kihong Park) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
This paper proposes the adapted brake time of AEB(Autonomous Emergency Braking) system for various road conditions. AEB system uses radar or lidar-based technology to identify potential accidents with forward vehicles. The establishment of regulations which is about vehicle-safety is in progress with increasing interests in the active safety system such as AEB system. In this paper the algorithm executes multiple operations that consist of road condition estimation and collision avoidance. It computes the tractive force and the vertical load on tires and estimates road friction characteristics, then calculates adapted brake time for collision avoidance. At the end of this paper, the verification of developed algorithm based on Euro NCAP scenarios is conducted.
첨단안전자동차의 국제안전시험 적용을 위한 무인 평가 시스템 개발 - PartⅡ
강태완(Taewan Kang),노태호(Taeho Noh),조환성(Hwanseong Jo),문병찬(Byungchan Moon),권재준(Jaejoon Kwon),정재일(Jayil Jeong),박기홍(Kihong Park) 한국자동차공학회 2015 한국자동차공학회 부문종합 학술대회 Vol.2015 No.5
The collision avoidance system like AEB(Autonomous Emergency Braking) and FCWS(Forward Collision Warning 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 manufactures are interested in evaluating reliability of active safety systems and establishing international safety test standards for objective evaluation. For example ISO(International Organization for Standardization) is promoting the standardization of assessing advanced active safety systems and since 2014 active safety system such as AEBS(Autonomous Emergency Braking System) rating test is performed in Euro NCAP. The current existing methods are active safety assessing via applying a vehicle-shaped Balloon Car to the vehicle or by Dummy Car, a crane for crash-test simulation, for imitating a real situation. But it is impossible to copy the assessment with same condition, especially dynamic characteristic of Dummy Car traveling by crane and real car are critically different. Therefore assessment system using self-driving car is developed for assessment with same condition in this study. For verifying developed assessment system, cut-in scenario and braking scenario with 0.2g deceleration is executed.
조향 회피 시스템의 성능 개선을 위한 ESC/RWS 통합 샤시 제어
조환성(Hwanseong Jo),김두용(Dooyong Kim),강태완(Taewan Kang),소민우(Minwoo Soh),권재준(Jaejoon Kwon),박기홍(Kihong Park) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
This paper presents an performance improvement of emergency avoidance system with Electronic Stability Control(ESC) & Rear Wheel Steer(RWS) integrated control. ESC system is designed using Sliding Mode Control(SMC), which is one of high robustness variable structure control system. Front wheel steering angle and rear wheel steering angle are calculated by using Linear Quadratic Regulator(LQR). The desired trajectory for collision avoidance is determined by a 5th order polynomial. The desired steering wheel angle to follow the trajectory is calculated with Vector pursuit and the current position of the vehicle is estimated by using the Observer. The results indicate that the proposed logics can delay last time to steer for collision avoidance.
노면정보 인식 정확도 향상을 위한 LIDAR 센서 기반 차량 피치 각 추정 기술에 관한 연구
이용기(Yongki Lee),문병찬(Byungchan Moon),강태완(Taewan Kang),소민우(Minwoo Soh),박기홍(Kihong Park) 한국자동차공학회 2016 한국자동차공학회 부문종합 학술대회 Vol.2016 No.5
According to recent increases in ongoing consumer interest for vehicle ride comfort and driving performance improvement, the research and development of the automotive industry are being actively conducted to satisfy them. And the chassis control system using preview road profile have been developed by car manufacturers. It is important to measure the exact preview road using environment sensors. But, changing the geometry of the vehicle, such as roll and pitch motion is the interference to extract an accurate preview road. So, In this paper, based on the Kabsch algorithm and SVD(Singular vector decomposition) technique, the pitch estimator of the vehicle was developed to improve the preview road recognition accuracy by using LIDAR sensor. Also, Through MATLAB/Simulink and virtual sensor simulation tool, it was performed the pitch estimation algorithm in various verification scenarios.
Human Factor를 고려한 다중 운전자 시뮬레이션 환경 구축
장형준(Hyeongjun Jang),김두용(Dooyong Kim),강태완(Taewan Kang),소민우(Minwoo Soh),권재준(Jaejoon Kwon),박기홍(Kihong Park) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
This paper deals with the establishment for Multi-Driver Simulation Environment. Multi-Driver Simulation is the simulation environment considering the Human Factor and driving environment like as actual road. PreScan, PC ,based Windows and Logitech’s G27 are used for establishing simulation environment. And the number of drivers can send and receive information that used for estimating vehicle’s location such as steering angle, acceleration, deceleration data using UDP communication. Furthermore, extracted OpenStreetMap data was used for including actual road information in the simulation environment. When the system has malfunctions, this study can make simulation reconstruct and analyze the causes of failure from logged data.
IMM 기법을 통한 선행차량 상태 추정 및 자동 긴급 제동 시 횡 방향 안정성 확보에 관한 연구
구요한(Yohan Koo),강윤호(Yoonho Kang),김두용(Dooyong Kim),강태완(Taewan Kang),박기홍(Kihong Park) 한국자동차공학회 2016 한국자동차공학회 부문종합 학술대회 Vol.2016 No.5
The AEBS was added to evaluation category in 2014 Euro NCAP. Recently GM, Ford, BMW, including 10 vehicle manufacturers have agreed about the AEBS standard equipment in all new cars in the United States. So the studies of the AEBS are being actively conducted. But many existing studies on the AEBS have been conducted assuming that the vehicle is traveling on the straight roads. Because of this, the AEBS operation may lead to the lane departure and muti-collision accidents on slippery roads or cornering roads. Therefore, this paper proposes to apply the IMM(Interacting Multiple Model) Method in the AEBS algorithm to effectively estimate target vehicle state than single Kalman Filter during Cornering. Also, the developed algorithm performs the braking force distribution control in order to secure lateral stability of the vehicle during the AEBS operation.