http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Dynamic Surface Control and Its Application to Lateral Vehicle Control
Song, Bongsob,Hedrick, J. Karl,Kang, Yeonsik Hindawi Limited 2014 Mathematical problems in engineering Vol.2014 No.-
<P>This paper extends the design and analysis methodology of dynamic surface control (DSC) in Song and Hedrick, 2011, for a more general class of nonlinear systems. When rotational mechanical systems such as lateral vehicle control and robot control are considered for applications, sinusoidal functions are easily included in the equation of motions. If such a sinusoidal function is used as a forcing term for DSC, the stability analysis faces the difficulty due to highly nonlinear functions resulting from the low-pass filter dynamics. With modification of input variables to the filter dynamics, the burden of mathematical analysis can be reduced and stability conditions in linear matrix inequality form to guarantee the quadratic stability via DSC are derived for the given class of nonlinear systems. Finally, the proposed design and analysis approach are applied to lateral vehicle control for forward automated driving and backward parallel parking at a low speed as well as an illustrative example.</P>
Cooperative Lateral Control for Automatic Valet Parking
Bongsob Song,Dohyun Kim,Heejae Choi 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper presents the cooperative lateral control algorithm for automatic valet parking (AVP). While a position measurement system such as DGPS is in general used for autonomous driving on highway, the position information is provided for AVP via vehicle to infrastructure (V2I) communication. Both noise and time delay for position measurement via V2I is considered. Therefore, it is necessary for the lateral controller to be robust enough to compensate for the noise and time delay. With the assumptions of low speed and no sideslip angle, a nonlinear kinematic model is used for lateral control. Based on the nonlinear model, a nonlinear control technique called dynamic surface control (DSC) is applied to design the lateral controller. Furthermore, the preview and nonlinear damping ideas are incorporated with DSC to redesign the lateral controller. Finally the proposed lateral control algorithm is validated through simulations.
비전 센서와 교통사고 정보를 연동한 안전 보강 시스템 개발에 관한 연구
송봉섭(Bongsob Song),최기주(keechoo Choi),손상훈(Sanghoon Sohn),최정웅(Jeongwoong Choi) 한국자동차공학회 2005 한국자동차공학회 Symposium Vol.- No.-
A new approach for an active safety enhancement system to combine a sensor-based safety enhancement system with traffic accident database acquired through telematics and GIS technology is introduced. While telematics and GIS technology are developing rapidly for driving convenience and efficiency, e.g., navigation, many active driver safety enhancement systems conditionally applicable for a specific traffic situation have been developed. Hence, before the active safety enhancement system is activated, it is necessary to make sure that the current traffic environment and situation meets the operational conditions. In this study, traffic accident frequent area is defined and its location is stored in the database. Then, when the vehicle approaches in the area, traffic accident history will be informed to a driver. In addition, pedestrian detection and collision warning algorithm based on vision sensors is developed. The pedestrian collision warning system is designed for preventing a pedestrian accident in the traffic accident frequent area. Finally, the algorithm will be validated using field test images via off-line.
Hardware-in-the-loop 시뮬레이션을 이용한 차량의 종방향 제어기 설계 및 검증
송봉섭(Bongsob Song),백운혁(Woon-Hyuk Baek),신영호(Young-Ho Shin),송호인(Ho-In Song) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, design and validation procedures for a longitudinal controller via hardware-in-the-loop simulation are presented. As new technologies related with ECU and in-vehicle network have been developed, the corresponding longitudinal controller for velocity control of the vehicle needs to be modified and validated experimentally. Since much development cost and effort during the design and validation process are in general required, a relatively quick and efficient design and validation method via hardware-in-the-loop simulation (HILS) is proposed in the paper. Finally speed controller based on Dynamic Surface Control is designed and its performance results are validated via HILS.
무인 시내버스 자동화 시스템을 위한 종방향 제어기 설계 및 검증
송봉섭(Bongsob Song),홍민성(Min-Sung Hong) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper presents the design and experimental validation of longitudinal control for automated transit buses. The objective of the longitudinal controller is to follow either a given desired velocity or distance profile using the three control inputs, namely the engine torque, transmission retarder braking torque, and pneumatic braking torque. Based on the control model proposed in (1), the longitudinal controller is designed to achieve the desired control objectives. Furthermore, the proposed longitudinal controller is implemented and tested for both a 40-foot transit bus and a 60-foot articulated bus. Experimental performance of the controller will be shown in the end.