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정종철(J.C.Jung),황정호(J.H.Hwang),김준영(J.Y.Kim),허건수(K.S.Huh) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.6_2
On-line and real-time information of the road and tire conditions is the essential factor not only the vehicle monitoring viewpoint but also the Advanced Vehicle Control Systems(AVCS) approach. In particular, the degrees of road-tire interactions are known to be closely related to the tractive ability, handling stability, steerability and braking characteristics of ground vehicles. The key variables representing the interactions can be tire-road friction coefficient and the longitudinal/lateral forces acting on the tires. However, it is not feasible in the operating vehicles to measure directly those variables because of high cost of sensors, limitations in sensor technology and interference with tire rotation. Another approach is the indirect sensing techniques which estimate the key variables,tire forces, based on vehicle dynamics models. In this paper, for estimating the tire forces, two monitoring systems are developed based on the Recursive Parameter Estimator and Extended Kalman Filter. The performance of the two monitoring systems is compared in simulation. A 14 DOF vehicle model with a combined-slip magic formula tire model is utilized in order to generate true vehicle motion.<br/>
황정호(J.H.Hwang),정종철(J.Y.Kim),김준영(J.C.Jung),허건수(K.S.Huh) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.11_2
In this study, a PC-based steering simulator is developed such that the steering of the vehicle and the vehicle dynamics program are constructed into the HILS(Hardware-In-the-Loop System). This steering simulator is composed of Hardware(steering wheel, potentiometer, self-aligning BLDC motor, D/A board, Macintosh etc.) and Software(CAPC : Crewman's Associates for Path Control). According to the steering angle input, the vehicle motion is calculated from the software and its animated motion in the roadway scene is displayed on the computer screen. In order to give the realistic feeling to the subject driver, the self-aligning torque is generated through the BLDC motor. The proposed low-cost steering simulator can be very useful for the feasibility study of new steering control algorithms, the driver's steering behavior research and road-departure accident simulations.