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레이더/카메라 센서융합을 이용한 전방차량 충돌경보 시스템
문승욱,문일기,신광근,Moon, Seungwuk,Moon, Il Ki,Shin, Kwangkeun 한국자동차안전학회 2013 자동차안전학회지 Vol.5 No.1
This paper describes a Forward Collision Warning (FCW) system based on the radar driven fusion with camera. The objective of FCW system is to provide an appropriate alert with satisfying the evaluation scenarios of US-NCAP and a driver acceptance. For this purpose, this paper proposed a data fusion algorithm and a collision warning algorithm. The data fusion algorithm generates information of fusion target depending on the confidence of camera sensor. The collision warning algorithm calculates indexes and determines an appropriate alert-timing by using analysis results of manual driving data. The FCW system with the proposed data fusion and collision warning algorithm was investigated via scenarios of US-NCAP and a real-road driving. It is shown that the proposed FCW system can improve the accuracy of an alarm-timing and reduce the false alarm in real roads.
주행상황 변화를 고려한 자동주행/충돌회피 제어 알고리듬 설계
문승욱(Seungwuk Moon),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper presents a longitudinal control strategy for an Adaptive Cruise Control (ACC) with Collision Avoidance (CA) in multiple transitions by a driver and traffic conditions. The objective is for smooth and safe transition between various driving situations to achieve driver’s comfort and prevention of collision. The proposed control strategy consists of a multi-target tracking filter, a primary target selection algorithm and a longitudinal ACC/CA controller. The multi-target tracking filter is used to smooth the sensor signal, and makes it possible to apply to a control system. The primary target selection algorithm decides an important target which has an effect on the subject vehicle. In addition, it provides the information to a longitudinal ACC/CA controller in order to drive a subject vehicle smoothly and improve safety in various traffic transitions. Finally, the longitudinal ACC/CA controller computes the desired acceleration. The performance and safety benefits of the multi-vehicle ACC/CA system is investigated via simulations using real data on driving. Simulation results show that the response of multi-vehicle ACC/CA system is more smooth and safer in multiple transitions.
해석적 중복을 이용한 Steer-by-Wire 시스템의 감지기에 대한 이상진단 기법
문승욱(SeungWuk Moon),지용관(YongKwan Ji),허건수(Kunsoo Huh),조동일(Dong-il "Dan" Cho),박장현(Jhang-Hyon Park) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.5_1
This paper proposes an analytical redundancy technique for fault diagnostics of the sensor in steer-by-wire system. We use incorporating vehicle dynamics modeling into the design of a diagnostic system for steer-by-wire system. The use of a model of vehicle dynamics improves the speed and accuracy of the diagnoses. The proposed fault diagnostics algorithm is based on parity-space methods to generate residuals. To reduce the effects of modeling uncertainty and dynamic transients, the residuals are subject to filtering. We construct diagnostic system consisting residual threshold for detection and isolator with using the directional residual vector.
문승욱(SeungWuk Moon),이경수(Kyongsu Yi) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
This paper describes design and tuning of a full-range Adaptive Cruise Control (ACC) with collision avoidance. The control scheme is designed to control the vehicle so that it would feel natural to the human driver and passengers during normal safe driving situations and to avoid rear-end collision in vehicle following situations. In this study, driving situations are determined using a non-dimensional warning index and time-to-collision (TTC). A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC System. An ECU-Brake Hardware-in-the-loop Simulation (HiLS) was developed and used for an evaluation of ACC System. The ECU-Brake HiLS results for alternative driving situation are compared to manual driving data measured on actual traffic way. The ACC/CA control logic implemented in an ECU was tested using the ECU-Brake HiLS in a real vehicle environment.
이경준(Kyoungjun Lee),문승욱(Seungwuk Moon),이승종(Seungjong Yi),이경수(Kyongsu Yi) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
To design Human-Centered integrated cruise control and collision avoidance controller, we analyzed driving data of 125 human drivers. Deceleration characteristics of human driver were used in this controller as important parameters. Controlled vehicle deceleration is similar to human driver뭘 deceleration pattern. ACC/CA control algorithm consists of 4-operation modes. The collision avoidance operation mode is selected by non-dimensional warning index and the inverse Time-to-Collision(TTC?¹).
조완기(Wanki Cho),문승욱(Seungwuk Moon),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper describes an intelligent vehicle safety control strategy for the lateral stability and the safety clearance to avoid rear-end collision in various driving situations. The intelligent vehicle safety control system consists of a supervisor, control algorithms, and a coordinator. From the measurement and estimation signals, the supervisor determines the control modes among a normal driving, a longitudinal safety, a lateral stability, and an integrated safety. The control algorithms consist of a longitudinal driving/safety controller such as ACC/CA system and a lateral stability controller such as ESC/AFS system. Individual controllers calculate a desired longitudinal force and a desired yaw moment. In order to apply throttle/brake control to maintain safe clearance in normal cruise control driving situations and to apply differential braking and active front steering to obtain lateral stability, the coordinator determines the throttle, brake, and active front steering inputs optimally based on the current status of the subject vehicle. The closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.
단일 카메라를 이용한 차선 이탈 및 전방 충돌 통합 경보 알고리즘 개발, 구성 및 검증
이준영(Junyung Lee),문승욱(Seungwuk Moon),이경수(Kyongsu Yi),윤병민(Byoungmin Yun),류시복(Sibok Yu) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper describes a combined warning system for Lane Departure Warning and Forward Collision Warning based on a single camera. The measurements from a single camera are a relative distance, a relative velocity, a road width, lateral offsets between each tire and each lane boundary and the rate of departure relative to lane boundary. The forward collision warning algorithm computes a warning index and an inverse time to collision in order to detect vehicle-to-vehicle collision. In addition, the lane departure warning algorithm computes a Distance to Lane Crossing(DLC) and a Time to Lane Crossing (TLC) to detect inattentive lane departure. The proposed warning system is investigated via the closed-loop simulation with human driver model Finally, it has been implemented on a test vehicle and tested in real road environment.
자동순항제어 시스템용 센서특성을 고려한 전방차량 유무판단 알고리즘
이동우(Dongwoo Lee),문승욱(Seungwuk Moon),이경수(Kyongsu Yi) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper presents advanced primary target detection method considering radar sensor gaussian noise property. For consideration of radar sensor gaussian noise, the in-path probability computation using gaussian random distribution is applied to the advanced target detection method. The gaussian random noise distribution can be approximated to triangle distribution for computation advantage. The proposed target detection method has been investigated via simulation performed on a vehicle simulation package CarSim and Matlab/Simulink. It has been shown via simulation that the proposed advanced primary target detection method improves primary target detection rate.