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RISS 인기검색어
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- 저자 : 박찬호(C. H. Park) (검색결과 18 건)
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타이어 슬립과 조향작동장치의 성능을 고려한 무인자동차 자율주행 제어
박찬호(C. H. Park),곽기성(G. S. Gwak),정호운(H. U. Jeong),홍도의(D. U. Hong),황성호(S. H. Hwang) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.3
An autonomous vehicle control algorithm based on Ackerman Geometry is known to be reliable in low tire slip situation. However, vehicles at high speed make lateral errors due to high tire slip. In this paper, considering the tire slip of vehicles, the steering angle is determined based on the Ackerman Geometry and is supplemented tire slip angle by the Stanley steering algorithm. In addition, to prevent the tire slip, the algorithm, which restricts steering if a certain level of slip occurs, is used to reduce the lateral error. While many studies have been extended to include vehicle slip, studies also need to be carried out on the tire slip depending on hardware performance. The control algorithm of autonomous vehicles is compensated considering the sensor noise and the performance of steering actuator. Through the various simulations, it was found that the performance of steering actuator was the key factor affecting the performance of autonomous driving. Also, it was verified that the usefulness of steering algorithm considering the tire slip and performance of steering actuator.
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박찬호(C. H, Park),허다경(D. K. Heo),김승언(S. E. Kim),최중해(J. H. Choi),박수우(S. W. Park),송병섭(B. S. Song) 한국재활복지공학회 2016 한국재활복지공학회 학술대회논문집 Vol.2016 No.11
Nowadays, the supply of powered wheelchair has been increasing and the safety accidents by wheelchair have been occurred frequently. Most of the accidents caused by the user’s poor driving and the result of the accidents lead serious problem to the user. Preventing the accident, an App. and active safety controller system for powered wheelchair was developed using ultrasound sensors and position sensitive device(PSD). The system will detect the location of obstacles and transfer the information of it to the user. After the system was designed and fabricated, the experiments of obstacles detection were carried out. The results showed that the designed system have excellent performances and the system could reduce the occurrence of accidents.
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독립구동 인휠 전기자동차의 주행 효율 최적화를 위한 구동력 분배 알고리즘
박진현(J. H. Park),송현우(H. W. Song),정호운(H. U. Jeong),박찬호(C. H Park),황성호(S. H. Hwang) 유공압건설기계학회 2014 드라이브·컨트롤 Vol.11 No.2
The purpose of this paper is to construct a control algorithm for improving the driving efficiency of 4-wheel-drive in-wheel electric vehicles. The main parts of the vehicle were modeled and the input-output relations of signals were summarized using MATLAB/Simulink. A performance simulator for 4-wheel-drive in-wheel electric vehicles was developed based on the co-simulation environment with a commercial dynamic behavior analysis program called Carsim. Moreover, for improving the driving efficiency of vehicles, a torque distribution algorithm, which distributes the torque to the front and rear wheels, was included in the performance simulator. The effectiveness of the torque distribution algorithm was validated by the SOC simulation using the FTP-75 driving cycle.
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