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손영섭(Young Seop Son),이승희(Seung-Hi Lee),이영옥(Young Ok Lee),정정주(Chung Choo Chung) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
In the case of autonomous vehicles, it is practical to utilize camera and radar to detect front obstacle vehicles. By this we mean that such expensive scanners are hardly adopted in the automotive industry. Vision is also used for sensing road environment. Recent trends in the lane keeping/changing system research are using the vision system to obtain the road information. A multirate sensor fusion scheme is developed to achieve more accurate obstacle detection. The scheme uses a camera and radar is to present obstacle vehicle pose estimation at a fast period of controller.
Asynchronous Sensor Fusion using Multi-rate Kalman Filter
Young Seop Son(손영섭),Wonhee Kim(김원희),Seung-Hi Lee(이승희),Chung Choo Chung(정정주) 대한전기학회 2014 전기학회논문지 Vol.63 No.11
We propose a multi-rate sensor fusion of vision and radar using Kalman filter to solve problems of asynchronized and multi-rate sampling periods in object vehicle tracking. A model based prediction of object vehicles is performed with a decentralized multi-rate Kalman filter for each sensor (vision and radar sensors.) To obtain the improvement in the performance of position prediction, different weighting is applied to each sensor’s predicted object position from the multi-rate Kalman filter. The proposed method can provide estimated position of the object vehicles at every sampling time of ECU. The Mahalanobis distance is used to make correspondence among the measured and predicted objects. Through the experimental results, we validate that the post-processed fusion data give us improved tracking performance. The proposed method obtained two times improvement in the object tracking performance compared to single sensor method (camera or radar sensor) in the view point of roots mean square error.
MPC-based active steering for autonomous vehicle systems
Young Ok Lee(이영옥),Chung Choo Chung(정정주),Seung-Hi Lee(이승희),Young Seop Son(손영섭) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
In this paper, we present how model predictive control (MPC) is applied to lane keeping system (LKS). Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may cause uncomfortable steering control rate in a high vehicle speed. By applying MPC to active steering, the proposed MPC-based active steering prevents undesirable oscillatory steering control command even at a vehicle speed of 30[㎧]. The effectiveness of the MPC is validated by simulation for the LKS equipped with a camera module having a slow sampling rate.
Sliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System
Jun Young Yu(유준영),Wonhee Kim(김원희),Young Seop Son(손영섭),Chung Choo Chung(정정주) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.2
In this paper, we develop a sliding mode control for steering wheel angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the steering wheel angle. The sliding mode steering wheel angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the steering wheel angle control is available for the driver’s convenience. The performance of the proposed method was validated via experiments.
근사 모델예측 제어기를 이용한 자율주행 차량의 능동조향
이영옥(Young Ok Lee),이승희(Seung-Hi Lee),손영섭(Young Seop Son),정정주(Chung Choo Chung) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
In this paper, we present how model predictive control (MPC), approximate MPC, and proximate MPC are applied to lane keeping system (LKS). The proposed proximate MPC has suboptimal solution closed to its optimal value with reduced iteration in online optimization. Nodal state vectors are generated in the feasible state space, for which the quadratic optimization problem is solved off-line. Vertices are determined to represent a given state as an interpolation between them. An approximate optimal solution is computed from the interpolation between the optimal solutions at each vertex, and is used for warm-start on-line optimization to produce a proximate optimal solution.
자율주행 차량의 횡방향 제어를 위한 전기식 파워 조향기의 슬라이딩 모드 제어기 설계
유준영(Jun Young Yu),강창묵(Chang Mook Kang),김원희(Wonhee Kim),손영섭(Young Seop Son),이승희(Seung-Hi Lee),정정주(Chung Choo Chung) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
We propose a torque overlay based robust steering wheel angle control of electric power steering(EPS) for lateral control in autonomous vehicles. We propose second order linear model of EPS with piecewise linear hysteresis. In order to compensate for the nonlinear characteristic of EPS, i.e., hysteresis, we use the inversion error of the hysteresis. The sliding mode control is designed for the robustness against the hysteresis inversion error. The performance of the proposed method was validated via simulations.
Sliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System
유준영,김원희,손영섭,정정주,Yu, Jun Young,Kim, Wonhee,Son, Young Seop,Chung, Chung Choo Institute of Control 2015 제어·로봇·시스템학회 논문지 Vol.21 No.2
In this paper, we develop a sliding mode control for steering wheel angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the steering wheel angle. The sliding mode steering wheel angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the steering wheel angle control is available for the driver's convenience. The performance of the proposed method was validated via experiments.