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이재풍(Jae Poong Lee),이경수(Kyong su Yi),신재곤(Jae Kon Shin) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper proposes a reference steering wheel torque map and a torque tracking algorithm via steer-by-wire to design the targeted steering feel. The map is designed using the measurement data of rack force and steering characteristic of a target performance of the vehicle at transition steering test. Since the target performance of the vehicle is only tested in nominal road condition, various road conditions such as disturbances and tire-road friction are not considered. Hence, the measurement data of the rack force of reflecting the road conditions have been used. A motor and a magnetorheological damper are used as actuators to generate the desired steering feel using the torque tracking algorithm. The tracking algorithm is composed of feedforward and feedback control. The feedforward control uses the plant dynamics to compensate for the torque and the feedback control uses a proportional integral derivative control methodology to compensate for the error between the steering wheel torque and the reference wheel torque. The performance of the proposed controller was evaluated with various tests using computer simulations.
신윤식,박요한,신재곤,정재일,Shin, Yunsik,Park, Yohan,Shin, Jae-Kon,Jeong, Jayil 한국자동차안전학회 2021 자동차안전학회지 Vol.13 No.4
In this study, The behavior of an autonomous vehicle in an intersection accident situation is predicted. Based on a representative intersection accident situation from actual intersection accident database, simulation was performed by applying the automatic emergency braking algorithm used in the autonomous driving system. Accident reconstruction was performed based on the accident report of the representative accident situation. After applying the autonomous driving system to the accident-related vehicle, the tendency of intersection accidents that may occur in autonomous vehicles was identified and analyzed.
고속도로에서의 자율주행 알고리즘 개발 및 평가를 위한 다차량 시뮬레이션 환경 개발
이호준,정용환,민경찬,이명수,신재곤,이경수,Lee, Hojoon,Jeong, Yonghwan,Min, Kyongchan,Lee, Myungsu,Shin, Jae Kon,Yi, Kyongsu 한국자동차안전학회 2016 자동차안전학회지 Vol.8 No.4
Since real road experiments have many restrictions, a multi-vehicle traffic simulator can be an effective tool to develop and evaluate fully automated driving systems. This paper presents multi-vehicle environment simulation tool to develop and evaluate motorway automated driving systems. The proposed simulation tool consists of following two main parts: surrounding vehicle model and environment sensor model. The surrounding vehicle model is designed to quickly generate rational complex traffic situations of motorway. The environment sensor model depicts uncertainty of environment sensor. As a result, various traffic situations with uncertainty of environment sensor can be proposed by the multi-vehicle environment simulation tool. An application to automated driving system has been conducted. A lane changing algorithm is evaluated by performance indexes from the multi-vehicle environment simulation tool.
스티어 바이 와이어 시스템에서의 차량 기동성과 안정성 향상을 위한 통합 샤시 제어 시스템
김광일(Kwang il Kim),신재곤(Jae Kon Shin),이경수(Kyung Su Yi) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper describes a unified chassis control strategy for enhancing maneuverability and lateral stability of the vehicle by integration of active front steer and electronic stability control in steer-by-wire system. Steer-by-wire system is composed of two part which are steering system and rack system. Target yaw rate model is designed considering the driving situation. To track the target yaw rate, active front steer control and direct yaw moment control is used. The target yaw moment is generated by the coordination of the AFS and ESC systems. To generate to target yaw moment considering a performance limit of the tire, the coordination is formulated as an optimization problem which objective is to minimize the longitudinal deceleration. Closed loop simulations with a driver model were conducted to examine the performance of the proposed control system.