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전동 조향 시스템을 위한 횡 외란 관측기를 갖는 견인 제어기의 설계
이재관(Jaekwan Lee),오오타 타카시(Takashi Ohta),미무로 테추시(Tetsushi Mimuro) 한국자동차공학회 2002 한국자동차공학회 Symposium Vol.2002 No.11
The driver plans a path by preview and controls the lateral deviation of vehicle from the planned path via the<br/> steering wheel. However, the traveling vehicle is always affected by unknown lateral disturbances such as the<br/> gravitational force from lateral slope and the aerodynamics force from crosswind. This paper describes a design<br/> method of an observer to estimate the unknown lateral disturbances and an approach to realize a robust lateral<br/> control system that can stabilize lateral vehicle dynamics under such situations. Moreover, it is expected that the<br/> steering torque control of the pinion-type EPS(Electric Power Steering) in this paper provides some degree of<br/> freedom for allowing the driver to steer even during the control operation, thus offering the potential for the provision<br/> of a steering assist mechanism.
차선 유지 보조 시스템을 위한 조향 토크 제어기의 개발
이재관(Jaekwan Lee),오오타 타카시(Takashi Ohta),미무로 테추시(Tetsushi Mimuro) 한국자동차공학회 2002 한국자동차공학회 Symposium Vol.2002 No.11
This paper introduces the lane keeping support system that maintains control stability preventing the vehicle from<br/> tracking a desired travel path. This system is not a class of fully automated driving system but a class of system for<br/> reducing the driver’s corrective steering effort. Moreover, since the driver holds the steering wheel with such strong<br/> restraining force that there is no deviation of the steering wheel angle in operating the vehicle, the system in our study<br/> is designed on the basis of steering torque as the control input for providing some degree of freedom on the driver’s<br/> steering behavior. This system consists of lateral position sensor (CCD camera unit), vehicle state sensors (steering<br/> wheel angle, yaw velocity and vehicle velocity), steering actuator (DC motor), display unit and main controller.
이중렬(Jongryoul Lee),이재관(Jaekwan Lee),오오타 타카시(Takashi Ohta) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper introduces the dynamical modeling and parameter identification for the lane keeping system that can control vehicle handling and stability for tracking a desired travel path. In this paper, there is no feedback for estimating parameters from the performance of the closed-loop system but model parameter scheduling with parameters calculated at each operating velocities. The feasibility of the proposed vehicle dynamics model is confirmed with vehicle dynamics signals measured at actual driving conditions.