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김상겸(Sanggyum Kim),김창만(Changman Kim),유환신(Hwansin Yun),임하영(Hayoung Lim),김정하(Jungha Kim) 한국자동차공학회 2003 한국자동차공학회 Symposium Vol.2003 No.8
In this paper, we describe a method of the vehicle control and lane tracking for the unmanned vehicle. Vehicle control and lane tracking arc considered one of the important technologies in an unmanned vehicle. The current position and condition of the vehicle arc calculated from an image processing method by a CCD camera. Images are transmitted to a main computer though wireless video module. A main computer finds information of lane in road images. And it calculates control value of vehicle. In this paper, specially, vehicle control is included in the road model and lateral and longitudinal controls. And the image processing method deals with the lane detection method, image processing algorithm, and filtering method. Finally. we used median filtering method to removal of noise and used characteristic part of road image for advanced of processing time<br/>
충돌 회피를 위한 무인자동차의 제어 및 모델링에 관한연구
김상겸(Sanggyum Kim),이운성(Woonsung Lee),김정하(Jungha Kim) 한국자동차공학회 2003 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Detection obstacle and avoidance are considered one of the key technologies on an unmanned vehicle system In this paper, we propose a method of detection obstacle and avoidance and it can be expressed as vehicle control, modeling, and sensor experiments. Detection obstacle and avoidance consist of two parts: one longitudinal control system for acceleration and deceleration ,and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.
차선추종과 충돌회피를 위한 무인자동차의 제어 및 모델링
김상겸(Sanggyum Kim),유환신(Whanshin Yu),임하영(Hayoung Lim),김정하(Jungha Kim) 한국자동차공학회 2004 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, we will be explained about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: one longitudinal control system for the acceleration and deceleration, the other lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we purpose the method of vehicle control, modeling and obstacle avoidance. Second, we describes a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.
[차량운동성능부문] 타이어 로울러의 개발을 위한 유압 시스템 설계 및 차량 동역학적 모델링
김준호(Junho Kim),박춘식(Chunshic Park),김상겸(Sanggyum Kim),김정하(Jungha Kim) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this research, we are trying to develop the new hydraulic driven tire roller which is conventionally operated by mechanical transmission system. The reason why we would like to develop it is that tire roller is one of the most useful machine for the road construction site and also imported totally from overseas. <br/> In this paper, we conceptualize the new hydraulic system and derive the equations of motion for dynamic analysis. And we investigate system modeling by using DAQ system. Finally, we will design the controller which can manage the hydraulic circuit of steering and traction mechanism system.