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이중렬(Joongryoul Lee),김회원(Hoiwon Kim),김력(Ryuk Kim),이재관(Jaekwan Lee),김병수(Byoungsoo Kim) 한국자동차공학회 2005 한국자동차공학회 Symposium Vol.- No.-
This paper introduces the design of lane keeping support system that maintains vehicle control stability for tracking a desired travel path. This system is not a class of fully automated driving system but a class of system for reducing the driver's corrective steering effort. Moreover, since the driver holds steering wheel with such strong restraining force that there is no deviation of steering wheel angle in operating vehicle, the system in our study is designed on the basis of steering torque as the control input for providing some degree of freedom on the driver's steering behavior. This system consists of lateral position sensor (CCD camera unit), vehicle state sensors (steering wheel angle, yaw velocity and vehicle velocity), steering actuator (DC motor), display unit and main controller.