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실시간 차량 제어 시스템을 위한 차량 동역학 제어기 설계
손민혁(Minhyuk Son),부광석(Kwangsuck Boo),김홍섭(Heuogseob Kim) 한국자동차공학회 2004 한국자동차공학회 지부 학술대회 논문집 Vol.- No.-
This paper presents Vehicle Dynamics Controller (VDC) design for a Hardware in the Loop Simulator (HILS). For the robust performance and dealing with nonlinearity and disturbance, sliding mode controller is applied. In addition, time varying switching surface is introduced to consider the trade-off between stability and controllability. The controller is designed by using the 2DOF vehicle model with nonlinear tire (Pacejka's Magic formula). The effect of time varying switching surface is proved by computer simulations of vehicle response to a several friction coefficient with step steering input as compared with time invariable switching surface. The paper explains the simulation results and the implications for the future work.
SILS를 이용한 Lane Keeping Control 시스템의 성능평가
백승환(Seunghwan Baek),부광석(Kwangsuck Boo),김흥섭(Heungseob Kim),정재업(Jaeop Jung) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
This study propose an Perception-Action Network (PAN) to estimate the vehicle pose parameters and control the vehicle motion for keeping the vehicle within given lane. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. The objective of the lane keeping control is to reduce a predicted tracking error of the vehicle, while the vehicle is traveling along the given lane. In this study, we calculated a required steering angle at the auction module of PAN. A series of experiments was conducted to evaluate the control performance, in which commercial software was utilized to quit unwanted safety problem.
최정광(Jungkwang Choi),부광석(Kwangsuck Boo),윤문영(Moonyoung Yoon),정재업(Jaeeop Jung),김흥섭(Heungseob Kim) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
In this study, the proposed BSD system consists of multiple infrared LEDs which are cheap and robust to weather conditions. It is installed a housing of outside rear-view mirror system to detect other vehicles and objects of the rear left and right-side in the range of 15 to 45 degrees. The layout like as horizontal and vertical angle of emitter/detector, sensing distance and angle of each channel is determined by many simulations and experiments. To maximize the detection distance of infrared LED, the current of an emitter is driving at the modulated frequency which is mixed the carrier frequency with a center frequency of each channel. The detector removes the carrier frequency from measured signal and distinguishes the channel with center frequency. The performance of BSD system is evaluated with SIL simulation and practical field test. The SILS system consists of PreScan and Matlab/Simulink. PreScan yields a realistic driving environments and road conditions. Vehicle model dynamics and collision warning is controlled by Matlab/Simulink. The control and warning logic is intensively evaluated through blind spot warning test and lane change warning test of ISO 17387 standards. Also the developed BSD system is installed on a housing of outside rear-view mirror of vehicle and showed good detection results under various weather conditions.