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손영섭(YoungSeop Son),정한별(HanByul Chung),김광일(KwangIl Kim) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
In general, conventional parking brake system is operated by operating force of driver’s hand or foot. But, recently driver wants to more convenience and more safety. So, many car makers provide EPB(Electrical Parking Brake) System. EPB system is called Park-by-Wire system because between driver and brake system there is electrical connection instead of mechanical connection. At First EPB system’s architecture is stand alone type. Gradually convenience and safety functions are emphasized. So many car makers want to ESC and EPB interaction system architecture. To develop ESC and EPB interaction system architecture, EPB is provided more convenience and more safety function. Representative the convenient function is DAR(Drive Away Release) and AVH(Auto Vehicle Hold), the safe function is dynamic braking.
손영섭(Youngseop Son),김보아(Bo-Ah Kim),강대헌(Dae-Hun Kang),이승희(Seung-Hi Lee),정정주(Chung Choo Chung) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper presents design and experimental validation of the lane keeping system with a motor driven power steering system. The lane keeping system consists of multirate Kalman filter, state feedback controller and steering controller. The multirate Kalman filter is to estimate the vehicle states at a fast sample rate using a slow vision-based lane detection by a camera and fast motion detection by inertial sensors. The performance of proposed lane keeping system is experimentally validated with a test vehicle on a proving ground.
Vehicle Dynamics를 이용한 Lane Centering 제어기 개발
손영섭(Youngseop Son),이영옥(Young Ok Lee),정정주(Chung Choo Chung),이승희(Seung-Hi Lee) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
The current LKAS(Lane keeping assist system) and LCC(Lane centering control) systems use low sampled vision sensor information for lateral motion control of vehicle. In this case, vehicle lateral motion can occur oscillation because sampling time of vision information (70㎳) is slower than sampling time of lateral motion controller (10㎳). Especially, LCC system need more smooth motion than LKAS because main agent of driving is not human but LCC system. In this study, we propose lane estimation method using acquired lane information which are lateral offset, heading angle, curvature, and curvature derivative and vehicle dynamics sensors which are longitudinal acceleration sensor, lateral acceleration sensor and wheel speed sensor. By lane estimation, we can compensate steering control input and expect more smoothness. The performance of the proposed system is verified with the commercial software.
자율주행 차량의 카메라 Fail Operational 제어에 관한 연구
황준연(Junyeon Hwang),손영섭(Youngseop Son) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
The longitudinal-lateral vehicle control techniques for ADAS have been widely used in several active driver assistance systems and aims the crash free autonomous system. The camera and radar sensor are necessary elements and the lane keeping assistant control, vehicle platooning and adaptive cruise control are typical examples of their. These systems are not only rapidly adapted in passenger vehicle but related fail safe logics are also widely proceeded. In this study, a sensor fail operational control strategy for autonomous driving system is proposed considering the camera fail. The proposed method estimates the driving environment such as ego vehicle and surrounding vehicles’ movement and road shape by using radar and GPS. And then, the system predicts the optimal path to avoid the crash and drives the vehicle until the driver take over the control priority. The predicted optimal path is based on the recognized information, the road shape and surrounding vehicles are mapped into the 8-bit gray scale image and the desired vector for the ego vehicle’s movement is determined by the maximum intensity density tracing method. The desired vehicle path is followed by the acceleration/ deceleration and the steering control, respectively..