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송문형(MoonHyung Song),정우현(WooHyun Jung),한인석(InSuck Han),신동호(Dongho Shin) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
This paper presents a identification method of sliding door system for passenger car called by IRSD(Invisible Rail Sliding Door) system, which gets over the limitations of the existing sliding door system in design stage. To design a door speed controller, it is essential to identify IRSD system with high accuracy. Two identification methods (Model based modeling and Black Box modeling) have been studied to find a mathematical model together with optimal values of unknown parameters. The results from two different methods show high similarity and it is validated through the comparison with sensor output that IRSD system identification shows good performance.
Kalman Filter를 이용한 자차량 Ego-motion 추정에 관한 연구
송문형(MoonHyung Song),신동호(Dongho Shin) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
The extraction of ego-motion information(e.g. velocity and angular velocity with respect to 3-axis) of the vehicle is much demanded for a lot of driver assistance applications such like collision avoidance system, obstacle detection, and so on. This paper introduces a novel method for vehicle’s ego-motion estimation through EKF (Extended Kalman Filter) of which measurements are obtained from the 2G1Y combo inertial sensor and stereo camera. To enhance the exactness of the proposed methodology, the vehicle lateral dynamics have been taken into account with which the state evolution equation have been augmented. The experiment have been executed and shown that the purposed method estimates the ego vehicvle velocity and angular velocity with high accuracy.
자율주행차량의 횡방향제어를 위한 슬라이딩 관측기 기반 슬라이딩 모드제어기
송문형(Moonhyung Song),김창일(Changil Kim),이광수(Kwangsoo Lee),김종민(Jongmin Kim),김문식(Moonsik Kim) 한국자동차공학회 2017 한국자동차공학회 부문종합 학술대회 Vol.2017 No.5
In this paper, the lateral controller for path tracking of autonomous vehicle is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving. In order to have robustness about model error, the proposed system is designed according to the sliding mode control with sliding observer estimating side slip angle and yaw rate of vehicle. The performance of the proposed algorithm is evaluated by simulation and real-car test in the proving ground.
김종민(Jongmin Kim),송문형(Moonhyung Song),김창일(Changil Kim),이광수(Gwangsu Lee),김문식(Moonsik Kim) 한국자동차공학회 2017 한국자동차공학회 부문종합 학술대회 Vol.2017 No.5
Recently, most automakers have been working on the development of advanced driver assistance systems with an emphasis on driver safety. Conventional BSD is a blind zone warning system, and most of them use radar equipment for obstacle detection. However, BSD systems using radar equipment are still difficult to popularize in terms of price. Therefore, there is a need to reduce costs by developing a multi-function using a popularized driver-assisted system sensor. In this paper, we propose an ultrasonic BSD warning system which has a blind zone warning function by using ultrasonic sensor for parking assist system.