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이경수(Yi.Kyongsu) 한국자동차공학회 1994 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The peak dynamic tire loads. which are greatly in excess of static loads. are highly dependent on the dynamic characteristics of vehicle suspensions. Analytical research has shown that the vehicle-generated pavement damage can be reduced by using more advanced suspensions. This paper describes a proposed semi-active suspensions for heavy vehicles to reduce the dynamic tire forces. Simulation studies are presented to compare the performance of the advanced suspensions with the four leaf tandem suspensions.<br/>
이경수(Kyongsu Yi),최재웅(Jaewoong Choi) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.12
본 논문은 종/횡방향 충돌 회피 시스템의 통합을 통한 통합 위험 관리 시스템 (IRMS) 에 대하여 기술하였다. 이를 위하여 종/횡방향 충돌 위험을 나타낼 수 있는 지표가 개발되었으며, 이를 통하여 통합 제어 전략을 구성하였다. 충돌 회피 제어를 위하여 운전자-제어기-차량 시스템에 대한 선형 모델을 구성, 이를 바탕으로 운전자-제어기간 협력을 통한 충돌 회피 제어 알고리듬을 개발하였다. 개발된 통합 위험 관리 시스템은 차량 동역학 모의 시험 프로그램인 CARSIM 과 MATLAB/Simulink 를 연동, 모의시험을 통하여 성능을 확인하였다. This paper presents an Integrated Risk Management System (IRMS), which is designed to integrate longitudinal and lateral collision avoidance systems. Indices representing longitudinal and lateral collision risks are designed. From the designed indices, an integrated control strategy is designed. A collision avoidance algorithm is designed to assist the driver in avoiding collisions by using a vehicle-driver-controller integrated linear model. The performance of the proposed algorithm is investigated via computer simulations conducted using the vehicle dynamics software CARSIM and Matlab/Simulink.
이경수(Kyongsu Yi),최재웅(Jaewoong Choi) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.4
본 논문은 종/횡방향 충돌 회피 시스템의 통합을 통한 통합 위험 관리 시스템 (Irms)에 대하여 기술하였다. 이를 위하여 종/횡방향 충돌 위험을 나타낼 수 있는 지표가 개발되었으며, 이를 통하여 통합 제어 전략을 구성하였다. 충돌 회피 제어를 위하여 운전자-제어기간 협력을 통한 충돌 회피 제어 알고리듬을 개발하였다. 개발된 통합 위험 관리 시스템은 차량 동역학 모의 시험 프로그램인 CARSIM과 MATLAB/Simulink를 연동, 모의시험을 통하여 성능을 확인하였다. This paper present IRMS(Integrated Risk Management System) which is designed to integrate longitudinal and lateral collision avoidance systems. Indices represent longitudinal and lateral collision risks are designed. Collision avoidance algorithm is designed to cooperate with driver to avoid collision using vehicle-driver-controller integrated linear model. The performance of proposed algorithm has been investigated via computer simulation conducted to vehicle dynamic software CARSIM and Matlab/Simulink.
이경수(Kyongsu Yi),문일기(Ilki Moon) 대한기계학회 2001 대한기계학회 춘추학술대회 Vol.2001 No.2
This paper presents a vehicle control algorithm for stop and go cruise control systems which makes the vehicle remain at a safe distance from a preceding vehicle according to the driver's preference, automatically slow down and come to a full stop behind a preceding vehicle. The control algorithm consists of speed and distance control algorithm and a combined throttle/brake control law. Throttle and brake actuators are controlled by the throttle/brake control law so that the vehicle acceleration tracks the desired acceleration designed based on the vehicle speed and distance control algorithm. A stepper motor and an electronic vacuum booster have been used for the throttle and brake actuators. The throttle and brake actuators have been tested and the actuator dynamics has been incorporated in simulation study. The uncertainties of vehicle model have been considered in the design of the control law. The effect of throttle/brake control has been investigated via simulations. The simulations were performed using a complete nonlinear vehicle model. The results indicate that the proposed control law can provide the stop and go cruise control system with a good distance and velocity tracking performance.
김종호,이경수,Kim, Jongho,Yi, Kyongsu 한국자동차안전학회 2021 자동차안전학회지 Vol.13 No.4
This paper present box feature estimation from LiDAR point cluster using maximum likelihood Method. Previous LiDAR tracking method for autonomous driving shows high accuracy about velocity and heading of point cluster. However, Assuming the average position of a point cluster as the vehicle position has a lower accuracy than ground truth. Therefore, the box feature estimation algorithm to improve position accuracy of autonomous driving perception consists of two procedures. Firstly, proposed algorithm calculates vehicle candidate position based on relative position of point cluster. Secondly, to reflect the features of the point cluster in estimation, the likelihood of the particle scattered around the candidate position is used. The proposed estimation method has been implemented in robot operating system (ROS) environment, and investigated via simulation and actual vehicle test. The test result show that proposed cluster position estimation enhances perception and path planning performance in autonomous driving.
차량 안정성 향상을 위한 ESC와 ARS의 통합 샤시 제어 알고리즘 개발
허현동,이경수,서지윤,김종갑,Her, Hyundong,Yi, Kyongsu,Suh, Jeeyoon,Kim, Chongkap 한국자동차안전학회 2013 자동차안전학회지 Vol.5 No.1
This paper describes an investigation into coordinated control of electronic stability control (ESC) and active roll control system (ARS). The coordinated control is suggested to improve the vehicle stability and agility features by yaw rate control. The proposed integrated chassis control algorithm consists of a supervisor, control algorithms, and a coordinator. The supervisor monitors the vehicle status and determines desired vehicle motions such as a desired yaw rate and desired roll motion based on control modes to improve vehicle stability. According to the corresponding the desired vehicle dynamics, the control algorithm calculated a desired yaw moment and desired roll moment, respectively. Based on the desired yaw moment and the desired roll moment, the coordinator determines the brake pressures and the ARC motor torques based on control strategies. Closed loop simulations with a driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy using CarSim vehicle dynamics software and the integrated controller coded using Matlab/Simulink.