• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.4
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• pp.153-163
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• 2017

This research is based on the previous research that personally preferred safe distance, rotating angle and speed are differentiated. Thus, we use machine learning model for recognizing maneuvering modes trained per personal or per similar driving pattern groups, and we evaluate automatic driving according to maneuvering modes. By utilizing driving knowledge, we subdivided 8 kinds of longitudinal modes and 4 kinds of lateral modes, and by combining the longitudinal and lateral modes, we build 21 kinds of maneuvering modes. we train the labeled data set per time stamp through RNN, LSTM and Bi-LSTM models by the trips of drivers, which are supervised deep learning models, and evaluate the maneuvering modes of automatic driving for the test data set. The evaluation dataset is aggregated of living trips of 3,000 populations by VTTI in USA for 3 years and we use 1500 trips of 22 people and training, validation and test dataset ratio is 80%, 10% and 10%, respectively. For recognizing longitudinal 8 kinds of maneuvering modes, RNN achieves better accuracy compared to LSTM, Bi-LSTM. However, Bi-LSTM improves the accuracy in recognizing 21 kinds of longitudinal and lateral maneuvering modes in comparison with RNN and LSTM as 1.54% and 0.47%, respectively.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.1141-1142
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• 2023

본 연구는 4륜 독립 구동·제동·조향 차량의 모드 천이 논리 알고리즘에 관한 연구로서, 일반적인 주행 스타일 외에도 다양한 주행 스타일을 가지는 차량에서 주행 모드 전환 간에 고려되어야 하는 조건들을 다룬다. 주행 모드 전환 간에 Static Transition과 Dynamic Transition이 가능하며 Static Transition 방식이 일반적이지만 저속 상태에서 차량이 충분히 정렬되어 있다면 FWS 주행, 동상 주행, 역상 주행 간의 Dynamic Transition도 가능할 것이다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.801-805
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• 2016

In this paper, engine clutch engagement shock is analyzed during the mode change of plug-in hybrid electric vehicles. Multi-driving mode includes the EV (electric vehicle) mode, HEV (hybrid electric vehicle) mode, and engine operating mode. Depending on the mode change, the engine clutch is either engaged or disengaged. The magnitude of shock during clutch engagement is very important because it impacts vehicle acceleration and clutch synchronization speed, which affects ride comfort substantially. The performance simulator of plug-in hybrid electric vehicles was developed using MATLAB/Simulink. The simulation results show that the mode change control algorithm is necessary for minimizing shock during clutch engagement.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.575-583
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• 2017

This paper describes the design and evaluation of a driving mode decision algorithm for automated driving for merge situations on highways. For the development of a highly automated driving control algorithm for merge situations, the driving mode decision is crucial for merging appropriately. There are two driving modes: lane keeping and lane changing (merging). The merge mode decision is determined based on the state of the surrounding vehicles and the remaining length of the merge lane. In the merge mode decision algorithm, merge possibility and the desired merge position are decided to change the lane safely and quickly. A safety driving envelope is defined based on the desired driving mode using the information on the surrounding vehicles' behaviors. To obtain the desired steering angle and longitudinal acceleration for maintaining the subject vehicle in the safe driving envelope, a motion planning controller is designed using model predictive control (MPC), with constraints that are decided considering the vehicle dynamics, safe driving envelope, and actuator limit. The proposed control algorithm has been evaluated via computer simulation studies.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.2
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• pp.44-51
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• 2014

This paper describes system definition of the extended range EV and presents cruising strategy of EV mode and ER mode. Also high voltage battery strategic SOC could be indicated and compared depends on various generator working cycles. A C-segment SUV has been produced and carried out cruising test in order to validate on highway, city and hill climbing road. This paper shows advantages and disadvantages of SOC variation on each road environments and presents the strategies as the cruising test results. On the basis of the test result, this paper suggests future works and research directions for strategy of battery management to extended range EV.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.77-82
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• 1999

대형 화물트럭의 차실 내에 높은 수준의 차바닥 진동을 수반한 높은 소음이 발생하였다. 측정 및 분석결과 문제의 진동 소음은 추진축의 회전 1차 및 2차 성분으로 나타났다. 진동 전달경로상의 구성계 및 구성요소들에 대해 모드해석과 실차 주행 모드 해석시험을 실시한 결과 드라이브라인 및 프레임의 공진주파수가 문제가 되는 소음진동 주파수와 거의 일치하였으며, 또한 캡의 실내음향 공진 모드가 문제되는 주파수에서 존재하였다. 실험결과에 따라 액슬과 액슬간의 축의 장착각도를 변경하여 가진력을 줄이고, 비틀림 동흡진기를 추진축에 장착하여 드라이브라인계 공진을 제어함으로써 문제의 시내진동소음을 현저히 개선하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.931-940
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• 2017

This paper describes a predictive fault diagnosis algorithm for autonomous vehicles based on a kinematic model that uses a sliding mode observer. To ensure the safety of autonomous vehicles, reliable information about the environment and vehicle dynamic states is required. A predictive algorithm that can interactively diagnose longitudinal environment and vehicle acceleration information is proposed in this paper to evaluate the reliability of sensors. To design the diagnosis algorithm, a longitudinal kinematic model is used based on a sliding mode observer. The reliability of the fault diagnosis algorithm can be ensured because the sliding mode observer utilized can reconstruct the relative acceleration despite faulty signals in the longitudinal environment information. Actual data based performance evaluations are conducted with various fault conditions for a reasonable performance evaluation of the predictive fault diagnosis algorithm presented in this paper. The evaluation results show that the proposed diagnosis algorithm can reasonably diagnose the faults in the longitudinal environment and acceleration information for all fault conditions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.159-165
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• 2010

The moving object monitoring and transforming personal robot system based on remote controls is designed and implemented, and the performance of the system is analyzed in this paper. The major considering factors in the system design are such as 1) the control scheme design (button based and the remote control schemes); 2) the operation modes design (wheel driving mode/pedestrian mode/auto driving mode/observation mode); 3) the remote control function design; 4) the design of the monitoring function of the changes in neighbor environments; 5) the design of the detection of obstruction. From the experiments, it is assured that the developed personal robot can walk to the grounds that covered with doorsill or electric wires in indoors by control the leg articulations, and can escape from the obstruction using three infrared sensors in the 30cm*30cm obstruction styled space under the auto driving mode.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.1
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• pp.37-44
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• 2014

For testing a two-wheeled vehicle's per-charge range, this study conducted road and chassis dynamometer driving tests. Three typical road routes within Daejeon Metropolitan City were selected for the road-driving test. In the case of CVS-40 mode driving tests using a chassis dynamometer, various road-loading conditions were set. In this study, two-wheeled electric vehicles' per charge range on the road was confirmed through testing, and the range and energy consumption efficiency depending on various chassis dynamometer road load settings were measured. Then, the results of the actual road driving tests were compared with those of the chassis dynamometer driving tests, and road load settings that yielded per-charge range testing results similar to those under actual road driving conditions in the chassis dynamometer experiments were studied.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.1
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• pp.37-46
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• 2014

This paper describes the conceptual design and development test procedure of a unmanned scaled-down personal air vehicle(PAV) with drive and flight dual mode capability. Trade studies on operational requirements led to the suggestion of a quad tilt prop platform which has nacelle tilt capability with multi rotor configuration. Motors for propeller propulsion and driving mechanism were integrated into a single nacelle, then they were implemented by nacelle tilt mechanism for conversion between the drive and the flight modes. Primary design parameters and initial specifications were confirmed through conceptual design, then functional tests were performed with the test platforms for the drive and the flight modes.