• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.6
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• pp.83-91
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• 2012

In recent days, the study on hybridization of the heavy-duty is going on, actively. Especially, the improvement of fuel economy can be maximized in the intra-city bus because it drives the fixed route. For developing the hybrid electric intra-city bus, optimized control strategy which is possible to be applied with real vehicle is necessary. If the real-time control strategy is developed based on the HILS, it is possible to verify the real-time ability and fail-safety function which has the vehicle stay in safe state when the functional errors are occurred. In this study, the HILS system of series hybrid electric intra-city bus is developed to verify the real time control strategy and the fail-safety functions. The main objective of the paper is to build the HILS system for verifying the control strategy (rule-based control) which is implemented to reflect the Dynamic Programming results and fail-safety functions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.2
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• pp.256-263
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• 2009

KORAIL carries out an improvement project of railway signaling system for the conventional line from the existing method which permits a train to move within limited speed the ground signal of ATS(Automatic Train Stop) system. The proposed system makes possible that a train can be driven using a speed profile created by onboard signaling system(ATP) with the movement authority from ground balise. A driving test over 100,000km is being executed by developing a tilting train for the speed elevation on the conventional line. And, the introduction of the tilting train by ATP system to the Jung-ang line is expected. However, a speed elevation on a curved line section has a restriction. Therefore, research on safety braking model and train separation control technology for the localization of ATP system is required preferentially. In this paper, we presented a safety braking model of ATP system and a train separation control method that use ground balise as variable information provider, and executed a performance simulation.

• Journal of Korean Society of Transportation
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• v.17 no.2
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• pp.91-103
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• 1999

이 연구는 자동 차량위치 측정기법(Automatic Vehicle Location, AVL)을 이용해서 수집한 교통상황자료를 가지고 구간 통행시간을 산출하는 알고리즘을 개발한다. AVL기법을 이용하는 경우, 처리해야 할 자료량이 많아서 실시간에 정보를 산출하는 것이 힘들다. 따라서 이 연구는 처리해야 할 자료량을 가능한 한 줄이고 자료량이 적은 경우에도 효율적인 구간통행시간을 산출하는 알고리즘을 제시한다. 이 연구의 방법론은 크게 4가지인데, 첫째, 해석 기법, 둘째, 회귀분석, 셋째, 인공지능 및 전문가 시스템, 넷째, 통계분석이다. 이 방법론을 이용해서 세 단계 알고리즘을 개발하는데, 첫째는 실시간 분석통계 알고리즘, 둘째는 과거자료분석 알고리즘, 셋째는 자료응합 알고리즘이다. 이 알고리즘 가운데 자료융합 알고리즘 결과가 산출하고자 하는 구간 통행시간이다. 실시간 분석통계 알고리즘은 연속하는 세 개 구간의 통행 패턴을 이용해서 가운데 구간의 통행시간을 산출하는 방법을 제시한다. 또 실시간 분석통계 알고리즘으로 산출하지 못한 구간은 인접구간 상관도 정보를 이용해서 구간통행시간을 추정한다. 과거자료분석 알고리즘은 회귀분석을 이용해서 시간대별 통행시간 평균과 분산을 구하고, 이 결과를 바탕으로 인접구간 상관도 정보를 오프라인으로 구하는 알고리즘이다. 자료융합 알고리즘은 2가지 단계를 거치는데, 그것은 실시간 자료융합과 최종 자료융합이다. 실시간 자료융합은 실시간에 가까운 자료원의 실시간 분석통계 알고리즘 결과 패턴과 인접구간 상관도 정보를 이용한 구간통행시간 추정 결과를 이용해서 패턴에 따라 다른 방법으로 융합을 하는 알고리즘을 개발한다. 최종 자료융합은 실시간 자료융합 결과와 회귀분석 결과의 패턴을 이용해서 구간 통행시간을 산출한다. 이 연구를 기존 연구와 비교할 때, 세 가지 독차성이 있다. 첫째는 연속하는 세 구간 통행 패턴을 분석하였기 때문에 기존의 노드의존 방식을 탈피하였다는 점이다. 따라서 자료량이 적은 경우도 믿을만한 통행시간을 산출할 수 있다는 것이다. 둘째는 인접구간 상관도 정보를 구간통행시간 산출에 이용하였기 때문에 자료를 효율적으로 이용할 수 있다는 점이다. 셋째는 자료원 패턴을 분류하고 전문가 시스템을 이용하여 자료융합 하였기 때문에 수행속도가 빠르고, 신뢰성있는 정보를 제공한다는 점이다. 이 연구는 개발한 알고리즘 정확도를 검증하기 위해서 두 가지 검증방법을 이용하였다. 첫째는 시뮬레이션을 이용한 것이고, 둘째는 실제 주행조사 분석을 이용한 것이다. 두 가지 검증 결과는 알고리즘 정확도를 보여준다.

• KIPS Transactions on Computer and Communication Systems
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• v.5 no.10
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• pp.327-330
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• 2016

In the road environment with lots of vehicles, we can increase the number of vehicles on the road (i.e., road capacity) and enhance the comfortability of drivers if vehicles are organized into platoons. In the traditional vehicle platooning mechanisms, a pre-determined set of vehicles are allowed to form a platoon and, among them, a specific vehicle is designated as the platoon leader. In this type of platoon mechanisms, platoon is limited in improving the road capacity because the vehicles allowed to involve into platooning are restricted. Therefore, in this paper, we propose an adaptive platoon formation mechanism that allows any vehicle to be a platoon leader from which a platoon is formed. In the proposed mechanism, a platoon leader is elected based on the relative velocity and location information of neighboring vehicles obtained through the periodic exchange of beacon messages among vehicles. Through the NS-3 based simulations, we show the performance of our proposed mechanism in terms of road capacity improvement.

• Journal of Korean Society of Transportation
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• v.19 no.5
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• pp.85-97
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• 2001

In this study, the purpose behind this research is to propose index to be used for classification of functional the urban streets and to select the feasible length of special management link by the index. This special management link help decision makers found a transportation policy. In order to perform functional classification, index such as average traveled distance, link VKT and VKT per length-lane are use at the study. Average traveled distance index is average traveled distance divided by length of Path k and VKT per length-lane is trip volume characteristic considering lanes and length of Path k. Special management links on which major part of the vehicle are selected with using Path-VKT which represents how many long-distance touring vehicles are on the arterial road. The selection of special management links are performed with network composed of 14 paths (arterial roads) in seoul The total distance of special management links resulted from the above analysis is 141km(35.0% of the whole paths length) and total VKT of the special management links is 4,152,475 VKT(45.2% of the whole paths VKT)

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.6
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• pp.40-48
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• 2013

Recently, many types of electric vehicles including a heavy duty vehicle have been developed and released because of the better fuel economy and less gas products. In this study, research about an electric bus which utilizes the wheel motor drive system was conducted. The wheel motor is a motor connected to the wheel directly only with a simple gear so that the developer can utilize the space efficiently and the whole system efficiency will be better because of simple structure. However, because it is different from former types of vehicles which use the differential gear, the development of the integrated control logic is required in order to meet the vehicle stability and driving performance. The developed control logic is composed with direct yaw moment control, regenerative braking control and slip control logics. It is compared to the control logics which does not consist of direct yaw moment control and slip control when the vehicle is exposed in tough situations. For the unification of the control logic, a few maps were developed and applied to determine the output torque of each motor according to the driving status. As a result, it is shown that the developed control logic is more safe and well follow the target speed than the other control logic applied simulations.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.2
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• pp.1-11
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• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

• Journal of Advanced Navigation Technology
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• v.24 no.5
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• pp.374-381
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• 2020

In order to improve the vertical position accuracy, the advantages of GPS and barometric altimeter are combined and used, but in order to fuse the two sensors, the geoid altitude must be compensated. In this paper, we proposed a technique that can calculate geoid altitude in real time even in low-cost embedded systems applied to drones or autonomous vehicles. Since the reference EGM08 is determined by a polynomial of the 2160th order, real-time calculation is impossible in the embedded system. Therefore, by introducing a linear interpolation technique, the amount of calculation was increased, and the storage space was saved by 75% by using the integer geoid height as a grid point. The accuracy of the proposed technique was evaluated through simulation, and it was confirmed that the accuracy of the maximum error is -1.215 m even in the region where the geoid change is rapid.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.85-85
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• 2011

기존 과속단속카메라의 한계와 더불어 차량의 속도 거동이 더욱 순화될 필요가 제기됨에 따라 국내에서는 2007년 12월 16일 영동고속도로 둔내터널에서 처음 구간과속단속시스템을 도입하였다. 현재 고속국도 6개소를 포함하여 총 8개소에서 구간과속단속시스템을 운영하고 있다. 하지만 해당 시스템의 도입효과가 명확하지 않아 시스템의 효과에 대한 의문도 꾸준히 제기되고 있다. 본 연구에서는 미국 Los Alamos연구에서 개발된 TRANSIMS(TRansportation Analysis and SIMulation System)의 시뮬레이션 결과를 이용해 시스템 적용 전 후의 거시적 교통류 특성을 수집하여 효과에 대하여 분석하였다. 본 연구에서는 구간과속단속시스템의 효과를 분석하기 임의의 네트워크를 제작하여 모의실험을 해 보았다. 네트워크는 총 연장 12km의 직선형 구간으로 제작하였다. 모의실험에 사용되는 링크의 Cell크기는 3m로 설정하여 TRANSIMS의 내정값인 7.5m보다 더욱 상세한 결과가 나오도록 설정하였다. 링크는 편도 3차로로 설정하여 모의실험을 실시하였으며, 구간단속이 미치는 영향을 실제와 유사하게 적용하기위해 모의실험을 하는 링크의 제한속도를 구간단속 실시 전에는 160km/h, 실시 후에는 100km/h로 설정하였다. 구간단속 실시 전 링크의 제한속도를 160km/h로 높게 설정한 것은 실제 통행이 발생하는 속도를 구현하기위해서이며, 차종별 최대 속도를 제한하여 속도분포를 나타내었다. TRANSIMS를 통한 구간과속단속시스템의 효과를 분석하는 모의실험 결과 그림 1의 그래프에서 나타나는 것과 같이 구간단속 전 후에서 속도저감효과가 나타나는 것을 확인 할 수 있었다. 특히, 교통류율이 낮을 때 속도가 높게 나타나던 부분이 구간단속 실시 후 속도가 낮아지는 것을 보아 실제로 교통류율이 낮은 고속국도에서는 높은 효과를 기대할 수 있다고 판단된다. 표 1에서 구간단속 전 후의 주행차량의 속도변화를 살펴보면 과속운행의 비율이 상당히 주는 것을 확인할 수 있다. 이러한 특성 때문에 교통량이 비교적 적은 고속국도에서는 뛰어난 효과를 발휘할 것이라고 예상된다.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.9
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• pp.43-52
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• 1998

In this paper, a novel type of an integrated controller is designed for vehicles equipped with active classis systems to improve vehicle stability, handling, and ride comfort. The hybrid fuzzy logic controller consists of a fuzzy logic controller, a skyhook controller, an attitude controller, and a roll moment distribution controller, and these controllers are used with a proper combination which is determined by the integrated control logic based on driving conditions of a vehicle. It is shown by simulations using MATRIXx/SYSTEMBBUILD software that ride comfort, handling, and active safety are improved for a 16 degree-of-freedom vehicle dynamic model.