• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 춘계학술대회 논문요약집
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• pp.166-166
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• 2004

운전자 보조시스템에는 적응순항제어 (adaptive cruise control), 차선변경 (lane change), 충돌경고 (collision warning), 충돌회피 (collision avoidance), 및 자동주차 (automatic parking) 등이 있다. 이런 운전자 보조시스템은 어떤 목적을 가지고 있다. 운전자의 부담을 줄이고 안전을 위하여 차량의 주행방향에 있는 장애물이나 차량을 감지하여 차량간의 안전거리론 유지하고 자동차가 일정 속도를 유지하도록 한다. 운전자 보조시스템의 효율은 센서들로부터 얻어진 정보의 해석에 달려있다.(중략)

• 대한기계학회논문집A
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• 제39권5호
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• pp.473-482
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• 2015

최근 과학 기술의 발전으로 첨단 자율 기능을 탑재된 차량의 출현이 가능하게 되었으며, 기존 차량에 추가된 첨단 운전자 지원 시스템(Advanced Driver Assistance Systems: ADAS)은 기존 차량에 추가된 이러한 자율 시스템들의 좋은 예라 할 수 있다. 이러한 시스템은 다수의 작동 모드를 가지는데 운전자들이 현재 수행중인 작동 모드를 잘못 인지하게 되면 교통사고가 일어날 수 있음이 관찰되고 있다. 본 연구에서는 적응 순항제어(Adaptive Cruise Control: ACC) 시스템을 장착한 자동화된 자동차의 운전자 인터페이스를 설계하고 이를 정형 기법을 통한 분석과 피실험자를 이용한 실험을 통해 모드 혼동 발생 여부를 검증하고 이를 개선하는 연구를 수행하였다. 이를 통해 모드 혼동을 방지하기 위해서는 시스템에 대한 심성 모델의 정확성과 간결성뿐만 아니라 인터페이스 구현시 디스플레이의 명확성이 또한 매우 중요하다는 것을 확인하였다.

• 한국자동차공학회논문집
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• 제9권2호
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• pp.137-142
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• 2001

A throttle/brake control law for the intelligent cruise control(ICC) systems has been proposed in this paper. The ICC system consists of a vehicle detection sensor, the control algorithm and a throttle/brake actuators. The control performance has been investigated through vehicle tests. The test vehicle is equipped with a MMW radar sensor, a solenoid-valve-controlled Electronic-Vacuum-Booster(EVB) and a step-motor controlled throttle actuator. The results indicate the proposed throttle/brake control laws can provide satisfactory vehicle-to-vehicle distance and velocity control performance.

• 한국자동차공학회논문집
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• 제9권5호
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• pp.115-121
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• 2001

A driving load estimation method for intelligent cruise control(ICC) vehicles has been proposed in this paper. Vehicle driving load is one of the most important factors of perturbations in vehicle control and can affect the control performance critically. The effect of the control with driving load estimation on vehicle-to-vehicle distance control has been presented and investigated via computer simulations and vehicle tests. The results show that vehicle-driving-load-adaptive control can provide an ICC system with a good acceleration tracking performance. In addition, the results show that driving load estimation can compensate not only the variation of driving load but also the modeling errors.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.653-658
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• 2000

A driving load estimation method for intelligent cruise control(ICC) vehicles has been proposed in this paper. The driving load is one of the most important factors of perturbations in vehicle control and can affect the control performance critically. The Effect of the control with driving load estimation on vehicle-to-vehicle distance control has been presented and investigated via computer simulations and vehicle tests. The results show that the control with driving load estimation can provide ICC system with a good acceleration tracking performance. In addition, the results show that driving load estimation can compensate not only variation of driving load but also the modeling errors.

• 한국자동차공학회논문집
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• 제11권4호
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• pp.173-179
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• 2003

In this paper, a real-time multibody vehicle dynamics and control model has been developed for a virtual reality intelligent vehicle simulator. The simulator consists of low PCs for a virtual reality visualization system, vehicle dynamics and control analysis system a control loading system, and a network monitoring system. Virtual environment is created by 3D Studio Max graphic tool and OpenGVS real-time rendering library. A real-time vehicle dynamics and control model consists of a control module based on the sliding mode control for adaptive cruise control and a real-time multibody vehicle dynamics module based on the subsystem synthesis method. To verify the real-time capability of the model, cut-in, cut-out simulations have been carried out.

• 한국자동차공학회논문집
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• 제13권1호
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• pp.76-82
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• 2005

In this paper, validation of Driver Steering Model has been conducted. The comparison between the simulation model and vehicle test results shows that the model is very feasible for describing combined human driver and actual vehicle dynamic behaviors. The 3D vehicle model is consisted of 6-DOF sprung mass and 4-quarter car model for vehicle body dynamics. Powertrain model including differential gear and Pacejka tire model are applied. The driver steering model is also validated with vehicle test result. The driver steering model is based on angle and displacement error from the desired path, recognized by driver.

• 한국지능시스템학회논문지
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• 제18권6호
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• pp.863-870
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• 2008

본 논문에서는 관측왜곡을 포함하고 있는 적응형 순항제어 시스템개발에 필수적인 필터링 방식에 대한 연구를 진행한다. 앞선 차량의 정확한 추적과 의도파악을 위하여 기본적으로 IMM (Interacting multiple model)을 사용하며 관측의 왜곡을 보상하기 위하여 확률적 퍼지 모델을 세안한다. 확률적 퍼지 모델은 기존의 결정형 퍼지모델과 달리 모델링 오차를 확률로 모델링한다. 끝으로 확률퍼지모델과 IMM을 결합한 FIMM (Fuzzy IMM)을 제안하여 관측왜곡이 발생하는 레이더를 이용한 전방차량의 추적 알고리즘을 제안한다.

• 한국자동차공학회논문집
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• 제22권3호
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• pp.123-129
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• 2014

SCC (Smart Cruise Control) and AEBS (Autonomous Emergency Braking System) are using various types of sensors data, so it is important to consider about sensor data reliability. In this paper, data from radar and vision sensor is fused by applying a Bayesian sensor fusion technique to improve the reliability of sensors data. Then, it presents a sensor fusion verification tool developed to monitor acquired sensors data and to verify sensor fusion results, efficiently. A parallel computing method was applied to reduce verification time and a series of simulation results of this method are discussed in detail.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.217-223
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• 2015

Autonomous driving is no longer atechnology of the future since the development of autonomous vehicles has now been realized, and many technologies have already been developed for the convenience of drivers. For example, autonomous vehicles are one of the most important drive assistant systems. Among these many drive assistant systems, Cruise Control Systems are now a typical technology. This system constantly maintains a vehicle's speed and distance from a vehicle in front by using Radar or LiDAR sensors in real time. Cruise Control Systems do not only serve their original role, but also fulfill another role as a 'Driving Safety' measure as they can detect a situation that a driver did not predict and can intervene by assuming a vehicle's longitude control. However, these systems have the limitation of only focusing on driver safety. Therefore, in this paper, an Intelligent Cruise Control System that utilizes the path planning method and GIS is proposed to overcome some existing limitations.