• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.718-724
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• 2013

In today's automotive industry, there exist several systems that help drivers reduce the possibility of accidents, such as the ADAS (Advanced Driver Assistance System). The ADAS helps drivers make correct and quick decisions during dangerous situations. This study analyzed the performance of the IMM (Interacting Multiple Model) method based on multiple Kalman filters using the data acquired from a driving simulator. An IMM algorithm is developed to identify the current discrete state of neighboring vehicles using the sensor data and the vehicle dynamics. In particular, the driving modes of the neighboring vehicles are classified by the cruising and maneuvering modes, and the transition between the states is modeled using a Markovian switching coefficient. The performance of the IMM algorithm is analyzed through realistic simulations where a target vehicle executes sudden lane change or acceleration maneuver.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.353-360
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• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.

• 대한기계학회논문집B
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• 제40권5호
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• pp.297-304
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• 2016

통상 제어기 설계용으로 개발되는 차량용 수퍼 차져의 동적 거동 모델은 경험식에 의존한 압축기 맵을 활용하고 있어, 실제 서지 현상의 발생에 따른 시스템의 영향과 거동특성을 모사하는데 한계가 있다. 본 연구에서는 수퍼 차져의 운전 동특성을 모사할 수 있는 해석기반 압축기 모델을 개발하고 운전 변동성에 따른 압축기의 운전 추이를 모사하고자 한다. 모델 개발은 SIMULINK$^{(R)}$ 환경에서 진행하고, 기준 동특성 모델은 Greitzer의 압축기 모델을 적용하였다. 해석 결과는 실험 결과와 비교 검증을 통해 모델의 타당성을 확인하였으며 운전 특성 변화에 따른 압축기 성능 및 서지 발생 가능성에 대해 확인 하였다.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.