• Proceedings of the KOR-KST Conference
• /
• 1998.10b
• /
• pp.298-298
• /
• 1998

The delay on two-lane, Two-way roads is a very important factor which tends to cause relatively high driver loads and too much delay often leads to traffic accidents. In this study a generalized form of delay estimation model was developed based on constant slow moving vehicle speeds, 100% no-passing zone, and flat terrain highway sections. To validate the model, a comparison was made with John Morrall's SMV(Slow Moving Vehicle)model as well as with TWOPAS model. Also a sensitivity analysis was performed to check accuracy of the model. It was found that the model was easy to apply and yet provided reasonable results for experimental conditions specified in the study. It was recommended that speed calculation procedure of the model be improved by further studies, so that the effect of speed acceleration or deceleration according to highway geometries on delay could be analyzed more accurately.

• Proceedings of the KOR-KST Conference
• /
• 1998.09a
• /
• pp.141-151
• /
• 1998

Provision of Passing Sight Distance (PSD) is an important component in two-lane highway design and has a critical impact on capacity of highway and safety of drivers. Many models have been developed to estimate PSD reasonably. However, each of them has a number of shortcomings for reflecting the real traffic conditions. This paper introduces a revised model that reflects the characteristics of the passing maneuver. The changes in passing sight distances under different assumptions about acceleration and vehicle length, which are related to vehicle types, are presented. The results obtained by the revised model are compared with those obtained from the existing models. There is an important link between geometric design decisions which determine the available sight distance and the quality of service which the road provides. In this paper, we examine one aspect of this relationship. That is to determine whether the passing sight distance is provided by improving horizontal alignment for a specific roadway section or passing may be restricted to save the road construction cost. To do so, a simple method for estimating traffic delay in no-passing is introduced.

• Journal of Auto-vehicle Safety Association
• /
• v.14 no.4
• /
• pp.16-20
• /
• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.22 no.3
• /
• pp.603-610
• /
• 1998

This paper develops a 7 DOF vehicle model to study the effects of the active suspension on ride. The model is used to derive a control law for the active suspension using a full state linear optimal control technique. A wheelbase preview type active suspension is also considered in the control law derivation. The time delay between wheelbases is approximated using Pade approximation technique. The ride model is extended to a 14 DOF handling model. The 14 DOF handling model includes lateral, longitudinal, yaw and four wheel spin motions in addition to the 7 DOF ride model. A control law which is derived considering only ride related parameters is used to study the effects of the active suspension on a vehicle handling. J-turn maneuver simulation results show that the active suspension has a slower response in lateral acceleration and yaw rate, a bigger steady state lateral acceleration and an oversteer tendency. Lane changing maneuver simulation results show that the active suspension has a little bigger lateral acceleration but a much smaller roll angle and roll motion. Braking maneuver simulation results show that the active suspension has a much smaller pitch angle and pitch motion.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.37 no.2
• /
• pp.397-407
• /
• 2017

This study investigated current status of rest area for drowsy drivers on the highways and drew the related issues to define specifications and design criteria regarding expressway rest area for drowsy drivers on the highways. Based on the investigation result, geometric structure specifications and improvement plans are suggested. The entry part of a rest area for drowsy drivers on the highways was divided into deceleration transition section, deceleration lane and entry connection road while the exit part was divided into exit connection road, acceleration lane and acceleration transition section. The optimum length was estimated by considering the main lane vehicle traveling speed, traveling speed at the beginning/end point of entry/exit connection roads, deceleration and acceleration. In addition, reasonable design criteria were suggested by dividing the parking section of rest area for drowsy drivers according to parking style and cross-section composition, and length of parking space and then considering the ratio of vehicles using rest area for drowsy drivers, the ratio of heavy vehicles, and the design speed within a rest area for drowsy drivers. It is believed that the suggested design criteria on rest area for drowsy drivers on the highways can be utilized in the future planning and maintenance of rest area for drowsy drivers. Additionally, the defined criteria on installing rest area for drowsy drivers on the highways will prevent traffic accidents in resting facilities and highways as well as improve usage and safety of them.

• Journal of the Ergonomics Society of Korea
• /
• v.35 no.1
• /
• pp.11-27
• /
• 2016

Objective: The purpose of this study was to develop and evaluate high technology adaptive driving controls, such as mini steering wheel-lever system and joystick system, for the people with physical disabilities in the driving simulator. Background: The drivers with severe physical disabilities have problems in operation of the motor vehicle because of reduced muscle strength and limited range of motion. Therefore, if the remote control system with driver-by-wire technology is used for adaptive driving controls for people with physical limitations, the disabled people can improve their quality of life by driving a motor vehicle. Method: We developed the remotely controlled driving simulator with drive-by-wire technology, e.g., mini steering wheel-lever system and joystick system, in order to evaluate driving performance in a safe environment for people with severe physical disabilities. STISim Drive 3 software was used for driving test and the customized Labview program was used in order to control the servomotors and the adaptive driving devices. Thirty subjects participated in the study to evaluate driving performance associated with three different driving controls: conventional driving control, mini steering wheel-lever controls and joystick controls. We analyzed the driving performance in three different courses: straight lane course for acceleration and braking performance, a curved course for steering performance, and intersections for coupled performance. Results: The mini steering wheel-lever system and joystick system developed in this study showed no significant statistical difference (p>0.05) compared to the conventional driving system in the acceleration performance (specified speed travel time, average speed when passing on the right), steering performance (lane departure at the slow curved road, high-speed curved road and the intersection), and braking performance (brake reaction time). However, conventional driving system showed significant statistical difference (p<0.05) compared to the mini steering wheel-lever system or joystick system in the heading angle of the vehicle at the completion point of intersection and the passing speed of the vehicle at left turning. Characteristics of the subjects were found to give a significant effect (p<0.05) on the driving performance, except for the braking reaction time (p>0.05). The subjects with physical disabilities showed a tendency of relatively slow acceleration (p<0.05) at the straight lane course and intersection. The steering performance and braking performance were confirmed that there was no statistically significant difference (p>0.05) according to the characteristics of the subjects. Conclusion: The driving performance with mini steering wheel-lever system and joystick control system showed no significant statistical difference compared to conventional system in the driving simulator. Application: This study can be used to design primary controls with driver-by-wire technology for adaptive vehicle and to improve their community mobility for people with severe physical disabilities.

• Journal of Korean Society of Transportation
• /
• v.31 no.4
• /
• pp.58-66
• /
• 2013

Due to the characteristics of urban freeways such as heavy traffic and high speed, work zone on urban freeways causes the increase of not only the likelihood of crash occurrence but also traffic congestion caused by lane drop, lane change, acceleration/deceleration, and etc. This paper aims to determine the proper length of transition area that satisfies two criteria, mobility and safety, to make the operation of work zone more efficient. For the analysis, three different scenarios were developed by the number of lanes and the proper length of transition area were determined by changing the length from 100m to 500m in 100m increments. The results showed that the proper length of transition area for 3- and 4-lane freeways is 300m, whereas the proper length of 2-lane freeways is 200m. The results indicated that the different length of transition area based on the number of lanes is more desirable and efficient.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.04a
• /
• pp.383-387
• /
• 1996

This paper presents a steering control strategy applicable to vehicle path following problems. This control strategy is based on realistic nonlinear equations of motion of multibody systems described in terms of relative joint coordinates. The acceleration of the steering angle is selected as a control input of the system. This input is obtained by considering position and slope errors at current and at advance times. This steering control strategy is tested in circular and lane change maneuvers with a nonlinear vehicle model.

• International Journal of Highway Engineering
• /
• v.11 no.2
• /
• pp.217-228
• /
• 2009

Sections under the influence of merging in an uninterrupted facility create irregular interaction between vehicles, such as lane change, speed acceleration and deceleration because of the merging of ramp traffic flows which have traffic characteristics different from those of the main line. This causes a confused traffic flow phenomenon(turbulence), which is considered an unstable traffic characteristic between various continuous points in consideration of v conditions. In this study, in merge influence sections, detectors by lane-point were installed to create time and space-series -traffic data. The least significant difference(LSD), as the criteria for discriminating a significant speed change between points, was calculated to examine the turbulence. As a result, turbulence in merge influence section was found to change the zones of such occurrence and the seriousness levels according to traffic condition. Thus, the maximum merge influence section due to the turbulence was created in the traffic condition before congestion when traffic increases. According to characteristics of changes in speed, merge influence section was divided into upstream 100m$\sim$downstream 100m(a section of speed reduction), and downstream 100m$\sim$downstream 400m(a section of reduced speed maintenance and acceleration).

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.23 no.6 s.165
• /
• pp.931-942
• /
• 1999

This paper develops a 3 DOF vehicle model which includes lateral, roll and yaw motion to study a 4WS vehicle. The model is used for the simulation of a 4WS vehicle behavior, and to derive a control algorithm for rear wheel steering. This paper uses a feedforward plus feedback control scheme to compute a rear wheel steering angle. The feedforward control scheme for computing the first rear wheel steering angle uses a gain which is acquired by multiplying a proper value on a gain to maintain a zero sideslip angle. The feedback control scheme for computing the second rear wheel steering angle uses fuzzy logic and model following control scheme. A linear 2 DOF model is used as a reference model for model following control, and is derived from the developed 3 DOF model by neglecting sprung mass roll motion. A reference state variable is yaw rate, and is computed using the linear 2 DOF model. J-turn and lane change maneuver simulation are performed to show the effectiveness of the developed control scheme. The simulation results show that the 4WS vehicle with the developed control scheme has much better performance in yaw rate, lateral acceleration, roll angle, and sideslip angle than the 2WS vehicle. Also, the results show that the performance of the developed control is close to the one of an optimal control which assumes all states are perfect.