• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.448-450
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• 1998

Global competition of automotive market and affordable prices of electronic components become the major reason that automotive industries rapidly employ a large number of electric and electronic systems to improve vehicle performance and to meet various regulations such as emission, fuel efficiency, and safety. Especially, the provision of a motor-driven steering column (MDSC) for luxury vehicle is getting popular for drivers' convenience. In this study, an MDSC is developed, which provides several intelligent features such as the manual operation for tilting and telescoping the steering wheel, and the save/recall operation for three different steering wheel positions. In addition, the fault detection algorithm is developed.

• 한국전자통신학회논문지
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• 제18권6호
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• pp.1259-1268
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• 2023

본 연구는 딥러닝의 합성곱과 순환신경망 네트워크를 기반으로 시각센서를 이용해 속도(Throttle)와 조향(Steering) 제어 기술을 제안한다. 학습 트랙을 시계, 반시계 방향으로 주행하며 카메라 영상 이미지와 조종 값 데이터를 수집하고 효율적인 학습을 위해 데이터 샘플링, 전처리 과정을 거쳐 Throttle과 Steering을 예측하는 모델을 생성한다. 이후 학습에 사용되지 않은 다른 환경의 테스트 트랙을 통해 검증을 진행하여 최적의 모델을 찾고 이를 CNN(Convolutional Neural Network)과 비교하였다. 그 결과 제안하는 딥러닝 모델의 성능이 뛰어남을 확인했다.

• 대한기계학회논문집A
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• 제41권2호
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• pp.111-119
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• 2017

본 논문은 자세 제어 장치(ESC)와 후륜 조향 장치(RWS)를 장착한 통합 섀시 제어기의 성능을 향상시키기 위해 후륜 조향각을 결정하는 방법을 제안한다. 차량을 안정화시키기 위해 필요한 제어 요 모멘트는 자세 제어 장치와 후륜 조향 장치를 이용하여 만들어진다. 각 장치의 타이어 힘을 결정하기 위해 의사역행렬 제어할당 방법을 적용한다. 제어기의 성능을 향상시키기 위해 후륜 조향 장치의 조향각을 결정하는 데에 네 가지 방법을 적용한다. 차량 시뮬레이션 패키지인 CarSim에서 시뮬레이션을 수행하여 제안된 방법들이 통합 섀시 제어기의 성능을 향상시킬 수 있음을 검증한다.

• 센서학회지
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• 제10권5호
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• pp.329-336
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• 2001

This paper describes the steering control and geomagnetism cancellation for an autonomous vehicle using an MR sensor. The magneto-resistive (MR) sensor obtains the vector summation of the magnetic fields from embedded magnets and the Earth. The vehicle is controlled by the magnetic fields from embedded magnets. So, geomagnetism is the disturbance in the steering control system. In this paper, we propose a new method of the sensor arrangement in order to remove the geomagnetism and vehicle body interference. The proposed method uses two MR sensors located in a level plane and the steering controller has been developed. The controller has three input variables ($dB_x$, $dB_y$, $dB_z$) using the measured magnetic field difference, and an output variable (the steering angle). A simulation program was developed to acquire the data to teach the neural network, in order to test the ability of a neural network to learn the steering control process. Also, the computer simulation of the vehicle (including vehicle dynamics and steering) was used to verify the steering performance of the vehicle controller using the neural network. From the simulation and field test, good result was obtained and we confirmed the robustness of the neural network controller in a real autonomous vehicle.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.363-364
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• 2012

• 한국자동차공학회논문집
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• 제10권4호
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• pp.166-174
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• 2002

Power steering systems far automobile are becoming ever more popular because they reduce steering efforts of the drivers, especially during parking lot maneuver. In this paper, the controller of the motor driven hydraulic power steering(MDHPS) has been designed and developed. This system uses a power source of DC motor instead of engine power source for power steering drive oil pump. The developed MDHPS system is accomplished a highly sensitive power steering resulted from electronic control under variable driving condition. Furthermore, this system is more improvement than type of engine driving far fuel economy.

• 한국기계가공학회지
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• 제3권3호
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• pp.71-78
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• 2004

The loader of this study is an agriculture machine for a stock farmer. We has much researched about power train and steering system in order to develop a new stock machine. So, the loader developed in this study has a 4 wheel driving system and a 4-type wheel steering system. Though the technological region is some large and general, these technologies are very important and their technical life may be very long. The power train of the loader is consisted of many units as follows, engine, clutch, transmission, and axles. And, the 4-type wheel steering system is consisted of oil tank, oil pump, steering valve, solenold valve, electronic controller, hydraulic cylinders, and touch sensors. This study shows construction logics of power train and steering system. We could know from many working tests that the developed loader with 4-type steeling system has many advantages when driving in a narrow corral.

• 전자공학회논문지 IE
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• 제43권4호
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• pp.76-82
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• 2006

자동차 바퀴 방향 지시기란 운전자가 차 내부에서 자동차의 바퀴 방향을 실시간으로 알 수 있도록 전자 장비에 바퀴의 방향을 표시해주는 시스템으로서, 본 연구에서는 자동차 핸들의 회전량을 측정하여 LED(Light Emitted Diode)와 LCD(Liquid Crystal Display)에 자동차 바퀴에 대한 방향 정보를 표시하는 시스템을 개발하고자 한다. 즉, 이렇게 자동차의 핸들 회전량을 측정하여 그 측정 데이터를 데이터 처리부에 적절하게 적용함으로써 자동차 내부에서 운전자가 인지할 수 있도록 해준다면 주차된 차를 주행하기 위해 자동차 창문을 열고 바퀴 방향을 봐야하는 등의 번거로움을 해소시킬 수 있을 것이라 사료된다.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1246-1251
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• 2014

This article presents an optimum yaw moment distribution scheme for a vehicle with electronic stability control (ESC) and active rear steering (ARS). After computing the control yaw moment in the yaw moment controller, it should be distributed into tire forces, generated by ESC and ARS. In this paper, yaw moment distribution is formulated as an optimization problem. New objective function is proposed to tune the relative magnitudes of the tire forces. Weighed pseudo-inverse control allocation (WPCA) is adopted to solve the problem. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From the simulation, the proposed optimum yaw moment distribution scheme is shown to effective for vehicle stability control.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.903-909
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• 2015

This article presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under saturation of front lateral tire force. Regardless of the use of AFS, the front lateral tire forces can be easily saturated. Under the saturated front lateral tire force, AFS cannot be effective to generate a control yaw moment needed for the integrated chassis control. In this paper, new integrated chassis control is proposed in order to limit the use of AFS in case the front lateral tire force is saturated. Weighed pseudo-inverse control allocation (WPCA) with variable weight is adopted to adaptively use the AFS. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From simulation, the proposed integrated chassis control is effective for vehicle stability control under saturated front lateral tire force.