• Journal of Mechanical Science and Technology
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• 제16권9호
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• pp.1166-1174
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• 2002

This paper presents the implementation and vehicle tests of a vehicle longitudinal control scheme for Stop and Go cruise control. The control scheme consists of a vehicle-to-vehicle distance control algorithm and throttle/brake control algorithm for acceleration tracking. The desired acceleration of a vehicle for vehicle-to-vehicle distance control has been designed using Linear Quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. A millimeter wave radar sensor has been used for distance measurement. A stepper motor and an electronic vacuum booster have been used for throttle/brake actuators, respectively. It has been shown that the proposed control algorithm can provide satisfactory performance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권2호
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• pp.140-146
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• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• 한국전자통신학회논문지
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• 제15권1호
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• pp.53-60
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• 2020

차량 관련 기술 및 서비스가 고도화 중인 현재 차량 내외의 서비스 확장에 대한 필요성이 대두되고 있다. 다양한 연동 서비스를 통해서 차량 자체에 대한 서비스 제공뿐만이 아니라 외부와의 연결을 통한 사용자의 편의성 및 유용성을 향상하는 것이 중요하다. 최근 사물인터넷(IoT)으로 불리는 소형 연결기기 및 서비스 적용 및 출시가 주요 트렌드로 자리 잡고 있으며 전자 기기뿐만이 아닌 차량을 포함한 타 분야로의 확장을 통한 서비스의 고도화 및 다양화를 이루고 있다. 본 논문에서는 차량 측면에서 최근 확장되고 있는 IoT 기술에 대한 분석을 통해 향후 IoT 기술 방향성을 제시한다. 먼저 차량 서비스 및 IoT 서비스에 대한 분석을 진행하여 차량과 IoT 간 연동 서비스 출시 시 고려해야 할 사항 및 가이드라인을 제시한다. 추가로 현재 출시 중인 차량과 홈 IoT 기기 간 연동 서비스 사례들을 통해 전반적인 차량 연동 IoT 서비스에 대한 중요 시사점 및 향후 방향성에 관해서 기술한다.

• 한국전자통신학회논문지
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• 제7권6호
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• pp.1293-1299
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• 2012

본 논문에서는 실시간 차량 검출 및 차량 추적에 대한 알고리즘을 제안한다. 차량 검출은 도로에 설치된 고해상도 CCTV 카메라 영상에 대해 가우시안 혼합모델과 수학적 형태학 처리를 통하여 수행한다. 차량 추적은 검출한 차량 객체를 기반으로 영상 프레임 간 유클리디안 척도를 이용하여 수행한다. 보다 상세히 언급하면, CCTV 카메라로부터 입력되는 영상으로부터 가우시안 혼합모델을 이용하여 배경을 추정하고, 배경영상과 입력영상의 차영상으로부터 객체를 분리한다. 분리된 후보 객체를 수학적 형태학 처리를 통하여 재구성한다. 터널에서의 차량의 위치에 따른 크기 특징을 분석하여 최종적으로 차량을 검출한다. 차량 추적은 입력되는 영상 프레임간 객체들의 유클리디안 거리 정보를 활용한다. 터널에서 촬영한 영상을 이용한 시뮬레이션을 통하여 제안하는 차량 추적방법이 효과적으로 적용할 수 있음을 확인하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.114-117
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• 2003

Recently, the aging society is a serious problem; we paid attention to the welfare and a disaster prevention cyber city. In this research, we propose the validity of Safe Human Cooperation Mobility System in Collaboration with Cyber City, and show Vehicle Warehousing Support System as an example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.173-178
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• 1998

The strategy presented in this paper is based on modifying the past patterens and adjusting the content of the driving patterns by a new algorithm. Learning happens during the driving procedure of a mobile vehicle. The purpose of this paper is to solve the problem how to realize the hardware neurocomputer by back propagation (BP) neural network learning on-line.

• 전기전자학회논문지
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• 제27권4호
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• pp.668-678
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• 2023

FlexRay는 차량 내 네트워크(In-Vehicle Network)로 최대 2개의 채널로 각 채널당 최대 10Mbps 전송 속도를 가진다. FlexRay는 TDMA(Time Division Multiple Access)와 FTDMA(Flexible Time division Multiple Access) 방식을 사용하여 효율적으로 데이터를 전송하면서도 실시간 통신을 보장하기 때문에 파워트레인 등 안전성이 필수적인 차량 모듈의 실시간 전자 제어에 사용된다. 본 논문에서는 ISO 17458 표준과 FlexRay 컨소시엄 문서를 바탕으로 FlexRay의 프로토콜(Protocol), 시간 계층(Time Hierarchy), 메시지 프레임(Message Frame), 커뮤니케이션 컨트롤러(Communication Controller), 적합성 시험(Conformance Test)에 대해 자세히 설명한다.

• 전기학회논문지
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• 제58권3호
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• pp.598-604
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• 2009

This paper proposes a vehicle detector with an anisotropic magnetoresistive (AMR) sensor and addresses experimental results to show the detector's performance. The detector consists of an AMR sensor and mechanical and electronic apparatuses. The AMR sensor, composed of four magnetoresistors, senses disturbance of the earth's magnetic field caused by a vehicle moving over the sensor and then produces an output indicative of the moving vehicle. This paper verifies performance of the detector on the basis of experimental results obtained from the field tests carried under the two traffic conditions on local highways in Korea. First, I show the vehicle counting performance on a low speed congested highway by comparing the vehicle counts measured by the detector with the exact counts. Second, both vehicle counts and average speeds calculated from the measured point-occupancy on another continuously free running highway are compared with the reference values obtained from a loop detector which has two independent loop coils, where I have used several performance indices including mean absolute percentage error (MAPE) to show the performance consistency between the two types of detectors.

• 전기학회논문지
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• 제60권3호
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• pp.600-605
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• 2011

This paper shows field test and evaluation results for a wireless vehicle detector with anisotropic magneto-resistive (AMR) sensors. The detector consists of two AMR sensors and mechanical and electronic apparatuses. The AMR sensor senses disturbance of the earth magnetic field caused by a vehicle moving over the sensor and then produces an output indicative of the moving vehicle. In this paper, vehicle speeds are calculated by using two AMR sensors fixed on a board, with constant distance. To test and evaluate the accuracy of the detector in real traffic situations, the detector was installed on a local highway and vehicle speeds and volumes were measured both in a free running and a highly congested traffic. The measurements from the detector are compared with the reference measurements obtained from a traffic camera with the Mean Absolute Percentage Errors (MAPE), which has proved the usefulness of the detector in the field.

• International Journal of Automotive Technology
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• 제7권3호
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• pp.315-320
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• 2006

We have developed an active front steering system(AFS) with a planetary gear train, which can vary the steering gear ratio according to the vehicle speed and improve vehicle stability by superimposing steering angle. We conducted vehicle tests showing that co-operated control of AFS with ESP can improve vehicle stability by direct control of tire slip angle and that steering reaction torque during AFS intervention can be compensated by torque compensation using electric power steering.