• 한국자동차공학회논문집
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• 제11권5호
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• pp.183-192
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• 2003

Obstacle detection and avoidance are considered as one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle detection and avoidance and it is composed of vehicle control, modeling, and sensor experiments. Obstacle detection and avoidance consist of two parts: one is longitudinal control system for acceleration and deceleration and the other is lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control system of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are evaluated through road tests.

• 자동차안전학회지
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• 제14권4호
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• pp.35-42
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• 2022

This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously.

• 자동차안전학회지
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• 제14권4호
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• pp.16-20
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• 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.

• 한국자동차공학회논문집
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• 제6권3호
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• pp.45-53
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• 1998

Traction control systems(TCS) improve vehicle acceleration performance and stability, particularly on slippery roads through engine torque and/or brake torque control. This research mainly deals with the engine control algorithm based on adjustment of the engine throttle valve opening. Hardware-in-the-loop simulation(HWILS) is carried out where the actual hardware is used for the engine/automatic transmission and TCS controller, while various vehicle dynamics are simulated on real-time basis. Also, use of the dynamometer is made in order to implement the tractive force that a road applies to the tire. Although some restrictions are imposed mainly due to the capability of the synamometer, simplified HWILS results show that the slip control algorithm can improve the vehicle acceleration performance for low-friction roads.

• 한국포장학회지
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• 제12권1호
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• pp.21-25
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• 2006

Measurements of accelerometer levels transmitted from the floor in commercials truck shipments were carried out transportation of 300 Kg-load from Gyungbu Highway(Waegouan-Seoul) to 88 Highway(Gwangju-Daegu). Different characteristics were observed the values measured the vibration levels with directions in the two Highway's as a function of road condition and truck speed. The results showed that the vibration levels of the Gyungbu Highway is much higher than those of the 88 Highway. A following analysis on the obtained values was used to get the acceleration spectral density (ASD) and power spectral density (PSD). For the entire transit route, the results showed that the level of vibration to vertical direction was significant effects for damaging the products carried compared to other directions such as longitudinal and transverse. This paper provides an updated history of measured characteristics of vibration levels for highways using mainly in domestic area.

• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.745-756
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• 2002

The re-entry problem consists of guidance design and trajectory control. This paper summarizes the detailed relationships between the velocity, drag acceleration and altitude in determining reference trajectories. The computational issues are also addressed, and the performance of the proposed simple nonlinear control of a bank angle for the longitudinal/ lateral trajectory is demonstrated. In particular, the fixed bank angle methods that can reduce the drag acceleration errors at low-speeds are proposed. The importance of bank reversals with respect to the azimuth errors Is also elucidated.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.3156-3159
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• 2011

In case of the continuous welded rail(CWR) track is supported by the railway bridge, the additional axial force is occurred in the CWR due to the track-bridge interaction. In the various design codes such as Korean code, European code, UIC code, etc, three important loads(temperature variation in the bridge-deck, braking/acceleration and the bending of the bridge-deck resulted from the passing train) are treated as the independent loading case. In other words, the additional axial force can be obtained by summing up the three different values calculated by the three independent analysis. However, this analysing method may have an error because the behavior of the longitudinal resistance between the rail and the bridge-deck is under the highly nonlinear. Therefore, in order to exactly analyse the track-bridge interaction, nonlinear loading history and the change of the longitudinal resistance owing to the loading history must be considered in the analysis process. In this study, the loading history effect on the track-bridge interaction is investigated considering the resonable combination of three loads and the longitudinal resistance change.

• 한국자동차공학회논문집
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• 제24권5호
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• pp.512-519
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• 2016

In this study, the tire road friction estimation(TRFE) algorithm for controlling the rear wheel driving force of a 4WD vehicle during acceleration is developed using a standard sensor in an ordinary 4WD passenger car and a speed sensor. The algorithm is constructed for the wheel shaft torque, longitudinal tire force, vertical tire force and maximum tire road friction estimation. The estimation results of shaft torque and tire force were validated using a torque sensor and wheel force transducer. In the algorithm, the current road friction is defined as the proportion calculated between longitudinal and vertical tire force. Slip slop methods using current road friction and slip ratio are applied to estimate the road friction coefficient. Based on this study's results, the traction performance, fuel consumption and drive shaft strength performance of a 4WD vehicle are improved by applying the tire road friction estimation algorithm.

• 한국해양공학회지
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• 제31권5호
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• pp.335-339
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• 2017

This study investigated the sea trial performance of a wave piercing high speed planing hull (WPH). The bow shape of the boat is sharp, and it has no chine or spray strip like a normal planing boat. The skeg is attached to the bottom of the boat in the longitudinal direction from the bow to the stern. The speed performance was analyzed as the speed dropped in a wave, and the seakeeping performance was compared with that of a planing boat with a similar velocity coefficient by measuring the vertical acceleration of the bow in the wave. The turning circle was compared with Lewandowski's estimation for a planing boat. As a result of this study, it was confirmed that the velocity drop of the developed WPH was not large in a wave, and the vertical acceleration was greatly reduced compared with that of a normal planing boat. The turning circle was somewhat larger than the estimated results for a planing boat, but the overall tendency was the same.

• Journal of the Optical Society of Korea
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• 제13권1호
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• pp.42-47
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• 2009

The propagation of an intense laser pulse through an upward density-gradient plasma in a self-modulated laser wakefield acceleration (SM-LWFA) is investigated by using particle-in-cell (PIC) simulations. In the fully relativistic and kinetic PIC simulations, the relativistic and kinetic effects including Landau damping enhance the electron dephasing. This electron dephasing is the most important factor for limiting the energy of accelerated electrons. However, the electron dephasing, which is enhanced by relativistic and kinetic effects in the homogeneous plasma, can be forestalled through the detuning process arising from the longitudinal density gradient. Simulation results show that the detuning process can effectively maintain the coherence of the laser wake wave in the spatiotemporal wakefield pattern, hence considerable energy enhancement is achievable. The spatiotemporal profiles are analyzed for the detailed study on the relativistic and kinetic effects. In this paper, the optimum slope of the density gradient for increasing electron energy is presented for various laser intensities.