• 자동차안전학회지
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• 제15권3호
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• pp.17-26
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• 2023

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

• Wind and Structures
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• 제19권2호
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• pp.185-197
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• 2014

Ventilation and fire safety design in road tunnels are one of the most complex issues that need to be carefully considered and analysed in the designing stage of any potential upgrade of ventilation and other fire safety systems in tunnels. Placement road tunnels space has an important influence on fire safety, especially when considering the effect of adverse wind conditions that significantly influence ventilation characteristics. The appropriate analysis of fire and smoke control is almost impossible without the use of modern simulation tools (e.g., CFD) due to a large number of influential parameters and consequently extensive data. The impact of the strong wind is briefly presented in this paper in the case of a longitudinally ventilated road tunnel Kastelec, which is exposed to various severe wind conditions that significantly influence its fire safety. The possibility of using CFD simulations in the analysis of the tunnel placement in space terms negative effect of wind influence on the tunnel ventilation is clearly indicated.

• 자동차안전학회지
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• 제5권1호
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• pp.62-68
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• 2013

This paper describes development of 4 Wheel Drive (4WD) Electric Vehicle (EV) based driving control algorithm for severe driving situation such as icy road or disturbance. The proposed control algorithm consists three parts : a supervisory controller, an upper-level controller and optimal torque vectoring controller. The supervisory controller determines desired dynamics with cornering stiffness estimator using recursive least square. The upper-level controller determines longitudinal force and yaw moment using sliding mode control. The yaw moment, particularly, is calculated by integration of a side-slip angle and yaw rate for the performance and robustness benefits. The optimal torque vectoring controller determines the optimal torques each wheel using control allocation method. The numerical simulation studies have been conducted to evaluated the proposed driving control algorithm. It has been shown from simulation studies that vehicle maneuverability and lateral stability performance can be significantly improved by the proposed driving controller in severe driving situations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1853-1856
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• 2003

This paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. Since safety plays a key role in the development of an Automated Highway System, fault-tolerant control is vital. In this paper, we develop a control algorithm in vehicle platooning and prove that this control algorithm is stable for certain class of faults such as parameter uncertainties. The performance of the controller is demonstrated through a series of simulations incorporating various vehicles and AHS faults. Results of simulation shows that the vehicles have good performance in spite of simple automotive and AHS failure, such as actuator failure,that is to say, engine input failure, communication failure between lead vehicle and the another vehicles.

• 한국자동차공학회논문집
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• 제8권2호
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• pp.92-101
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• 2000

The objective of this paper is to design the controller for longitudinal vehicle following which makes the vehicle follow the lead vehicle and keeps a safety distance without human driver operation. This paper presents a sliding mode control algorithm for the ACC system. The controller is based on three sliding surfaces. Each surface plays an individual control-deviation control, throttle control and brake control. In addition to sliding mode control, we propose some additional schemes to enhance controller performance. The first one is a gear shift-down controller which makes tractive force increase with a change of gear ratio. The other is a predictive correction method which reduces slinky effect.

• 드라이브 ㆍ 컨트롤
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• 제14권3호
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• pp.8-17
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• 2017

With automobiles sharply increasing in numbers worldwide, we are faced with critical social issues such as traffic accidents, traffic jams, environmental pollution, and economic inefficiency. In response, research on ITS is promoted mainly by regions with advanced automotive industry such as the U.S., Europe, and Japan. While Korea is working on moving forward in the global market through developing and turning to global standards systems related to ASV (Advanced Safety Vehicle), the country is not fully prepared for such projects. The purpose of ACC (Adaptive Cruise Control) is to control a vehicle's longitudinal speed and distance and minimize driver workload. Such a system should be valuable in preventing accidents, as it reduces driver workload in the 21st-century world of telematics created by development of the automobile culture industry. In this light, the thesis presents a method to test and evaluate ACC system and a mathematical method to assess distance. For the proposed test and evaluation, theoretical values are tested with vehicle test and a database is acquired, by using vehicles equipped with an ACC system. Theoretical evaluation criteria for developing ACC system may be used and scenario-specific evaluation methods may find useful application through testing the formula proposed by comparing the database and mathematical method.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2010년도 춘계학술발표대회 초록집
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• pp.57-57
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• 2010

For thin panel welded structure, the various welding distortions were found due to the low resistance against welding deformation. Especially, buckling distortion induced in the thin panel welded structure produce severe problems related to cost in production stage and safety in service life. So, many researches including mechanical and thermal tensioning method for preventing the occurrence of buckling distortion in the production stage have been performed. The purpose of this study is to identify the behavior of longitudinal residual stress at the SA butt weldment with thin plate of 6mm thickness under tension load by 3 dimensional FEA. For it, mesh design for 3D FEA was constructed with 20 nodes brick element for butt weldment and 8 nodes shell element for base metal. According to FEA results, the longitudinal compressive strain inducing tensile residual stress at the butt weldment decreased. It was because the compressive thermal strain in way of weldment was reduced by tension load. The control effect of residual stress increased with an increase in tension load. So, if the amount of tension load applied to the weldment exceeds 1.5 times of longitudinal shrinkage force, the amount of longitudinal residual stress decreased below the critical value inducing the buckling distortion at the SA butt weldment. Its validity was verified by experiment.

• 한국자동차공학회논문집
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• 제15권5호
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• pp.180-187
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• 2007

This paper presents a mathematical vehicle model that is designed to analyze the dynamic performance and to develop various safety control systems. Wheel slip controllers for ABS is also formulated to improve the vehicle response and to increase the safety on slippery road. Validation of the model and controller is performed by comparison with a commercial software package, CarSim. The result shows that performances of developed vehicle model are in good accordance with those of the CarSim on various driving conditions. Developed ABS controller is applied to the vehicle model and CarSim model, and it achieves good control performance. ABS controller improves lateral stability as well as longitudinal one when a vehicle is in turning maneuver on slippery road. A driver model is also designed to control steer angle of the vehicle model. It also shows good performance because the vehicle tracks the desired lane very well.

• 자동차안전학회지
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• 제14권2호
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• pp.7-13
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• 2022

This paper presents a yaw moment control based on estimated mass for manual-shift commercial vehicles. In yaw moment controller, parameter uncertantiy of vehicle mass is important because the desired yaw moment depends on vehicle parameter. However, in the case of commercial vehicle, the weight of the loaded vehicle is more than twice as much as compared to the unloaded vehicle. The proposed algorithm estimates the vehicle mass by using the longitudinal dynamic and gear shifting characteristics. The estimated mass is used to adaptively modify the vehicle parameters. In addition, this paper estimates the chamber pressure of a pneumatic brake and generates the target yaw moment through on/off valve control. MATLAB/Simulink and Trucksim were performed under sine with dwell test. The results demonstrate that the proposed algorithm improves the lateral and rollover stability.

• Safety and Health at Work
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• 제8권1호
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• pp.36-41
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• 2017

Background: Police work is generally sedentary although there may be situations that require physical endurance and strength, such as foot chases and arresting suspects. Factors such as excessive body fat can impede an officer's physical ability to deal with such occurrences. Our objective was to examine associations between officers' body fat percentage (BF%) and performance on a standardized fitness protocol. Methods: Data were obtained from fitness screening among 1,826 male and 115 female officers in a large US police agency. The screening consisted of a 2.4-km run, push-ups, sit-ups, and sit-and-reach test. Sex-specific body fat percentages were estimated from skinfold thickness measured using calipers. Linear regression models were used to examine unadjusted and adjusted mean scores of fitness tests across BF% tertiles. Results: The prevalence of overall fitness was 4.3 times greater in male officers and 3.6 times greater in female officers having the lowest BF% tertile compared with the highest tertile (30.3% vs 7.1% and 46.0% vs 12.8%, respectively). BF% was linearly and positively associated with the time of 2.4-km run (p < 0.001), and linearly and inversely associated with the number of push-ups (p < 0.001), sit-ups (p < 0.001), and the distance of sit-and-reach (p < 0.001) in men. Similar associations were observed in women with the exception of sit-and-reach (p = 0.122). Associations were independent of age, race/ethnicity, rank, and duty station. Conclusion: Overall, BF% was inversely associated with fitness levels in male and female officers. Future longitudinal studies should be initiated to explore the potentially causal relationship between BF% and fitness in law enforcement officers.