• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1669-1674
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• 2004

In this paper, a nonlinear information filter (IF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, a nonlinear IF is used in place of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.310-318
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• 2004

In this paper, an unscented Kalman filter (UKF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, an UKF is used because of the drawbacks of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.362-368
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• 2017

The endurance test is important to evaluate and predict defects of the vehicles. In particular, in order to improve the reliability of the endurance test for the powertrain system of military vehicles, the driving load is measured and analyzed at test courses and maneuvering roads. As a result, new test courses for powertrain system is additionally needed to improve test reliability. In this paper, it shows that new test courses for powertrain system is designed and constructed using the measuring and anlayzing result between CPG test courses and army maneuvering roads.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.10 s.181
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• pp.2603-2609
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• 2000

In this paper, track tension estimation methods are developed for tracked vehicles which are subject to various maneuvering tasks such as longitudinal driving on sloping and/or rough roads. The information of the track tension is very important for the tracked vehicles because the track tension is closely related to the maneuverability and the durability of the tracked vehicles. A modified 3 DOF dynamics model is derived for the tracked vehicles and is utilized for estimating the tractive force and track tension for the longitudinal driving case. The tension estimation performance of the proposed methods is verified through the simulation of the Multi-body Dynamics tool. The simulation results demonstrate the effectiveness of the proposed method under various maneuvering tasks of the tracked vehicles.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.06a
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• pp.517-518
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• 2007

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of Nonlinear trail are included in this paper.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.11
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• pp.115-121
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• 2000

In this paper, track tension estimation methods are developed for tracked vehicles which are subject to various maneuvering tasks such as turning and pivoting on flat road. The information of the track tension is very important for the tracked vehicles because the track tension is closely related to the maneuverability and the durability of the tracked vehicles. Kinetic models for the six road-wheels are obtained and used for calculating the track tension around the sprocket. This method does not require the tuning of the turning resistance, which makes it difficult to estimate the track tension in turning. The tension estimation performance of the proposed methods is verified through the simulation of the Multi-body Dynamics tool. The simulation results demonstrate the effectiveness of the proposed method under steering and pivoting of the tracked vehicles.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.3
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• pp.293-301
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• 2021

LTV(Light Tactical Vehicle) operating in our military requires higher levels of performance and durability to withstand harsher conditions than general vehicles, as they must travel on both rough-train and off-road as well as on public roads. Recently, LTV development is demanded a variety of test evaluations in order to satisfy ROC (Required Operational Capability) by the military requirement. However, there is no informations of driving test course for satisfying the durability performance of Korean tactical vehicle. Therefore, this study aims to provide basic data to establish reliable drive test conditions by analyzing the main maneuvering test site at the domestic and foreign country in order to select the representative drive course. These studies will provide a more scientific and systematic evaluation solution for the development of tactical vehicles, and can be effectively used to establish a certified system for military vehicle test evaluation in the future

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.1
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• pp.14-19
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• 2012

On-line and real-time information of the longitudinal velocity is the essential factor for the Advanced Vehicle Control Systems such as ABS(Anti-lock Brake System), TCS(Traction Control System), ESC (Electronic Stability Control) etc. However, the longitudinal velocity cannot be easily measured or calculated during braking maneuvering. A new algorithm is presented for the estimation of the longitudinal velocity with the measurements of the vehicle longitudinal/lateral acceleration, steering angle and yaw rate. The algorithm is designed utilizing the Extended Kalman Filter based on the 3 degree of freedom vehicle model. In order to compensate for the biased sensor signal on the inclined road, the inclined angle is also estimated. The performance of the proposed estimation algorithm is evaluated in field tests.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.6
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• pp.155-166
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• 1997

In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB /SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.