• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.1
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• pp.54-61
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• 2014

This paper proposes a driver supportive device with haptic cue function which can transmit optimal gear shifting timing to a driver without requiring the driver's visual attention. Its performance is evaluated under vehicle model considering automotive engine, transmission and vehicle body. In order to achieve this goal, a torque feedback device is devised and manufactured by adopting the MR (magnetorheological) fluid and clutch mechanism. The manufactured MR clutch is then integrated with the accelerator pedal to construct the proposed haptic cue device. A virtual vehicle emulating a four-cylinder four-stroke engine, manual transmission system of a passenger vehicle and vehicle body is constructed and communicated with the manufactured haptic cue device. Control performances including torque tracking and fuel efficiency are experimentally evaluated via a simple feed-forward control algorithm.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.94-100
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• 2004

Most power steering systems obtain the power by a hydraulic mechanism. Therefore, it consumes more energy because the oil power should be sustained all the times. Recently, to solve this problem the electric power system has been developed and become widely equipped in passenger vehicles. In this research the simulation integration technique for an electric power steering system with MATLAB/SIMULINK and a full vehicle model with ADAMS has been developed. A full vehicle model interacted with electronic control unit algorithm is concurrently simulated with an impulsive steering wheel torque input. The dynamic responses of vehicle chassis and steering system are evaluated. This integrated method allows engineers to reduce the prototype testing cost and to shorten the developing period.

• Journal of Ocean Engineering and Technology
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• v.34 no.6
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• pp.475-480
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• 2020

Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.5D
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• pp.563-570
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• 2009

This study is aimed to analyze the overall effects of the additional delay caused by the vehicle in front of the queue, at the signal, to the total delay estimation. To estimate the average vehicle delay at the signalized intersection, as survey of the queue length at the intersection and traffic counts were conducted. As a result of this analysis, all of the three delay estimation methods turned out to be similar in that the estimation of the average delay for the test vehicle was less than 60 sec/vehicle. However, the average delay time for the vehicle in front of the queue only, was estimated at 60-70 sec/vehicle which is similar to the average delay of the test vehicle.

• Journal of Auto-vehicle Safety Association
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• v.15 no.4
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• pp.16-22
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• 2023

This paper presents a proactive longitudinal motion planning algorithm for improving the safety of an automated bus. Since the field of view (FOV) of the autonomous vehicle was limited depending on onboard sensors' performance and surrounding environments, it was necessary to implement vehicle-to-vehicle (V2V) communication for overcoming the limitation. After a virtual V2V-equipped target was constructed considering information obtained from V2V communication, the reference motion of the ego vehicle was determined by considering the state of both the V2V-equipped target and the sensor-detected target. Model predictive control (MPC) was implemented to calculate the optimal motion considering the reference motion and the chance constraint, which was deduced from manual driving data. The improvement in driving safety was confirmed through vehicle tests along actual urban roads.

• Journal of Korean Society for Atmospheric Environment
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• v.28 no.5
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• pp.506-517
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• 2012

Electronic Toll Collection System (ETCS), so called "Hi-Pass" in Korea, has improved traffic flow at toll gate of highways. It is known that the improvement of traffic flow should reduce air pollutants and $CO_2$ from vehicles. In this study, real driving emission of a light duty truck with Portable Emission Measurement System(PEMS) has been measured to evaluate the emission reduction effect due to ETCS. The correlations between driving variables and emissions have been analyzed to verify its effect on traffic flow improvement and emission reduction at toll gate. We considered average vehicle speed, Relative Positive Acceleration (RPA), and the distance of queue as driving variables. Compared to passing Manual Toll Collection System (MTCS) lane without queue, ETCS was able to reduce 38.7% of $NO_x$, 21.6% of soot, and 27.7% of $CO_2$. The results showed that the higher the average vehicle speed, the lower RPA and no queue in ETCS contributed to the emission reductions. Linear equation models with RPA and queue have been established by the multiple linear regression method. The linear models resulted in the higher coefficient of determination than those with only average vehicle speed used for establishing vehicle emission factors.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
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• v.21 no.2
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• pp.61-65
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• 2015

Agricultural products packaged for transportation are put in the various dangerous environments owing to the damage factors like vibration, shock, compression, climate etc. under the distribution process. On fruits packaging for transportation, especially, the shock and vibration is considered as the most important damage factors. A major cause of shock damage to fruits is drops during manual handling. Especially, the damages of fruits during the parcel delivery service are very serious. The parcel delivery services of fruits are increasing and contribute to increasing of farm house earning. Also, the freight vehicle is mostly used to transport the fruits. Shock and impact generated by the freight vehicle may give serious damage to fruits. The optimum packaging design of parcel delivery service of fruits during transportation is required to reduce the fruits damages. In order to design the packaging system for parcel delivery service of fruits considering the transportation environment, the comprehension of characteristics for vibration and shock generated by manual handling and acting on transportation vehicles under various road conditions and loading methods is required. This research was performed to analyze the shock characteristics, acceleration level and power spectral density (PSD) during the parcel delivery service of fruits. The overall level of recommended PSD profile in a specific transportation of parcel delivery service for fruits was $0.63G_{rms}$.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.34-39
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• 2013

The gear shifting timing of a manual transmission vehicle is influencing fuel economy. This paper focuses on an gear shifting indicator of an city bus with manual transmission, which can improve fuel economy. The shift indicator is supposed to collect the vehicle data during driving, calculate and compare fuel economy with and without gear shifting, and indicate the proper gear shifting timing. The H/W and S/W of the shift indicator are developed and tested on city bus in this research. The experiments are carried out on real road by 3 different drivers and the results show the improvement of fuel economy from 6.0% to 21.4%. The average engine torque and speed are reduced due to early gear shifting and the usage of highest gear is increased. The results of chassis test are also performed and show 7.5% improvement of fuel economy.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.849-854
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• 2007

This paper describes design and tuning of a full-range Adaptive Cruise Control (ACC) with collision avoidance. The control scheme is designed to control the vehicle so that it would feel natural to the human driver and passengers during normal safe driving situations and to avoid rear-end collision in vehicle following situations. In this study, driving situations are determined using a non-dimensional warning index and time-to-collision (TTC). A confusion matrix method based on natural driving data sets was used to tune control parameters in the proposed ACC System. An ECU-Brake Hardware-in-the-loop Simulation (HiLS) was developed and used for an evaluation of ACC System. The ECU-Brake HiLS results for alternative driving situation are compared to manual driving data measured on actual traffic way. The ACC/CA control logic implemented in an ECU was tested using the ECU-Brake HiLS in a real vehicle environment.