• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.599-605
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• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

• Journal of Korean Society of Transportation
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• v.28 no.2
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• pp.151-159
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• 2010

This paper presents a research result that was performed to develop a more accurate freeway crash prediction model than existing models. While the existing crash models only focus on developing crash relationships associated with highway geometric conditions found on a short section of a crash site, this research applies a different approach considering the upstream highway geometric conditions as well. Theoretically, crashes occur while motorists are in motion, and particularly at freeways vehicle speed at one specific point is very sensitive to upstream geometric conditions. Therefore, this is a reasonable approach. To form the analysis data base, this research gathers the geometric conditions of the West Seaside Freeway 269.3 km and six years crash data ranging 2003-2008 for these freeway sections. As a result, it is found that crashes fit well into Negative Binomial Distribution, and, based on the developed model, total number of crashes is inversely proportional to highway curve length and radius. Contrarily, crash occurrences are proportional to tangent length. This result is different from existing crash study results, and it seems to be resulted from this research assumption that a crash is influenced greatly by upstream geometric conditions. Also, this research provides the expected effects on crash occurrences of the length of downgrade sections, speed camera placements, and the on- and off- ramp presences. It is expected that this research result is useful for doing more reasonable highway designs and safety audit analysis, and applying the same research approach to national roads and other major roads in urban areas is recommended.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.9
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• pp.133-140
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• 2016

The Ministry of Land, Infrastructure and Transport has introduced low-floor buses, which are convenient for passengers getting on and off the bus and for the handicapped. The standard bus model is 11 m long and uses compressed natural gas (CNG). However, this model has drawbacks in narrow rural road conditions such as those in farming and fishing villages and mountainous areas, as well as difficulty in refueling since CNG facilities are not readily available. In this study, running resistance values were obtained by coasting performance tests on actual roads using a Tata Daewoo LF-40 model with three different weight conditions: curb vehicle weight (CVW), half vehicle weight (HVW), and gross vehicle weight (GVW).The test methods include WHVC, NIER-06, and constant-speed driving at 60 km/h. These tests were used to measure the fuel economy of vehicles other than the target vehicles to obtain the combined fuel economy. The energy efficiency was highest in the case of CVW. In the WHVC mode, the fuel consumption rates of HVW and GVW were typically 3.5% and 12% higher than that of CVW, respectively. In constant-speed driving, the fuel efficiency of HVW was higher than that of CVW. Further research is required to analyze the exhaust gas data.

• Journal of Korean Society for Geospatial Information Science
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• v.22 no.3
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• pp.79-85
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• 2014

For the successful operation of unmanned ground vehicles(UGVs), optimal path planning should be considered with trafficability analysis, threat analysis, and so on. From among these, trafficability analysis is immensely important for safeness of UGVs especially in the case of driving the off-road such as unpaved road, grassland, and open fields. Geographical information has a pivotal role in extracting data and measuring cost for specified regions of interest. In this paper, we review possibilities to apply Land Cover Map(LCM) as a new, fundamental source and propose a new generation method of trafficability analysis map for optimal path planning of UGV. The simulation results show that the proposed method significantly improve the previous method by applying LCM either alone or in combination with the other GIS.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1608-1615
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• 2000

The track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to pre vent the peal-off of tracks from the road wheels, it is required to maintain the optimum track tension throughout the maneuver. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this paper an indirect track tension monitoring system is developed based on idler assembly models, a geometric relation around the idler, and the tractive force estimated by using the Extended Kalman Filter. The performance of the tension monitoring system is verified with the results obtained from the Multi-Body Dynamics model.

• International Journal of Highway Engineering
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• v.8 no.1 s.27
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• pp.99-106
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• 2006

During the dry periods, many types of pollutant are accumulating on the paved surface by vehicle activities. Particularly, the highways are stormwater intensive landuses because of high imperviousness and high pollutant mass emissions from vehicles. The accumulated pollutants in highways are washed-off during a rainfall event and are highly contributing on water quality of receiving water bodies. The stormwater runoff from the highways are containing various pollutants such as metals, oil & grease and toxic chemicals originated from vehicles. Therefore, this research is performed to find pollutant characteristics in the magnitude of statistical pollutant concentrations during storm periods. During the monitoring periods, the first-flush phenomenon is visibly occurred on most storm events, which is confirmed from hydro- and pollute-graphs. The 95% confidence intervals of washed-off pollutant concentration are ranged to 154.7-257.1 mg/L for 755,138.9-197.6 mg/L for COD, 3.5-6.4 mg/L for oil & grease, 6.3-9.2 mg/L for TN and 2.3-3.31 mg/L for TP. The first flush effect is mostly occurred within initial 30 min of storm duration.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.4
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• pp.62-69
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• 2013

Visual demands associated with in-vehicle display usage and text messaging distract a driver's visual attention from the roadway. To minimize eyes-off-the-road demands, voice interaction systems are widely introduced. Under cognitively distracted condition, however, awareness of the operating environment will be degraded although the driver remains oriented to the roadway. It is also know that the risk of inattentive driving varies with age, thus systematic analysis of driving risks is required for the older drivers. This paper aims to understand the age-related driving performance degradation and visual attention changes under auditory cognitive demand which consists of three graded levels of cognitive complexity. In this study, two groups, aged 25-35 and 60-69, engaged in a delayed auditory recall task, so called N-back task, while driving a simulated highway. Comparisons of younger and older drivers' driving performance including mean speed, speed variability and standard deviation of lane position, and gaze dispersion changes, which consist of x-axis and y-axis of visual attention, were conducted. As a result, it was observed that gaze dispersion decreased with each level of demand, demonstrating that these indices can correctly rank order cognitive workload. Moreover, gaze dispersion change patterns were quite consistent in younger and older age groups. Effects were also observed on driving performance measures, but they were subtle, nonlinear, and did not effectively differentiate the levels of cognitive workload.

• International Journal of Automotive Technology
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• v.6 no.4
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• pp.333-340
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• 2005

In order to better quantify the contribution from nonroad sources to emission inventories, it is important to understand not only the emissions rates of these engines but also activity patterns that can be used to accurately portray their in-use operation. To date, however, very little information is available on the actual activity patterns of nonroad equipment. In this study, a total of 18 pieces of nonroad equipment were instrumented with collected data including intake manifold air pressure (MAP), exhaust temperature and, on a subset of vehicles, engine rpm and throttle position. The equipment included backhoes, compactors, dozers, motor graders, loaders and scrappers used in applications such as landfilling, street maintenance and general roadwork. The activity patterns varied considerably depending on the type of equipment and the application. Daily equipment operating time ranged from less than 30 minutes to more than 8 hours, with landfill equipment having the highest daily use. The number of engine starts per day ranged from 3-11 lover the fleet with an average of 5 starts per day. The average percent idle time for the fleet was approximately $25\%$ with a range from 11 to $65\%$ for individual pieces of equipment. Duty cycles based on exhaust temperature/throttle position profiles were also developed for two graders and one dozer.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.3
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• pp.1022-1026
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• 2013

Recently, the waste heat recovery technique using thermoelectric generator (TEG) in automotive engine has emerged to improve thermal efficiency in commercial vehicle. It is not difficult to recognize the numerous attempts that have been made to develop the TEG simulation model, but it is hard to find the model in conjunction with a particular heat engine system. In this study, 1-D commercial software AMESim was used to develop a computational model that can assess waste heat recovery from a diesel engine exhaust using TEG. The developed TEG simulation model can be used for evaluating the TEG performance of various types of TE module, and the diesel engine model can simulate any type of on and off-road diesel engines. The simulation results demonstrated that approximately 544.75W could be recovered from the engine exhaust and 40.4W could be directly converted into electricity using one TE module. The models developed in this study can be easily coupled with each other in the same computational program; thus, the models are expected to provide a viable tool for developing and optimizing a TEG waste heat recovery system in an automotive diesel engine.

• Journal of Korean Society of Transportation
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• v.30 no.1
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• pp.19-30
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• 2012

The majority of daily travel demands concentrate at particular time-periods, which causes the difficulties in the travel demand analysis and the corresponding benefit estimation. Thus, it is necessary to consider time-specific traffic characteristics to yield more reliable results. Traditionally, na$\ddot{i}$ve, heuristic, and statistical approaches have been applied to address the peak-hour ratio. In this study, a hybrid clustering model which is one of the statistical methods is applied to calculate the peak-hour ratio and its duration. The 2009 national 24-hour traffic data provided by the Korea institute of Construction Technology are used. The analysis is conducted dividing vehicle types into passenger cars and trucks. For the verification for the usefulness of the methodology, the toll collection system data by the Korea Express Corporation are collected. The result of the research shows lower errors during the off-peak hours and night times and increasing error ratios as the travel distance increases. Since the method proposed can reduce the arbitrariness of analysts and can accommodate the statistical significance test, the model could be considered as a more robust and stable methodology. It is hoped that the result of this paper could contribute to the enhancement of the reliability for the travel demand analysis.