• Proceedings of the KSME Conference
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• 2007.05a
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• pp.855-860
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• 2007

This paper describes a human driver model developed based on finite preview optimal control method. The human driver steering model is constructed to minimize a performance index which is a quadratic form of lateral position error, yaw angle error and steering input. Simulation studies are conducted using a vehicle simulation software, Carsim. The Carsim vehicle model is validated using vehicle test data. In order to validate the human driving steering model, the human driver steering model is compared to the driving data on a virtual test track(VTT) and the actual vehicle test data. It is shown that human driver steering behaviors can be well represented by the human driver steering model presented in this paper

• Journal of Korea Multimedia Society
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• v.11 no.6
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• pp.746-754
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• 2008

A 3D stereoscopic image is generated by interdigitating every scene with video editing tools that are rendered by two cameras' views in 3D modeling tools, like Autodesk MAX(R) and Autodesk MAYA(R). However, the depth of object from a static scene and the continuous stereo effect in the view of transformation, are not represented in a natural method. This is because after choosing the settings of arbitrary angle of convergence and the distance between the modeling and those two cameras, the user needs to render the view from both cameras. So, the user needs a process of controlling the camera's interval and rendering repetitively, which takes too much time. Therefore, in this paper, we will propose the 3D stereoscopic image editing system for solving such problems as well as exposing the system's inherent limitations. We can generate the view of two cameras and can confirm the stereo effect in real-time on 3D modeling tools. Then, we can intuitively determine immersion of 3D stereoscopic image in real-time, by using the 3D stereoscopic image preview function.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.861-866
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• 2007

This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.3
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• pp.245-253
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• 2002

A driver model with nervous neuromuscular system was developed to steer a vehicle along the prescribed path during handling simulations. A 3-dimensional vehicle model with 10 DOF and 3 DOF steering handle are used to perform a computer simulation. PID and fuzzy controller are used to perform single and double lane change, and their tracking abilities were compared. The effects of time delay and preview distance are also investigated, and it is demonstrated that the driver model developed can be an aid far objective evaluation of vehicle handling simulation.

• 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.