• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.7
• /
• pp.599-604
• /
• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2011.10a
• /
• pp.511-514
• /
• 2011

Recently, devices such as smartphone and vehicle blackbox and EDR(Evern Data Recorder knowed automotive real-time control and driving data to use OBD-2(in-vehicle network). when devices receive vehicle driving data, communication way use each Wifi, Bluetooth. but if user and driver change device to use OBD-2 connect, the device differ communication network way. and driver buy and change OBD-2 connect. In this paper, to remedy one's shortcomings, there integrate Bluetooth and Wifi network module and design integrability hardware as any another device know vehicle real-time control and driving data with one integrability connect.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.22 no.1
• /
• pp.148-156
• /
• 2014

The objective of this study is to compare NOx emissions from light duty diesel vehicles measured from on-road tests that conducted under various driving routes and seasonal conditions. We measured real-driving NOx emissions using PEMS, portable emissions measurement system, under the urban, rural and motorway road traffic conditions. On-road tests were repeated at summer, fall and winter season. The accumulated driving distance is more than 1,200 km per each vehicle. Route average NOx emission factors were compared among nine route-season combinations. The emission characteristics of each combinations were investigated using time series mass emission rates and vehicle operation-based emission rates and activities, which is based on U.S. EPA's MOVES model. Most concerned route-season combination is "urban road condition at summer", which shows two to eleven times higher NOx emissions than other combinations. The emission rates and activities under low speed operating conditions should be managed in order to reduce urban-summer NOx. From a NOx control strategy perspective, the exhaust gas recirculation, EGR, is observed to be properly operated under wide range of vehicle driving conditions in Euro-5 vehicles, even if the air conditioner turns on. In high power demanding conditions, the effect of overspeeding could be more critical than that of air conditioner activation.

• Journal of the Ergonomics Society of Korea
• /
• v.31 no.2
• /
• pp.371-377
• /
• 2012

Objective: The aim of this study is to investigate effect of driver's cognitive distraction on driver's physiological state and driving performance, and then to determine parameters appropriate for detecting the cognitive distraction. Background: Driver distraction is a major cause of traffic accidents and poses a serious threat to traffic safety due to ever increasing use of in-vehicle information systems and mobile phones during driving. Cognitive distraction, among four different types of distractions, prevents a driver from processing traffic information correctly and adapting to change in surround vehicle behavior in time. However, the cognitive distraction is more difficult to detect because it normally does not involve significant change in driver behavior. Method: A full-scale driving simulator was used to create virtual driving environment and situations. Participants in the experiment drove the driving simulator in three different conditions: attentive driving with no secondary task, driving and conducting secondary task of adding numbers, and driving and conducting secondary task of conversing with an experimenter. Parameters related with driver's physiological state and driving performance were measured and analyzed for their change. Results: The experiment results show that driver's cognitive distraction, induced by secondary task of addition and conversation during driving, increased driver's cognitive workload, and indeed brought change in driver's physiological state and degraded driving performance. Conclusion: The galvanic skin response, pupil size, steering reversal rate, and driver reaction time are shown to be statistically significant for detecting cognitive distraction. The appropriate combination of these parameters will be used to detect the cognitive distraction and estimate risk of traffic accidents in real-time for a driver distraction warning system.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.7
• /
• pp.1146-1151
• /
• 2003

In this paper, results of an analysis of driving behavior characteristics and a driver-adaptive control algorithm for adaptive cruise control systems have been described. The analysis has been performed based on real-world driving data. The vehicle longitudinal control algorithm developed in our previous research has been extended based on the analysis to incorporate the driving characteristics of the human drivers into the control algorithm and to achieve natural vehicle behavior of the adaptive cruise controlled vehicle that would feel comfortable to the human driver. A driving characteristic parameters estimation algorithm has been developed. The driving characteristics parameters of a human driver have been estimated during manual driving using the recursive least-square algorithm and then the estimated ones have been used in the controller adaptation. The vehicle following characteristics of the adaptive cruise control vehicles with and without the driving behavior parameter estimation algorithm have been compared to those of the manual driving. It has been shown that the vehicle following behavior of the controlled vehicle with the adaptive control algorithm is quite close to that of the human controlled vehicles. Therefore, it can be expected that the more natural and more comfortable vehicle behavior would be achieved by the use of the driver adaptive cruise control algorithm.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
• /
• 1998.11a
• /
• pp.92-98
• /
• 1998

In this paper various drive characteristics of a AC Servo Motor for EV(electric vehicle) and hybrid system proposed a countermeasure against air polution are presented. Since the transfer function of the plant is nonlinear and very complicated, there are difficultly in driving the system with real time. The performance of these experiments is confirmed by computer simulation results. The high performance and high accuracy of the driving system, Field oriented vector control system is proposed.

• Journal of the Society of Naval Architects of Korea
• /
• v.60 no.4
• /
• pp.288-295
• /
• 2023

This paper deals with the dynamic simulation method for analysis of driving characteristics of aircraft and towing vehicles (TUG) on carrier vessel in wave motions. For prompt deployment in a short period of time, optimization of the movement of carrier aircraft becomes a major issue. In this regards, strategy studies using real-time simulation technology and optimal decision-making technologies are being conducted. In the present work, the dynamic characteristics of carrier aircraft and TUG connected by towbar or towbarless mechanism were investigated by means of multi-body dynamics model. Meanwhile, for real-time simulation, Dugoff's model of tire loads calculation was adopted. Through comparative analysis it was confirmed that the similarity of results between the multi-body contact model and the tire load calculation model can be achieved by coefficients tuning.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2003.05b
• /
• pp.90-95
• /
• 2003

For the safety driving of an automobile which is become individual requisites, a new Neural Network algorithm which recognized the load vehicles in real time is proposed. The proposed neural network technique is the real time computation method through the inter-node diffusion. In the network, a node corresponds to a state in the quantized input space. Each node is composed of a processing unit and fixed weights from its neighbor nodes as well as its input terminal. The most reliable algorithm derived for real time recognition of vehicles, is a dynamic programming based algorithm based on sequence matching techniques that would process the data as it arrives and could therefore provide continuously updated neighbor information estimates. Through several simulation experiments, real time reconstruction of the nonlinear image information is processed. 1-D LIPN hardware has been composed and various experiments with static and dynamic signals have been implemented.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.3
• /
• pp.263-272
• /
• 2008

We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.19 no.6
• /
• pp.35-40
• /
• 2019

In this research, we suggest a real-time tele-driving system for unmanned drone operations using the LTE communication system. The drone operator is located 180km away and controls the altitude and position of the drone with a 50ms time delay. The motion data and video from the drone is streamed to the operator. The video is played on the operator's head-mounted display (HMD) and the motion data emulates the drone on the simulator for the operator. In general, a drone is operated using RF signal and the maximum distance for direct control is limited to 2km. For long range drone control over 2km, an auto flying mode is enabled using a mission plan along with GPS data. In an emergency situation, the autopilot is stopped and the "return home" function is executed. In this research, the immersion tele-driving system is suggested for drone operation with a 50ms time delay using LTE communication. A successful test run of the suggested tele-driving system has already been performed between an operator in Daejeon and a drone in Inje (Gangwon-Do) which is approximately 180km apart.