• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.113-113
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• 2000

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The external disturbance such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicle's acceleration. It is shown that platoon stability can be recovered in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. The simulation results demonstrate excellent tracking even in the presence of disturbances.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 추계학술대회 논문집
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• pp.540-543
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• 2011

The vehicle's warning sounds are one of the important parts of overall vehicle quality, so the study of these sounds is increasing. In this study, the experiment of reproducing performance related to speaker position was studied. Based on the result of jury test, sound analysis method was developed to reflect the perception of warning sound according to vehicle speed and the development process of warning sounds was suggested.

• 자동차안전학회지
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• 제12권4호
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• pp.23-30
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• 2020

Recently, self-driving research has been actively studied in various institutions. Accurate recognition is important because information about surrounding objects is needed for safe autonomous driving. This study mainly deals with the signal processing of LiDAR among sensors for object recognition. LiDAR is a sensor that is widely used for high recognition accuracy. First, we clustered and tracked objects by predicting relative position and speed of objects. The characteristic points of all objects were extracted using point cloud data of each objects through proposed algorithm. The Classification between vehicle and pedestrians is estimated using number of characteristic points and distances among characteristic points. The algorithm for classifying cars and pedestrians was implemented and verified using test vehicle equipped with LiDAR sensors. The accuracy of proposed object classification algorithm was about 97%. The classification accuracy was improved by about 13.5% compared with deep learning based algorithm.

• 한국자동차공학회논문집
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• 제24권6호
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• pp.724-729
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• 2016

This case study carried out a rear-end collision accident analysis and physical simulation of an SUV and passenger car. The speed of the SUV by physical analysis is 71 ~ 87 km/h, while the speed of the passenger car is 6 ~ 22 km/h. Simulation results showed the optimal speed conditions for the SUV was 71 km/h, and 7 km/h for the passenger car. Simulations can be verified for the collision analysis. The findings of this study are expected to increase the reliability of accident reconstructions.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.68-75
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• 1998

The Intelligent Cruise Control system, ICC, is a driver assisting system for controlling relative speed and distance between two vehicles in the same lane. The ICC may be considered as an extension of a traditional cruise control, not only keeping a fixed speed of the vehicle, but correcting the speed also to that of a slower one ahead. This paper presents a real-time self-tuning fuzzy control algorithm to develop ICC. The self-tuning fuzzy control law is adopted to reduce the effects of nonlinearities of the vehicle and various road environments. In the self-tuning algorithm an interior penalty method is applied to preserve the inherent order of membership functions and is modified as an on-line algorithm for real time application. Via simulations, the performance of the suggested control algorithm is compared with a PID and a fuzzy control without self-tuning. The suggested control algorithm is implemented on PRV III and the results of the test driving on a local road are given.

• 한국방재학회 논문집
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• 제8권4호
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• pp.47-52
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• 2008

Breakaway 단부장치 설계에 중요한 요소가 충돌 차량의 속도변화이다. 이는 충돌실험이나 3차원 유한요소 해석을 통해서 구할 수 있으나 에너지와 운동량 보존의 법칙을 이용하여 비교적 간단하게 계산할 수도 있다. 본 논문에서는 에너지와 운동량 보존의 법칙에 기초한 지주와 소형차 충돌 시 속도변화를 계산하는 식을 유도하였다. 이를 이용한 민감도 분석을 통하여 지주 단부의 분리하중, 파괴에너지, 차량의 강도 와 충돌속도가 소형지주에 충돌하는 차량의 속도변화에 미치는 영향을 파악하였다. 지주 단부가 기초에 고정된 정도를 나타내는 분리력 및 분리파괴에너지(Breakaway Fracture Energy)가 클수록 속도변화가 크고 충돌속도의 크기가 작을수록 속도변화가 크게 나타났다.

• 자동차안전학회지
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• 제14권3호
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• pp.65-70
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• 2022

Lane change in urban environments is a challenge for both human-driving and automated driving due to their complexity and non-linearity. With the recent development of deep-learning, the use of the RNN network, which uses time series data, has become the mainstream in this field. Many researches using RNN show high accuracy in highway environments, but still do not for urban environments where the surrounding situation is complex and rapidly changing. Therefore, this paper proposes a lane change possibility decision network by adopting Attention layer, which is an SOTA in the field of seq2seq. By weighting each time step within a given time horizon, the context of the road situation is more human-like. A total 7D vectors of x, y distances and longitudinal relative speed of side front and rear vehicles, and longitudinal speed of ego vehicle were used as input. A total 5,614 expert data of 4,098 yield cases and 1,516 non-yield cases were used for training, and the performance of this network was tested through 1,817 data. Our network achieves 99.641% of test accuracy, which is about 4% higher than a network using only LSTM in an urban environment. Furthermore, it shows robust behavior to false-positive or true-negative objects.

• 자동차안전학회지
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• 제14권2호
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• pp.57-69
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• 2022

Recently, as interest in self-driving cars has increased worldwide, research and development on the Advanced Driver Assist System is actively underway. Among them, the purpose of Adaptive Cruise Control (ACC) is to minimize the driver's driving fatigue through the control of the vehicle's longitudinal speed and relative distance. In this study, for the research of the ACC test in the real environment, the real-road test was conducted based on domestic-road test scenario proposed in preceding study, considering ISO 15622 test method. In this case, the distance measurement method using the dual camera was verified by comparing and analyzing the result of using the dual camera and the result of using the measurement equipment. As a result of the comparison, two results could be derived. First, the relative distance after stabilizing the ACC was compared. As a result of the comparison, it was found that the minimum error rate was 0.251% in the first test of scenario 8 and the maximum error rate was 4.202% in the third test of scenario 9. Second, the result of the same time was compared. As a result of the comparison, it was found that the minimum error rate was 0.000% in the second test of scenario 10 and the maximum error rate was 9.945% in the second test of scenario 1. However, the average error rate for all scenarios was within 3%. It was determined that the representative cause of the maximum error occurred in the dual camera installed in the test vehicle. There were problems such as shaking caused by road surface vibration and air resistance during driving, changes in ambient brightness, and the process of focusing the video. Accordingly, it was determined that the result of calculating the distance to the preceding vehicle in the image where the problem occurred was incorrect. In the development stage of ADAS such as ACC, it is judged that only dual cameras can reduce the cost burden according to the above derivation of test results.

• 한국ITS학회 논문지
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• 제17권1호
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• pp.89-99
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• 2018

대한민국에서 어린이 교통사고 발생 건수는 2014년 이후로 증가하고 있으며 이에 대한 안전대책이 시급한 실정이다. 대부분 스쿨존에서 어린이 교통사고 예방을 위해 안전표지 등을 설치 및 운용하고 있다. 하지만 그 효과성은 미미하여 대안으로 ITS의 구성요소 중 하나인 VMS가 대두되고 있다. 이에 본 연구는 상이한 VMS 메시지 제시 유형이 주행차량 속도에 미치는 효과를 비교 검증하였다. 실험은 서울 소재 2곳의 스쿨존에서 진행되었으며 총 6,676대의 차량의 속도가 측정되었으며 역균형 ABC 다중기저선 설계가 적용되었다. 연구 결과, 두 메시지 유형 모두 주행차량속도 감소에 효과적이었다. 구체적으로, 운전자들에게 적시적으로 제공되는 메시지가 상시적으로 제공되는 메시지보다 주행차량 감속 및 속도 준수에 효과적인 것으로 나타났다. 본 연구 결과를 바탕으로 인적요인을 고려한 VMS 운용방안 및 설계에 대해 모색해 볼 수 있을 것이다.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.2052-2056
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• 2015

This Paper analyzes the characteristics of the WRSM in high-speed operation range. To verify the control characteritics of various WRSM models, the relative position of the central point of current limit circle and voltage limit ellipse is defined as M value and 3 models according to M_max value are designed through inductance change. Through the designed models, the current control method of 3-variables control for maximum power especially in high-speed operation range is presented.