• 한국자동차공학회논문집
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• 제24권5호
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• pp.512-519
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• 2016

In this study, the tire road friction estimation(TRFE) algorithm for controlling the rear wheel driving force of a 4WD vehicle during acceleration is developed using a standard sensor in an ordinary 4WD passenger car and a speed sensor. The algorithm is constructed for the wheel shaft torque, longitudinal tire force, vertical tire force and maximum tire road friction estimation. The estimation results of shaft torque and tire force were validated using a torque sensor and wheel force transducer. In the algorithm, the current road friction is defined as the proportion calculated between longitudinal and vertical tire force. Slip slop methods using current road friction and slip ratio are applied to estimate the road friction coefficient. Based on this study's results, the traction performance, fuel consumption and drive shaft strength performance of a 4WD vehicle are improved by applying the tire road friction estimation algorithm.

• 한국자동차공학회논문집
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• 제7권7호
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• pp.229-241
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• 1999

The paper describes the development of the ABS(Anti-Lock Bracke Sytem) real-time simulator which is composed of the real hydraulic modulator, the brake system, and the control software. This useful too supports the development enviornment of the ABS in great flexible mamer. It offers an efficient and cost-effective method of ABS development which includes the various realistic road conditons, the vehicle characteristics , and the brake characteristics. The performance of the ABS is compared with the normal braking results. Thepresented experimental results are braking on the high friction road, thetransient friction road(high to low , low to high), the split friction road, and the high friction road with steer angle. The paper shows the effectiveness and the safety of the ABS compared with the normal brake system , and the powerful and conventient tool in developing the ABS.

• 자동차안전학회지
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• 제5권2호
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• pp.17-23
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• 2013

This paper describes an algorithm for Advanced Emergency Braking(AEB) with tire-road friction coefficient estimation. The AEB is a system to avoid a collision or mitigate a collision impact by decelerating the car automatically when forward collision is imminent. Typical AEB system is operated by Time-to-collision(TTC), which considers only relative velocity and clearance from control vehicle to preceding vehicle. AEB operation by TTC has a limit that tire-road friction coefficient is not considered. In this paper, Tire-road friction coefficient is also considered to achieve more safe operation of AEB. Interacting Multiple Model method(IMM) is used for Tire-road friction coefficient estimation. The AEB algorithm consists of friction coefficient estimator and upper level controller and lower level controller. The numerical simulation has been conducted to demonstrate the control performance of the proposed AEB algorithm. The simulation study has been conducted with a closed-loop driver-controller-vehicle system using using MATLAB-Simulink software and CarSim Vehicle model.

• 제어로봇시스템학회논문지
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• 제4권6호
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• pp.722-728
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• 1998

In this paper real-time estimation methods for identifying the tire-road friction coefficient are presented. Taking advantage of the Magic Formula Tire Model, the similarity technique and the specific model for the vehicle dynamics, a reduced order observer/filtered-regressor-based method is proposed. The Proposed method is evaluated on simulations of a full-vehicle model with an eight state nonlinear vehicle/transmission model and nonlinear suspension model. It has been shown through simulations that it is possible to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speeds using the proposed identification method. The proposed method can be used as a useful option as a part of vehicle collision warning/avoidance systems and will be useful in the implementation of a warning algorithm since the tire-road friction can be estimated only using RPM sensors.

• 한국자동차공학회논문집
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• 제21권1호
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• pp.78-85
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• 2013

This paper presents the sliding mode control methods for anti-lock brake system (ABS) with the friction force observer. Using a simplified quarter car model, the sliding mode controller for ABS is designed to track the desired wheel slip ratio. Here, new method to find the desired wheel slip ratio which produces the maximum friction force between road and tire is suggested. The desired wheel slip ratio is varying according road and tire conditions to produce maximum friction force. In order to find optimum desired wheel slip ratio, the sliding mode observer for friction force is used. The proposed sliding mode controller with observer is evaluated in simulation, and the control design is shown to have high performance on roads with constant and varying adhesion coefficients.

• 대한기계학회논문집A
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• 제28권5호
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• pp.517-523
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• 2004

Recently, wheel slip controllers with controlling the wheel slip directly has been studied using the brake-by-wire actuator. The wheel slip controller is able to control the braking force more accurately and can be adapted to various different vehicles more easily than the conventional ABS systems. The wheel slip controller requires the information about the tire braking force and road condition in order to achieve the control performance. In this paper, the tire braking forces are estimated considering the variation of the friction between brake pad and disk due to aging of the brake, moisture on the contact area or heating. In addition, the road friction coefficient is estimated without using tire models. The estimated performance of tire braking forces and the road friction coefficient is evaluated in simulations.

• 한국정밀공학회지
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• 제24권7호
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• pp.106-111
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• 2007

In this paper, the transient brake time was studied on the van type vehicle with accelerometer. Experiments were carried out on the asphalt(new and polished), unpacked road(earth and gravel) and on wet or dry road conditions. The transient brake time is not effected bzy the vehicle speed. The transient brake time is about 0.41$\sim$0.43second on the asphalt road surface and the error range is within 0.1$\sim$0.16second. For the asphalt road condition, the transient brake time is not effected by both new asphalt road surface and the polished asphalt road surface. With compared by dry and wet road surface condition, the transient brake time of wet condition is longer than dry road condition and compared with unpacked road condition and packed road condition, unpacked road condition is shorter than packed road condition. It is considered that the transient brake time is effected by the road surface fraction coefficient. In other words, the transients brake time increases as friction coefficient decreases.

• Tribology and Lubricants
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• 제30권6호
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• pp.378-383
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• 2014

This study predicts the of the hysteretic friction of a rubber block sliding on an SMA asphalt road. The friction of filled rubber on a rough surface is primarily determined by two elements:the viscoelasticity of the rubber and the multi-scale perspective asperities of the road. The surface asperities of the substrate exert osillating forces on the rubber surface leading to energy dissipation via the internal friction of the rubber when rubber slides on a hard and rough substrate. This study defines the power spectra at different length scales by using a high-resolution surface profilometer, and uses rubber and road surface samples to conduct friction tests. I consider in detail the case when the substrate surface has a self affine fractal structure. The theory developed by Persson is applied to describe these tests through comparison with the hysteretic friction coefficient relevant to the energy dissipation of the viscoelastic rubber attributable to cyclic deformation. The results showed differences in the absolute values of predicted and measured friction, but with high correlation between these values. Hence, the friction prediction model is an appropriate tool for separating the effects of each factor. Therefore, this model will contribute to clearer understanding of the fundamental principles of rubber friction.

• 한국도로학회논문집
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• 제17권1호
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• pp.105-118
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• 2015

PURPOSES : This study aims to evaluate the road safety of the super-elevation transition section of a left turn curve and suggest the minimum longitudinal grade of a super-elevation transition section to be used before and after a left curved section. METHODS : We evaluated the road condition by means of the safety-criterion-evaluation method involving side friction factors, and then solve the problem by introducing the minimum longitudinal grade criterion based on conditions described in the hydraulics literature. RESULTS : It was calculated that when a road satisfies hydroplaning conditions, the difference between side friction assumed and side friction demanded is less than -0.04. In this case, the safety criterion for the condition is unsatisfied. Conversely, when a road is in a normal state under either wet or dry conditions, it was calculated that the difference between side friction assumed and side friction demanded is more than 0.01. Thus, the safety criterion for this condition is found to be satisfied. After adjusting the minimum longitudinal grade applied to a super-elevation transition section, the hydroplaning condition can be eliminated and the safety criterion can be met for all sections. CONCLUSIONS : It is suggested that a minimum longitudinal grade should be provided on super-elevation transition sections in order to prevent hydroplaning.

• 한국소음진동공학회논문집
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• 제16권10호
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• pp.1067-1073
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• 2006

In this paper, we present noise measurement results of 8 vehicles. The measurement was done by a close proximity method attaching surface microphones on the test vehicle. For the 9 road surface types constructed at Korean highway test road, the vehicles were tested from 50 to 120 km/h at the interval of 10 km/h in normal steady state and inertia cruising conditions. Using the results, we evaluate and discuss the effect of vehicle noise generation depending on the different conditions for vehicle type, speed, road surface and loading condition, especially focused on friction noise between tyre and road surface.