• 한국자동차공학회논문집
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• 제15권3호
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• pp.85-90
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• 2007

The main function of the Forward Vehicle Collision Warning System (FVCWS) is to warn a driver when he or she experiences dangerous situations caused by a forward vehicle. Warning distance algorithms under same dangerous circumstances are often various depending on automobile manufacturers and component suppliers. Human factors also should be considered to warn the driver at an adequate warning distance. Therefore, it is necessary to develop a system for evaluating the pertinent warning timing in an identically dangerous situation. The system consists of sensors for measuring speed and acceleration of subject vehicle and target vehicle, controllers to follow the velocity profile properly, and wireless telecommunication equipments for receiving or transmitting the measured data in a real-time. According to actual field tests, it is shown that the developed system is suitable to evaluate warning distance of FVCWS.

• 대한교통학회지
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• 제27권6호
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• pp.109-118
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• 2009

90년대 교통 시설의 이용효율성 및 안전을 제고하고자 ITS가 도입되었다. 최근 정보통신기술의 발달로 인해 첨단차량 및 도로에 대한 관심이 급증하고 있다. 차량제어모형 중 차로변경모형은 중요한 요소이지만 기존의 연구에서는 대상차량이 등속주행 상황에서 차로변경 여부를 판단하므로 실제적용에 한계성을 가진다. 따라서 본 연구에서는 차로변경 시 대상차량의 가감속을 통해 주위차량 간 안전성을 판단하여 차로변경을 수행하였다. 본 연구에서 개발된 차로변경모형의 적합성을 검증하고자 시나리오별 시뮬레이션을 수행하였다. 수행 결과, 목표차로의 선행차량을 추월하여 현차로의 선행차량과의 차간거리가 안전거리 이상이면 차로변경을 하였다. 또한, 현차로의 선행차량과의 차간거리가 안전거리 이하이면 목표차로의 선행차량, 후행차량과의 차간거리를 고려하여 차로변경을 적절히 수행하는 것으로 나타났다. 이러한 차로변경 모형은 안전주행 지원시스템, 자동운행시스템에 활용되어 첨단차량 및 첨단도로 시스템 분야 발전에 기여할 것으로 사료된다.

• 한국유통학회:학술대회논문집
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• 한국유통학회 2003년도 동계학술대회 발표논문집
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• pp.109-120
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• 2003

As the logistics industrial environment becomes more complex and its scale becomes increase, the vehicle fleet scheduling system has become recognized the necessity as a major strategy in the logistics field. The vehicle fleet scheduling system is computerized package that find the vehicle routes and schedules to accomplish the required service to customers using vehicles. This paper introduces the state of the art of vehicle fleet scheduling system in Korea and foreign country and the future research subject are presented.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.864-869
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• 2008

Magnetic Levitated(Maglev) Vehicle, which utilizes electromagnetic forces between dual-pole electromagnets and a steel rail, generally runs on guideway structures. A prototype of an Urban Maglev Vehicle has been developed and tested in Korea, This study was conducted as a cooperation research subject of the 3-1 subject, performance improvement of maglev track structures, of the Center for Urban Maglev Program, statred in 2006. As the Maglev load is distributed rather than concentrated, a field test was conducted on Simple Span PSC-BOX Girder Bridge(L=25.0m) of the Expo-Maglev test track in Daejeon to examine the dynamic effect of the Maglev load on the bridge. Numerical analyses were also performed up to the maximum passing speed of 110 km/h by 10 km/h increments of Maglev Vehicle using Finite Element model of bridge, and girder deflections, accelerations and Dynamic Amplification Factor (DAF) are analysed.

• 대한교통학회지
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• 제29권3호
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• pp.73-82
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• 2011

최근 교통상황을 정확하게 관측할 수 있는 교통류 검지에 관한 기술개발과 더불어 개별차량 주행궤적을 이용한 교통안전도 평가기법에 대한 관심이 높아지고 있다. 본 연구에서는 개별차량의 주행궤적을 이용하여 다음시점(t+1) 의 후미추돌 확률을 산출하는 방법론을 제시하였다. 신뢰성 있는 예측 기법인 칼만 필터링(Kalman Filtering)을 이용하여 주행궤적을 예측하고, 예측된 시점에 대한 개별차량의 후미추돌 확률을 산출하였다. 안전도를 평가하는 확률모형을 수립하기 위해서 서해안 고속도로의 동영상 자료로부터 개별차량의 주행궤적을 추출하였다. 추출한 개별차량의 주행궤적 자료를 이항 로지스틱 회귀분석(Binary logistic regression)을 이용하여 차량의 차로변경 결정 확률 모형을 생성하였고, exponential decay function을 이용하여 surrogate safety measure(SSM)의 하나인 time-to-collision(TTC)기반의 추돌확률 모형을 생성하였다. 미시적 교통류 시뮬레이터인 VISSIM에서 추출한 개별차량의 주행궤적 데이터를 이용하여 제안된 방법론을 평가하였다. 본 연구의 결과는 교통류 감시, 제어 및 정보 시스템에 효과적으로 적용될 수 있으며, 나아가 교통사고 예방에 효율적인 대안이 될 수 있을 것으로 판단된다.

• 한국자동차공학회논문집
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• 제16권4호
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• pp.29-37
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• 2008

Vehicle stability is a very important subject in vehicle design and control, because vehicle safety is closely dependent upon its dynamic stability. For the vehicle stability analysis, the nonlinear vehicle model of a mid-size car with three DOF - longitudinal, lateral and yaw - is employed. A rigorous method is used to determine the vehicle stability region in plane motion. An algorithm is used to materialize a topology theorem, which enables to find the exact stability region. A stability criterion for the critical cornering is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.139-139
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• 2000

The subject of this paper is the tole operation for unmanned vehicle. The aim is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. Modern, vehicle related researches have been implemented about control, chassis, body and safe쇼 but now is to driving comfort, I.T.S. and human factor, etc. As a result of this fact, unmanned vehicle is main research topic over the world but it is still very expensive and unreasonable. A hierarchical approach is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. The real time control and monitoring of longitudinal, lateral, Pitching motion is to be solved by system integration and optimization technique. We show the experimental result about fixed brake range test and acceleration test. And all system is to integrated for driving simulator and unmanned vehicle.

• Wind and Structures
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• 제6권5호
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• pp.325-346
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• 2003

High-sided road vehicles are susceptible to a sharp-edged crosswind gust, which may cause vehicle accidents such as overturning, excessive sideslip, or exaggerated rotation. This paper thus investigates the dynamic behaviour and possible accidents of high-sided road vehicles entering a sharp-edged crosswind gust with road surface roughness and vehicle suspension included. The high-sided road vehicle is modelled as a combination of several rigid bodies connected by a series of springs and dampers in both vertical and lateral directions. The random roughness of road surface is generated from power spectral density functions for various road conditions. The empirical formulae derived from wind tunnel test results are employed to determine aerodynamic forces and moments acting on the vehicle. After the governing equations of motion are established, an extensive computation work is performed to examine the effects of road surface roughness and vehicle suspension on the dynamic behaviour and vehicle accidents. It is demonstrated that for the high-sided road vehicle and wind forces specified in the computation, the accident vehicle speed of the road vehicle running on the road of average condition is relatively smaller than that running on the road of very good condition for a given crosswind gust. The vehicle suspension system should be taken into consideration, and the accident vehicle speed becomes smaller if the vehicle suspension system has softer springs and lighter dampers.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.91.1-91
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• 2001

The subject of this paper is vision system analysis of the autonomous vehicle. But, autonomous vehicle is one of the difficult topics from the point of view of several constrains on mobility, speed of vehicle and lack of environment information. Therefore, we are application of the vision system so that autonomous vehicle. Vision system of autonomous vehicle is likely to eyes of human. This paper can be divided into 2 parts. First, acceleration system and brake control system for longitudinal motion control. Second vision system of real time lane detection is for lateral motion control. This part deals lane detection method and image processing method. Finally, this paper focus on the integration of tole-operating vehicle and autonomous ...