• Journal of Auto-vehicle Safety Association
• /
• v.15 no.3
• /
• pp.17-26
• /
• 2023

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.10 no.2
• /
• pp.12-20
• /
• 2007

The aiming ability is a key to improve the accuracy performance of the gun pointing system in the ground military vehicle. This paper describes the new detection method of chatter vibration using disturbance acceleration in the pointing structure. In order to analysis the vibration trends of the pointing system occurred while the vehicle driving, acceleration data obtained from vehicle was processed by using data processing algorithm with moving average and Hilbert transform. The specific mode constants of acceleration were obtained from various disturbances. Vehicle velocity, road condition and property of pointing structure were considered as factors which make the change of vibration trend in vehicle dynamics. Finally, back propagation neural networks have been applied to the pattern recognition of the classification of vibration signal in various driving conditions. Results of signal processing were compared with other condition result and analysed.

• Journal of Auto-vehicle Safety Association
• /
• v.10 no.1
• /
• pp.38-44
• /
• 2018

This paper presents an analysis on driving safety in lane change situation based on road driving data. Autonomous driving is a global trend in vehicle industry. LKAS technologies are already applied in commercial vehicle and researches about lane change maneuver have been actively studied. In autonomous vehicle, not only safety control issue but also imitating human driving maneuver is important. Driving data analysis in lane change situation has been usually dealt with ego vehicle information such as longitudinal acceleration, yaw rate, and steering angle. For this reason, developing safety index according to surrounding vehicle information based on human driving data is needed. In this research, driving data is collected from perception module using LIDAR, radar and RT-GPS sensors. By analyzing human driving pattern in lane change maneuver, safety index that considers both ego vehicle and surrounding vehicle state by using relative velocity and longitudinal clearance has been designed.

• Journal of Auto-vehicle Safety Association
• /
• v.11 no.3
• /
• pp.37-42
• /
• 2019

This paper presents an autonomous acceleration planning algorithm for pedestrian collision avoidance at urban. Various scenarios between pedestrians and a vehicle are designed to maneuver the planning algorithm. To simulate the scenarios, we analyze pedestrian's behavior and identify limitations of fusion sensors, lidar and vision camera. Acceleration is optimally determined by considering TTC (Time To Collision) and pedestrian's intention. Pedestrian's crossing intention is estimated for quick control decision to minimize full-braking situation, based on their velocity and position change. Feasibility of the proposed algorithm is verified by simulations using Carsim and Simulink, and comparisons with actual driving data.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.17 no.6
• /
• pp.54-66
• /
• 2018

In this study, vehicle speeds at acceleration and deceleration lanes of rest areas for drowsy drivers were investigated to analyze effects of acceleration and deceleration lane lengths, grades and curve radius. In addition, we used VISSM to analyze proper lengths of rest area's acceleration and deceleration lanes. Several VISSIM scenarios with different lengths of acceleration and deceleration lane were constructed. Through VISSIM simulation, we collected individual vehicle speed data to analyze speed changes by different lengths of acceleration and deceleration lanes. As a result of the vehicle speed change investigation, grades and curve radii of the rest area affected the speed, most of all lengths of acceleration and deceleration lane showed a great effect on the vehicle speed. In the case of short lengths of acceleration and deceleration lane, speed variation among vehicles was significant. If the deceleration lane length is short, the vehicle enters a state in which the speed is not sufficiently reduced, and if the acceleration lane length is short, the vehicle enters a state in which the speed is not sufficiently accelerated showing high risks of conflicts and accidents. It is recommended that 245m length of deceleration lane and 370m length of acceleration lane should be installed at least to secure safety and manage conflicts relevantly.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.4 s.175
• /
• pp.926-936
• /
• 2000

Actual and strict definition of the shift quality for the powertrain system equipped an automatic transmission must be understood through the acceleration change of the vehicle body, which the driver directly feels as a shift shock. For this reason, it is necessary to concurrently analyze the characteristics of the powertrain system and the vehicle body. This paper presents the mathematical model of the vehicle body, which is based on the equivalent lumped system, to append to the developed model of the powertrain system. The concept of tire slip is also introduced for the experimental relationship between tire/road and driving force. Using the developed dynamic simulation programs, shift transients characteristics are analyzed. Theoretical results are compared with experimental ones from real car tests in equal conditions in order to prove the validity of presented model. In these tests, the system to measure the vehicle acceleration is used with various speeds and engine throttle sensors. It is expected that the presented modeling techniques can provide good predictions of the vehicle driving comfortability.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.11 no.2
• /
• pp.62-70
• /
• 2007

The aiming ability is a to improve accuracy performance of the firing vehicle. This paper describes the detection method of chatter vibration using disturbance acceleration in the pointing structure. In order to analysis vibration trends of the pointing system occurred during vehicle drive, acceleration data was processed by using data processing algorithm with moving average and Hilbert transform. Specific mode constants of acceleration were obtained under various disturbances. Vehicle velocity, road condition, property of pointing structure were considered as factors which make change of vibration trend in vehicle dynamics. Finally, back propagation neural networks have been applied to the pattern recognition for the classification of vibration signal in various driving conditions. Results of signal processing were compared and analysed.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.7 no.5
• /
• pp.213-220
• /
• 1999

The life data analysis of the system and component are useful to describe the result of reliability test in product life to satisfy customer's growing need and to change test specifications or design criteria by life data analysis. And vehicle durability tesr occurred market environment. In this study, a statistical analysis for the wear life of brake pad linings helped perform correlation procedure between vehicle durability test and market. B-life values of the brake pad wear life data from both vehicle durability test and marker usage were compared to determine acceleration of the test by the Weibull, normal and log-normal distribution. The acceleration coefficient of the vehicle durability test can access to evaluate design criteria of product and test specification.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.19 no.3
• /
• pp.16-22
• /
• 2011

This paper presents the potential of in-vehicle data recorder system for monitoring aggressive driving patterns and providing feedback to drivers on their on road behaviour. This system can detect 10 risky types of drivers' driving patterns such as aggressive lane change, sudden brakes and turns with acceleration etc. Vehicle dynamics simulation and vehicle road test have been performed in order to develop driving pattern recognition algorithms. Recorder systems are installed to 50 buses in a single company. Drivers' driving behaviour are monitored for 1 month. The drivers' risky driving data collected by the system are analyzed. Aggressive lane change in 50km/h below is a cause in overwhelming majority of risky driving pattern.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.21 no.2
• /
• pp.81-86
• /
• 2013

This paper presents the lane change system for collision avoidance. The proposed algorithm for the collision avoidance consists of path generation and path following. Using a calculated TTC (Time to Collision), partial braking is operated and collision avoidance path is generated considering relative distance, velocity and acceleration. Based on the collision avoidance path, desired yaw angle and yaw rate are calculated for the automated path following. The lateral controller is designed by a Lyapunov function approach using 3 D.O.F vehicle model and vehicle parameters. The required steering angle is determined from wheel velocity, longitudinal and lateral velocity in order to follow the desired yaw angle and yaw rate. This system is developed MATLAB/Simulink and its performance is evaluated using the commercial software CarSim.