• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 춘계학술대회 논문집
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• pp.696-701
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• 2004

Electric vehicle that is manufactured present by development of electric vehicle technology were available automatic driving. Control of air breaking system for precision stopping is important at automatic driving. Current Electric vehicle is doing precision stopping using braking force control. Braking force control is difficult to take static deceleration by rail condition or change of friction coefficient. Therefore, Proposed the controller in this study is deceleration controller. Designed controller is a robust controller that take state control characteristic for modelling error.

• 한국정밀공학회지
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• 제19권8호
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• pp.203-211
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• 2002

ABS (Anti-lock Braking System) is a safety device for preventing wheel locking in a sudden braking. It consists of hydraulic modulator, ECU(Electronic Control Unit) and angular velocity sensors. Its control methods are classified into three types; deceleration control, slip ratio control and deceleration/acceleration control. In this paper, ABS mounted vehicle is mathematically modeled and the proposed model is verified by actual cars experiments, and the braking characteristics of the control methods with pulse width modulation are compared and analyzed through computer simulations.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.809-810
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• 2016

본 논문에서는 주행 중 운전자가 브레이크 페달을 조작할 경우, 차량 후미의 브레이크등과 연계되어 점등됨과 동시에 차량의 감속 정도에 따라 점등되는 영역이 단계적으로 점멸되며 표시되는 속도 감응형 차량용 브레이크등 시스템을 구현하여 실험적으로 확인하였다. 뒤따르는 후방 차량이 선행차량의 감속상태를 더욱 쉽고 빠르게 인지시킴으로써 선행 차량의 급정거에 따른 추돌 사고를 예방할 수 있으며, 후방 차량의 신속한 대응을 이끌어낼 수 있다. 또한 초음파 센서를 이용하여 차간 거리가 일정 거리 이상으로 가까워지는 경우, 부져와 함께 비상등이 켜지며 후방 차량의 운전자에게 상황을 전달한다.

• International Journal of Automotive Technology
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• 제4권4호
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• pp.173-180
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• 2003

Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.408-412
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• 2003

Obstacle avoidance algorithm is very important on an unmanned vehicle. Therefore, in this research, we propose a algorithm of obstacle avoidance and we can prove through vehicle test and sensor experiments. Obstacle avoidance must be divided into two parts: the first part includes the longitudinal control for acceleration and deceleration and the second part is the lateral control for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.

• 한국자동차공학회논문집
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• 제11권5호
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• pp.183-192
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• 2003

Obstacle detection and avoidance are considered as one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle detection and avoidance and it is composed of vehicle control, modeling, and sensor experiments. Obstacle detection and avoidance consist of two parts: one is longitudinal control system for acceleration and deceleration and the other is lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control system of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are evaluated through road tests.

• Journal of Mechanical Science and Technology
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• 제15권9호
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• pp.1248-1256
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• 2001

In this study, a test bed for vehicle longitudinal control is developed using a chassis dynamometer and real time 3-D graphics. The proposed test bed system consists of a chassis dynamometer on which test vehicle can run longitudinally, a video system that shows virtual driver view, and computers that control the test vehicle and realize the real time 3-D graphics. The purpose of the proposed system is to test vehicle longitudinal control and warning algorithms such as Adaptive Cruise Control(ACC), stop and go systems, and collision warning systems. For acceleration and deceleration situations which only need throttle movements, a vehicle longitudinal spacing control algorithm has been tested on the test bed. The spacing control algorithm has been designed based on sliding mode control and road grade estimation scheme which utilizes the vehicle engine torque map and gear shift information.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.932-937
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• 2003

In this paper, we will explain about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.827-828
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• 2006

This paper presents a vehicle control algorithm for Personal Rapid Transit (PRT) system. PRT system is a one-way direction network system which is composed of guideway branches, merging/diverging points. Vehicle control algorithm can be divided into two kinds. Those are merging control algorithm and the other. We emphasized on the merging control algorithm. For that, we first devised a front/virtual front vehicle finding strategies. Properly determined front/virtual front vehicle is the starting point of vehicle control. The objects of merging control are to avoid collision and to pass the merging point fluently. Which implies that jerk constraint and limits of acceleration and deceleration etc. are should be considered. To verify the validation of the vehicle algorithm, we executed simulations and presented test results.

• 대한기계학회논문집A
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• 제34권10호
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• pp.1359-1366
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• 2010

최근 많은 전자제어기술이 개발되고 있으며 또한 차량에 적용되고 있다. 이러한 기술들 중 throttle-by-wire, brake-by-wire, steer-by-wire 와 같은 X-by-wire 가 대표적이며 이는 기계적으로 연결된 부분이 전기적인 신호나 액추에이터로 대체된 것이다. 본 논문에서는 스쿨존에서의 차량의 속도 제어를 위하여 throttle-by-wire, brake-by-wire 가 고려되었으며 특히 스쿨 존에서는 다른 지역에 비해 사고가능성이 높다. 그 이유는 보행자가 횡단 시에 다수의 운전자들이 규정속도를 지키지 않기 때문이다. 따라서 본 논문에서는 스쿨 존에서 규정속도 내로 주행하도록 throttle-by-wire, brake-by-wire 를 이용하여 차량을 감속 제어하였으며 이를 위하여 양산차량의 엔진과 변속기의 제원을 사용하였다. 둘째, 차량의 감속에 있어서 운전자와 승객이 불쾌감을 느낄 수 있는 급격한 감속을 줄이기 위하여 제안된 3 차 궤적 추종법을 적용시켰으며 궤적 추종을 위하여 퍼지-PID 제어를 사용하였다. 마지막으로 시뮬레이션을 통하여 제안된 차량의 감속 제어 시스템의 성능을 확인하였다.