• 자동차안전학회지
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• 제13권4호
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• pp.14-19
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• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Steel and Composite Structures
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• 제22권1호
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• pp.1-12
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• 2016

Severe fatigue and noise problems of modular bridge expansion joints (MBEJs) are often induced by vehicle loads. However, the dynamic characteristics of single-support MBEJs have yet to be further investigated. To better understand the vibration mechanism of single-support MBEJs under vehicle loads, a 3D finite element model of single-support MBEJ with five center beams is built. Successive vehicle loads are given out and the vertical dynamic responses of each center beams are analyzed under the successive loads. Dynamic amplification factors (DAFs) are also calculated along with increasing vehicle velocities from 20 km/h to 120 km/h with an interval 20 km/h. The research reveals the vibration mechanism of the single-support MBEJs considering coupled center beam resonance, which shows that dynamic responses of a given center beam will be influenced by the neighboring center beams due to their rebound after the vehicle wheels depart. Maximal DAF 1.5 appears at 120 km/h on the second center beam. The research results can be utilized for reference in the design, operation and maintenance of single-support MBEJs.

• Structural Engineering and Mechanics
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• 제82권1호
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• pp.1-16
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• 2022

This work elaborately investigates the influences of the guideway geometry parameters and track irregularity on the dynamic performances of the suspended monorail vehicle-guideway system (SMVGS). Firstly, a spatial dynamic analysis model of the SMVGS is established by adopting ANSYS parameter design language. Then, the dynamic interaction between a vehicle with maximum design load and guideway is investigated by numerical simulation and field tests, revealing the vehicle-guideway dynamic features. Subsequently, the influences of the guideway geometry parameters and track irregularity on the dynamic performances of the SMVGS are analyzed and discussed in detail, and the reasonable ranges of several key geometry parameters of the guideway are also obtained. Results show that the vehicle-guideway dynamic responses change nonlinearly with an increase of the guideway span, and especially the guideway dynamic performances can be effectively improved by reducing the guideway span; based on a comprehensive consideration of all performance indices of the SMVGS, the deflection-span ratio of the suspended monorail guideway is finally recommended to be 1/1054~1/868. The train load could cause a large bending deformation of the pier, which would intensify the car-body lateral displacement and decrease the vehicle riding comfort; to well limit the bending deformation of the pier, its cross-section dimension is suggested to be more than 0.8 m×0.8 m. The addition of the track irregularity amplitude has small influences on the displacements and stress of the guideway; however, it would significantly increase the vehicle-guideway vibrations and rate of load reduction of the driving tyre.

• 한국자동차공학회논문집
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• 제9권4호
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• pp.139-147
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• 2001

2 DOF half-car model with 6 semi-active suspension units is utilized to evaluate the tracked vehicle dynamic performance simulated by several suspension control algorithms. The target of this research is to improve the ride comfort to maintain operator's handling capability when the tracked vehicle travels fast on the rough road. The control algorithms for suspension systems, such as full state feedback active, full state feedback semi-active, sky-hook active, sky-hook semi-active, and on-off systems, are evaluated and analyzed in view point of ride comfort. The dynamic performances of vehicle are expressed and evaluated by vibratory characteristic evaluation curves, performance indices and frequency characteristic curves. The simulation results show that the performances of sky-hook algorithms for ride comfort nearly follow those of full state feedback algorithms and on-off algorithm is recommendatory when the vehicle runs relatively fast.

• Journal of Welding and Joining
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• 제20권2호
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• pp.59-64
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• 2002

When the vehicle travels in an actual road, resistance spot weldments of the vehicle structure are exposed to complex loading state. Since the fatigue strength in resistance spot weldment of vehicle body can be determined by effect of residual stresses and loading state of driving, estimating actual loading state and considering residual stress effect are needed. In this study, Fatigue stress-fatigue life relation concerned residual stress effect was obtained by thermo elastic plastic finite element analysis. And applied loading in resistance spot weldments of vehicle body was calculated by dynamic analysis. Presumption of fatigue life was performed using proposed method

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.636-639
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• 1997

In this paper, a dynamic control scheme is proposed which not only compensates for the lateral dynamics and longitudinal dynamics but also deal with the yaw motion dynamics. Using the dynamic control technique, adaptive and learning algorithm together, the proposed controller is not only robust to disturbance and parameter uncertainties but also can learn the inverse dynamics model in steady state. Based on the proposed dynamic control scheme, a dynamic vehicle simulator is contructed to design and test various control techniques for 4-wheel steering vehicles.

• 한국자동차공학회논문집
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• 제4권2호
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• pp.209-220
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• 1996

In this paper, dynamic performance of 4WD/4WS Electric-driven vehicles is investigated. A coupled dynamic model is introduced for longitudinal, lateral and yawing motion of 4WD/4WS vehicles. Based on the coupled model, dynamic performance is analyzed for steady-state steering, acceleration steering and brake steering, respectively. These non steady-state cornering analysis is important for non-paved road maneuvering, trajectory projection for armored vehicle and future AVCS(Advanced Vehicle Control System) technology. Simulation results are obtained based on a simulink module for the introduced model.

• Structural Engineering and Mechanics
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• 제66권1호
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• pp.15-25
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• 2018

Post-construction subgrade settlement especially differential settlement, has become a key issue in construction and operation of non-ballasted track on high-speed railway soil subgrade, which may also affect the dynamic performance of passing trains. To estimate the effect of differential subgrade settlement on the mechanical behaviors of the vehicle-slab track system, a detailed model considering nonlinear subgrade support and initial track state due to track self-weight is developed. Accordingly, analysis aiming at a typical high-speed vehicle coupled with a deteriorated slab track owing to differential subgrade settlement is carried out, in terms of two aspects: (i) determination of an initial mapping relationship between subgrade settlement and track deflections as well as contact state between track and subgrade based on a semi-analytical method; (ii) simulation of dynamic performance of the coupled system by employing a time integration approach. The investigation indicates that subgrade settlement results in additional track irregularity, and locally, the contact between the concrete track and the soil subgrade is prone to failure. Moreover, wheel-rail interaction is significantly exacerbated by the track degradation and abnormal responses occur as a result of the unsupported areas. Distributions of interlaminar contact forces in track system vary dramatically due to the combined effect of track deterioration and dynamic load. These may not only intensify the dynamic responses of the coupled system, but also have impacts on the long-term behavior of the track components.

• 한국자동차공학회논문집
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• 제19권1호
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• pp.25-31
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• 2011

The purpose of the study is to enhance the vehicle handling stability of the PACE formula vehicle. Required data for the dynamic analysis of the vehicle are as follows: Mass, moment of inertia, and tire's dynamic properties. Mass and moment of inertia data were calculated using Siemens NX 5.0 which results were verified with VIMF measurements of GMDAT. Dynamic data for the tire were supplied by Kumho Tire. Aerodynamic forces play an important role in the formula vehicle which forces were calculated by using Fluent. Full vehicle dynamic analysis using Carsim software has been carried out to find out the improvement of the vehicle stability by changing the shapes of the rear wing.

• International Journal of Automotive Technology
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• 제7권4호
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• pp.459-468
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• 2006

The objective of this paper is the development of the forward-looking dynamic simulation model of a hybrid electric vehicle(HEV) for a fuel economy study. The specification of the vehicle is determined based on two factors, engine peak power to curb weight ratio and specific engine power. The steady state efficiency models of the powertrain components are explained in detail. These include a spark ignition direct injection(SIDI) engine, an integrated starter alternator(ISA), and an infinitely variable transmission(IVT). The paper describes the integration of these models into a forward facing dynamic simulation diagram using the AMESim environment. Appropriate vehicle and driver models have been added and described. The controller was designed in Simulink and was combined with the physical powertrain model by the co-simulation interface. Finally, the simulation results of the HEV are compared with those of a baseline vehicle in order to demonstrate the fuel economy potential. Results for the vehicle speed error and the fuel economy over standard driving cycles are illustrated.