• Transactions of the Korean Society of Automotive Engineers
• /
• v.8 no.6
• /
• pp.267-278
• /
• 2000

Vehicle dynamic models in handing and stability analysis are divided into three groups: bicycle model, roll axis model and full vehicle model. Bicycle model is a simple linear model, which hag two wheels with load transfer being ignored. Roll axis model treats left and right wheels independently. In this model, load transfer has a great effect on nonlinearity of tire model. Effects of suspension system can be analyzed by using full vehicle model, which is included suspension stroke motions. In this paper, these models are validated and compared through comparison with road test, and the effects of suspension kinematics and compliance characteristics on vehicle motion are analyzed. In handling and stability analysis, roll axis model can simulate the real vehicle motion more accurately than full vehicle model. Compliance steer has a significant effect, but the effect of suspension kinematics is negligible.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.10
• /
• pp.1879-1885
• /
• 2017

This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.5
• /
• pp.27-36
• /
• 1997

For the strength design of the brake system of a forklift truck, a procedure to calculate the internal forces acting on the system is presented in this paper. Vehicle dynamics, brake system kinematics, and internal force equilibrium analysis are integrated into the procedure. Design parameters such as stopping distance, maximum decceleration, and maximum torque generated by pedal force are considered in the vehicle dynamics, and geometric parameters of the brake system are considered in the brake system kinematics. With the two analysis results obtained, the internal forces acting in the brake system are finally calculated in the procedure.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.6
• /
• pp.506-514
• /
• 2012

This paper represents a method for designing of path following Line-of-Sight(LOS) guidance law based on vehicle kinematics. In general, a LOS guidance law which is composed of gains and approach length as design parameters is designed by empirical or trial-and-error method. These approaches cannot guarantee a precision tracking performance of guidance law consistently. Also, the design parameters should be redesigned with variations of vehicle maneuverability and flight velocity. Based on a vehicle kinematics with its velocity, the proposed method for designing of parameters not only minimizes the number of design parameters, also has a reliable and consistent tracking performance using variable guidance gain changed in accordance with flight velocity. This is validated by nonlinear simulation with $1^{st}$ order attitude response dynamics and flight experiments with given linear and circular path.

• Journal of the Korean Society for Railway
• /
• v.6 no.4
• /
• pp.294-299
• /
• 2003

Using a conventional railway, a tilting train was applied as a means of improving vehicle speed during curve negotiation without any modification of infrastructure. As a study for the optimum design of the tilting mechanism of a tilting vehicle, the kinematics sensitivity of the tilting mechanism was analyzed. Using the geometric relationship of the linkage-type tilting mechanism, the relationship of the parameters and the performance index was defined using nonlinear algebraic equations. With the defined relation, the effect of change in the parameters on the performance was analyzed. The analysis result can be used in the optimum design of a tilting mechanism that considers the track environment, vehicle and operational condition in which the tilting vehicle is applied.

• Journal of the Ergonomics Society of Korea
• /
• v.21 no.2
• /
• pp.47-58
• /
• 2002

This research suggested the mathematical model (forward kinematics method) to provide the reference points of driver space more easily and accurately in designing the package layout of vehicle interiors. For this purpose, the lengths of body segments of drivers and various joint angles occurred while were used. The length data between joints for the mathematical model were extracted from $SAFEWORK^{\circed{R}}$ as well as 95th percentile male and 5th percentile female body dimensions were utilized. In addition, the angles of body segments were applied on its diverse values within proper ranges in order to compare them each other. the mathematical model in this study was based on the concept of converting polar coordinate system to Cartesian coordinate system so that reference points of driver space were acquired in Cartesian coordinate system after using the segment lengths of drivers and the joint angles of driving postures as an input of polar coordinate system. It is expected that reference points of driver space obtained from this research are helpful to the study on package layout that is appropriate for physical characteristics of drivers.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.10 no.3
• /
• pp.123-129
• /
• 2002

This paper proposes a vehicle trajectory prediction method far application to vehicle-to-vehicle distance control. This method is based on 2-dimensional kinematics and a Kalman filter has been used to estimate acceleration of the object vehicle. The simulation results using the proposed control method show that the relative distance characteristics can be improved via the trajectory prediction method compared to the customary intelligent cruise control algorithm.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.10 no.5
• /
• pp.206-213
• /
• 2002

This paper proposes a vehicle trajectory prediction method for application to vehicle-to-vehicle distance control. This method is based on 2-dimensional kinematics and a Kalman filter has been used to estimate acceleration of the object vehicle. The simulation results using the proposed control method show that the relative distance characteristics can be improved via the trajectory prediction method compared to the customary vehicle stop and go cruise control systems which makes the vehicle remain at a safe distance from a preceding vehicle according to the driver's preference, automatically slow down and come to a full stop behind a preceding vehicle.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.126.2-126
• /
• 2001

This paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance through a tele-operated system is suggested. But autonomous system is one of the most difficult research topics from the point of view of several constrains on mobility, speed of vehicle and lack of environmental information. In these days, however, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. This tendency is toward to the unmanned vehicle or the tele-operated vehicle ultimately. This paper describes the motion system ...

• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.795-800
• /
• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental