• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.5
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• pp.249-256
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• 2000

This paper deals with the control of the lateral motion of a mobile vehicle. A mobile vehicle using in this experiment is able to adapt many unmanned automatic driving system, for example, like a automated product transporting system. This vehicle is consist of the two servomotors. One is used to accelerate this vehicle and the another is used to change this lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral motion of the vehicle. Therefore, the main aim of this paper is investigate the possibility of applying adaptive fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. Fuzzy control rules are derived by modelling an expert's driving actions. Experiments are performed using a mobile vehicle with sensing units, a microprocessor and a host computer.

• Structural Engineering and Mechanics
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• v.15 no.1
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• pp.1-19
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• 2003

This paper presents the formulation of a new bridge-vehicle system with validation using the field data. Both pitching and twisting modes of the vehicle are considered in the contribution of the dynamic effects in the bridge responses. A heavy vehicle was hired as a control vehicle with known axle weight, axle spacing and spring coefficients. The measured responses were generated from the control vehicle running at a particular speed at a test span at Ma Tau Wai Flyover. The measured responses were acquired using strain gauges installed beneath the girder beams of the test bridge. The simulated responses were generated using BRVEAN that is a self-developed program based on the proposed bridge-vehicle system. The validation shows that the bridge model is valid for representing the test bridge and the governing equations are valid for representing the motion of moving vehicles.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1147-1156
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• 1993

In order to analyze lateral control in the backward maneuver of a tractor -trailer combination , a kinematic vehicle model and a human operator model with time delay were utilized for the operator/vehicle system. The analysis was carried out using the frequency domain approach. The open-loop stability of the vehicle motion was analyzed through the transfer functions. The sensitivity of the stability of the vehicle motion. to a change in the steering angle, was also analyzed. A mathematical model of the closed -loop operator/vehicle system was then formulated. The closed -loop stability of the operator /vehicle system was then analyzed. The effect of the delay time on the system was also analyzed through computer simulation.

• Journal of Electrical Engineering and Technology
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• v.10 no.5
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• pp.2162-2169
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• 2015

Cruise control is a technology for automatically maintaining a steady speed of vehicle as set by the driver via controlling throttle valve and brake of vehicle. In this paper we investigate cruise controller design method with consideration for distance to vehicle ahead. We employ linear time varying (LTV) model to describe longitudinal vehicle dynamic motion. With this LTV system we approximately model the nonlinear dynamics of vehicle speed by frequent update of the system parameters. In addition we reformulate the LTV system by transforming distance to leading vehicle into variation of system parameters of the model. Note that in conventional control problem formulation this distance is considered as disturbance which should be rejected. Consequently a controller can be designed by pole placement at each instance of parameter update, based on the linear model with the present system parameters. The validity of this design method is examined by simulation study.

• Journal of the Korean Society of Systems Engineering
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• v.2 no.1
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• pp.31-36
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• 2006

Development of launch vehicle needs a large-scale and complicated System Engineering discipline interfacing to small-quantity production with special manufacturing processes. In general, the System Engineering discipline of launch vehicle has its relationship with Production, Operations, Product Assurance and Management disciplines and its internal partitions into the functions of System Engineering Integration & Control, Requirements Engineering, Analysis, Design and Configuration and Verification. As a function of Product Assurance, reliability of launch vehicle plays an significant role in risk management, system safety, flight safety and launch certification through design assurance. Moreover, major functions of systems engineering are integrated by means of reliability in the phases of design and verification. Therefore, derailed identification of system engineering interfaces of reliability, and execution of tasks for reliability assurance is required for successful development of launch vehicle. This paper identifies specific pattern and mechanism of the interfaces between reliability and system engineering.

• Proceedings of the Safety Management and Science Conference
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• 2005.05a
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• pp.259-266
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• 2005

In this paper, we developed a vehicle condition monitoring system that checks vehicle conditions, and transmits and displays them to a driver for safety and effective maintenance. We used a CAN controller and transceiver to establish the CAN communication that has been used commonly inside an actual vehicle for the collection of vehicle's status information. To validate the operation of the developed system, we have confirmed the accuracy and stability of data transmission and reception of vehicle information.

• Wind and Structures
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• v.29 no.5
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• pp.299-312
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• 2019

Due to the rugged terrain, metro lines in mountain city across numerous wide rivers and deep valleys, resulting in instability of high-pier bridge and insecurity of metro train under crosswind. Compared with the conditions of no-wind, crosswind triggers severer vibration of the dynamic system; compared with the short-pier viaduct, the high-pier viaduct has worse stability under crosswind. For these reasons, the running safety of the metro vehicle traveling on a high-pier viaduct under crosswind is analyzed to ensure the safe operation in metro lines in mountain cities. In this paper, a dynamic model of the metro vehicle-track-bridge system under crosswind is established, in which crosswind loads model considering the condition of wind zone are built. After that, the evaluation indices and the calculation parameters have been selected, moreover, the basic characteristics of the dynamic system with high-pier under crosswind are analyzed. On this basis, the response varies with vehicle speed and wind speed are calculated, then the corresponding safety zone is determined. The results indicate that, crosswind triggers drastic vibration to the metro vehicle and high-pier viaduct, which in turn causes running instability of the vehicle. The corresponding safety zone for metro vehicle traveling on the high-pier is proposed, and the metro traffic on the high-pier bridge under crosswind should not exceed the corresponding limited vehicle speed to ensure the running safety.

• Journal of Electrical Engineering and Technology
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• v.3 no.1
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• pp.135-142
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• 2008

This paper deals with the design of a robust PI controller for a vehicle suspension system. A method, which is related to computation of all stabilizing PI controllers, is applied to the vehicle suspension system in order to obtain optimum control between passenger comfort and driving performance. The PI controller parameters are calculated by plotting the stability boundary locus in the $(k_p,\;k_i)$-plane and illustrative results are presented. In reality, like all physical systems, the vehicle suspension system parameters contain uncertainty. Thus, the proposed method is also used to compute all the parameters of a PI controller that stabilize a vehicle suspension system with uncertain parameters.

• International Journal of Automotive Technology
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• v.7 no.2
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• pp.145-154
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• 2006

In the companion paper, the composition and structure of the MATDYMO (Multi-Agent for Traffic Simulation with Vehicle Dynamic Model) were proposed. MATDYMO consists of the road management system, the vehicle motion control system, the driver management system, and the integration control system. Among these systems, the road management system and the integration control system were discussed In the companion paper. In this paper, the vehicle motion control system and the driver management system are discussed. The driver management system constructs the driver agent capable of having different driving styles ranging from slow and careful driving to fast and aggressive driving through the yielding index and passing index. According to these indices, the agents pass or yield their lane for other vehicles; the driver management system constructs the vehicle agents capable of representing the physical vehicle itself. A vehicle agent shows its behavior according to its dynamic characteristics. The vehicle agent contains the nonlinear subcomponents of engine, torque converter, automatic transmission, and wheels. The simulation is conducted for an interrupted flow model and its results are verified by comparison with the results from a commercial software, TRANSYT-7F. The interrupted flow model simulation is implemented for three cases. The first case analyzes the agents' behaviors in the interrupted flow model and it confirms that the agent's behavior could characterize the diversity of human behavior and vehicle well through every rule and communication frameworks. The second case analyzes the traffic signals changed at different intervals and as the acceleration rate changed. The third case analyzes the effects of the traffic signals and traffic volume. The results of these analyses showed that the change of the traffic state was closely related with the vehicle acceleration rate, traffic volume, and the traffic signal interval between intersections. These simulations confirmed that MATDYMO can represent the real traffic condition of the interrupted flow model. At the current stage of development, MATDYMO shows great promise and has significant implications on future traffic state forecasting research.