• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.898-906
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• 2002

Antilock Brake System (ABS) is designed to prevent wheels from being locked-up under emergency braking of a vehicle. Therefore it improves directional stability of the vehicle, shortens stopping distance, and enhances maneuvering during braking, regardless of road conditions. Hardware In-the-Loop Simulation (HILS) is an effective tool for design Performance evaluation and test of vehicle subsystems such as ABS, active suspension, and steering systems. This paper describes a HILS model for ABS/ ASR(Acceleration Slip Regulation) system applications. A fourteen degrees-of-freedom vehicle dynamics model is simulated in an alpha-chip processor board. The proposed HILS system is tested with a basic ABS control algorithm. The design and implementation of HILS system for the ABS ECU(Electronic Control Unit) development of commercial vehicle are presented. The results show that the proposed HILS system can be used to test the performance, stability, and reliability of a vehicle under braking.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1203-1211
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• 2004

A traction control systems (TCSs) composed of either a wheel slip controller or a throttle valve controller or an integrated controller of both systems are proposed in this study. To validatethe dynamic characteristics of a vehicle and TCS, a full car model that can simulate the responses of both front wheel drive (2WD) and four wheel drive (4WD) vehicle is also developed. The wheel slip controller uses a sliding mode control scheme and the throttle valve is controlled by a PID controller. The results shows that tHe brake TCS and the engine TCS achieve rapid acceleration, and reduce slip angle on slippery road. When a vehicle is cornering and accelerating maneuver with the brake or engine TCS, understeer or oversteer occur, depending on the driving conditions. The integrated TCS prevents most of these problems and improves the stability and controllability of the vehicle.

• International Journal of Automotive Technology
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• v.1 no.2
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• pp.61-69
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• 2000

This paper will address the basic requirements for realizing a stop and go cruise control system. Issues discussed comprise: functional, sensor and basic HMI requirements, primary characterization of naturalistic stop & go driving, and the basic approach of the transformation of situational knowledge in an elementary controller.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.540-545
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• 1993

When modeling an underwater vehicle uncertainty arises in the presence of unsteady flow. It is difficult to include the uncertainty in the model and is therefore desirable to investigate robust controller design methods for the underwater vehicle. In the paper two robust control methods are applied for the underwater system. One is standard H$_{\infty}$ control and the other is time-varying sliding mode control with modified saturation function. Suboptimal design parameters for H$_{\infty}$ control and design parameters for time-varying switching surfaces are provided. Simulations and comparison are carried out.t.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.9-16
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• 2011

Research on ISA(Integrated Starter/Alternator) receives wide attention as system voltage is increased to 42V Based on requirement of starter and alternator for the conventional vehicle, system requirement and specification are determined. Also to control proposed system, suitable control methods are proposed. Main control issues with ISA are whether torque assist is required and if so how much torque is needed. In this paper, vehicle performance with various control methods and capacity are simulated and simulation results are analyzed. Vehicle performance is analyzed with vehicle simulator. For the simulation, suitable ISA model is also developed.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.1
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• pp.124-130
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• 2001

This paper presents a methodology on automation of a trailer type vehicle which consists of two parts: a tractor and a trailer. Backward moving and parking control is very important to automate this type of vehicle. It is difficult to control the motion such a trailer vehicle whose dynamics in non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a RCGA(real-coded genetic algorithm) is proposed and a backward path tracking control algorithm is then obtained. The simulation results verify the effectiveness of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.511-514
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• 2005

This paper propose an advanced control strategy to improve vehicle handling and directional stability by integrating Active Front Steering(AFS) with Electronic Stability Program(ESP) . The effect of the integrated control system on the vehicle handling characteristics and directional stability is studied through a close loop computer simulation of and eight degree of freedom nonlinear vehicle model and driver model. Simulation results confirm the effectiveness of the proposed control system and the overall improvements in vehicle handling and directional stability

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.888-891
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• 1991

In this paper, we have shown a new approach of neural networks for mobile robot motion control under an indoor refracted environment. The vehicle has two powered wheels and four passive casters which support a free motion. And it also uses sonar sensors, infrared sensors, Internal odometer, and contact sensors. Two experiments were conducted to demonstrate our objectives. The first one is that the vehicle executes a reflexive motor control to maintain a constant distance to the boundary. The second one is that as well as the boundary following, the vehicle makes a block obstacle avoidance during its path. Without prior knowledge of external environment. we have accomplished the tasks by employing a simple, reactive stimulus-response neural network scheme associating sensor data with the vehicle's action.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.876-879
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• 1996

The vibration of an attractive magnetic levitation(Maglev) vehicle transportation system is caused by the irregularity of the guideway track and the performance of the suspensions of the Maglev system. It is essential for us to give attention to the secondary suspension of the vehicle system as it determines the ride quality. In order to improve the ride quality and running stability, active secondary suspensions have been developed and applied to the vibration problems. This paper analyzes the performance of the active secondary suspension which is applied to an attractive magnetic levitation vehicle system running on a rough track. The dynamics of the suspension system and the optimal control problems are studied. According to the transient and frequency response analyses to the track disturbance, the ride quality of an attractive Maglev vehicle has been improved by applying the designed LQR active controller, and it has been confirmed that this improvement was also influenced by the configuration of the system.