• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.825-830
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• 2007

For the design and maintenance of highways and road structures, the statistical data are needed for the vehicle, especially heavy truck crossing. So far, static weighing has been used but it needs fixed station, crews, and it takes a lot of time. Also truck mix and headway distances cannot be obtained. Weigh-In-Motion system uses the sensor as a weighing scale and collects the axle weights, axle distances, vehicle types and etc. without stopping or slowing down the vehicle. Objectives of the study is make a determination of WIM Sensor for Implementation of U-Overloaded Vehicle Regulation System.

• ETRI Journal
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• 제36권6호
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• pp.968-978
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• 2014

Autonomous vehicle technology based on information technology and software will lead the automotive industry in the near future. Vehicle localization technology is a core expertise geared toward developing autonomous vehicles and will provide location information for control and decision. This paper proposes an effective vision-based localization technology to be applied to autonomous vehicles. In particular, the proposed technology makes use of numerical maps that are widely used in the field of geographic information systems and that have already been built in advance. Optimum vehicle ego-motion estimation and road marking feature extraction techniques are adopted and then combined by an extended Kalman filter and particle filter to make up the localization technology. The implementation results of this paper show remarkable results; namely, an 18 ms mean processing time and 10 cm location error. In addition, autonomous driving and parking are successfully completed with an unmanned vehicle within a $300m{\times}500m$ space.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• 한국자동차공학회논문집
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• 제7권7호
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• pp.250-257
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• 1999

Driving simulators are used effectively for human factor study, vehicle system development and other purposes by enabling to reproduce actural driving conditions in a safe and tightly controlled enviornment. Interactive simulation requries appropriate sensory and stimulus cuing to the driver . Sensory and stimulus feedback can include visual , auditory, motion, and proprioceptive cues. A fixed-base driving simulator has been developed in this study for vehicle system developmnet and human factor study . The simulator consists of improved and synergistic subsystems (a real-time vehicle simulation system, a visual/audio system and a control force loading system) based on the motion -base simulator, KMU DS-Ⅰ developed for design and evaluation of a full-scale driving simulator and for driver-vehicle interaction.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.23.1-23
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• 2001

The unmanned vehicle is composed of three parts the front & side sensor system for keeping the lane and avoiding obstacles, the acceleration & brake control system for longitudinal motion control, and the steering control system for the lateral motion control. Each system helps the unmanned vehicle of which should take notice of its location and recognize obstacles around the place by itself and make a decision how much fast to proceed according to circumstances. During the operation, the control strategy that the vehicle can detect obstacles and avoid collision on the road involves with vehicle velocity very much. Therefore, We have to define a traction system which is powered by DC motor so that, unmanned vehicle can control its velocity accurately. In this study, we find mechanical and ...

• 자동차안전학회지
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• 제14권4호
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• pp.35-42
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• 2022

This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously.

• Journal of Mechanical Science and Technology
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• 제20권7호
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• pp.981-992
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle (CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to follow a chosen variable without significant motion change in other specified variables. The analysis techniques for decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling (i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1002-1011
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle(CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to commend a chosen variable without significant motion change in other specified variables. The analysis techniques fur decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling(i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• Advances in aircraft and spacecraft science
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• 제9권3호
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• pp.263-278
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• 2022

The time-varying structural reliability of an aeroelastic launch vehicle subjected to stochastic parameters is investigated. The launch vehicle structure is under the combined action of several stochastic loads that include aerodynamics, thrust as well as internal combustion pressure. The launch vehicle's main body structural flexibility is modeled via the normal mode shapes of a free-free Euler beam, where the aerodynamic loadings on the vehicle are due to force on each incremental section of the vehicle. The rigid and elastic coupled nonlinear equations of motion are derived following the Lagrangian approach that results in a complete aeroelastic simulation for the prediction of the instantaneous launch vehicle rigid-body motion as well as the body elastic deformations. Reliability analysis has been performed based on two distinct limit state functions, defined as the maximum launch vehicle tip elastic deformation and also the maximum allowable stress occurring along the launch vehicle total length. In this fashion, the time-dependent reliability problem can be converted into an equivalent time-invariant reliability problem. Subsequently, the first-order reliability method, as well as the Monte Carlo simulation schemes, are employed to determine and verify the aeroelastic launch vehicle dynamic failure probability for a given flight time.

• 한국전산구조공학회논문집
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• 제28권1호
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• pp.29-37
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• 2015

본 연구에서는 BWIM(Bridge Weigh-in-Motion) 시스템을 기반으로 주행차량의 총중량 및 축중량 추정을 수행하였다. BWIM 시스템의 개발을 위해 차량 주행시험은 필수적이지만 그 비용과 시간이 많이 소요되고, 다양한 차량 주행 조건의 적용이 어렵다. 따라서 차량 주행시험의 비용 및 시간적 문제점을 보완하고, 주행 조건에 따른 다양한 교량응답의 확보할 수 있는 수치 시뮬레이션이 현장실험과 병행되어야한다. 본 연구에서는 교량의 동적특성을 반영하는 수치 시뮬레이션을 수행하여 교량의 응답을 획득하고, 통행 차량의 중량을 산출하는 BWIM 시스템에 적용하여 총중량 및 축중량 추정을 수행하고 정밀해석모델기반 과적단속기술에 대하여 제안하였다.