• 한국자동차공학회논문집
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• 제14권6호
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• pp.82-88
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• 2006

The study investigated how an adaptive cruise control system induced behavioral adaptation in drivers using a full-scale driving simulator. Forty drivers with different driving styles participated in the study to compare headway-time, vehicle lateral position variation, and head and eye movement when driving with and without the adaptive cruise control system. Results showed that system induced positive behavioral adaptation by drawing consistency in driving speed and headway-time regardless of the driving styles. However, the results also showed that the drivers' reliance on the system induced negative adaptation including reduced lane keeping ability and reduced attention during driving. As a strategy to prevent negative adaptation, the study proposed information service to drivers with the adaptive cruise control system status and driving environment, and investigated effectiveness of the service. Twelve drivers participated in the experiment to compare headway-time, vehicle lateral position variation and subjective ratings when driving with and without the information service. Results showed that the information service assisted the drivers to maintain safer and more comfortable headway-time without impairing drivers' steering ability.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제11권8호
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• pp.241-248
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• 2022

본 논문에서는 외란과 잡음이 있는 환경에서 자동차 정속주행의 개선을 위해 PID 제어기와 Kalman 필터를 적용하고 다양한 시뮬레이션을 통해 성능을 검증한다. 첫 번째로, 자동차 정속주행 시스템을 위한 수학적 모델을 소개한다. 두 번째로, 기본적인 개루프 제어 기반 정속주행 시스템에 외란으로 인한 성능 저하를 확인하고 이를 개선하기 위한 PID 제어기 기반의 피드백 제어 시스템의 성능을 검증한다. 세 번째로, 피드백 과정에서 발생할 수 있는 센서 잡음으로 인한 성능 저하를 확인하고 이를 개선하기 위해 Kalman 필터를 적용하여 성능을 검증한다. 궁극적으로, PID 제어기와 Kalman 필터를 적용하여 설계된 정속주행 시스템이 성능 기준을 모두 만족할 뿐만 아니라 외란과 잡음 제거 능력까지 있음을 확인할 수 있다.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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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.

• 조명전기설비학회논문지
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• 제28권5호
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• pp.15-22
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• 2014

The automobile cruise control system tries to maintain a constant velocity in the face of disturbance mainly caused by mass changes or changes in the slope of a road. The controller should compensate for such disturbances and model uncertainties. In this paper, we study on the disturbance observer based controller for cruise control system. In the presence of disturbances and model uncertainties, we carry out computer simulations in order to compare the performance of the conventional PI controller and DOB controller. From the simulation results, we found that the performance of DOB controller is superior to that of the conventional PI controller.

• Journal of Mechanical Science and Technology
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• 제16권10호
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• pp.1314-1319
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• 2002

A mathematical model and control laws for an Electronic-Vacuum Booster (EVB) for application to vehicle cruise control will be presented. Also this paper includes performance test result of EVB and vehicle cruise control experiments. The pressure difference between the vacuum chamber and the apply chamber is controlled by a PWM-solenoid-valve. Since the pressure at the vacuum chamber is identical to that of the engine intake manifold, the output of the electronic-vacuum booster Is sensitive to engine speed. The performance characteristics of the electronic-vacuum booster have been investigated via computer simulations and vehicle tests. The mathematical model of the electronic-vacuum booster developed in this study and a two-state dynamic engine model have been used in the simulations. It has been shown by simulations and vehicle tests that the EVB-cruise control system can provide a vehicle with good distance control performance in both high speed and low speed stop and go driving situations.

• 한국ITS학회:학술대회논문집
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• 한국ITS학회 2002년도 제1회 정기총회 및 학술대회
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• pp.88-91
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• 2002

• 대한기계학회논문집A
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• 제27권7호
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• pp.1146-1151
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• 2003

In this paper, results of an analysis of driving behavior characteristics and a driver-adaptive control algorithm for adaptive cruise control systems have been described. The analysis has been performed based on real-world driving data. The vehicle longitudinal control algorithm developed in our previous research has been extended based on the analysis to incorporate the driving characteristics of the human drivers into the control algorithm and to achieve natural vehicle behavior of the adaptive cruise controlled vehicle that would feel comfortable to the human driver. A driving characteristic parameters estimation algorithm has been developed. The driving characteristics parameters of a human driver have been estimated during manual driving using the recursive least-square algorithm and then the estimated ones have been used in the controller adaptation. The vehicle following characteristics of the adaptive cruise control vehicles with and without the driving behavior parameter estimation algorithm have been compared to those of the manual driving. It has been shown that the vehicle following behavior of the controlled vehicle with the adaptive control algorithm is quite close to that of the human controlled vehicles. Therefore, it can be expected that the more natural and more comfortable vehicle behavior would be achieved by the use of the driver adaptive cruise control algorithm.

• Journal of Mechanical Science and Technology
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• 제15권9호
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• pp.1248-1256
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• 2001

In this study, a test bed for vehicle longitudinal control is developed using a chassis dynamometer and real time 3-D graphics. The proposed test bed system consists of a chassis dynamometer on which test vehicle can run longitudinally, a video system that shows virtual driver view, and computers that control the test vehicle and realize the real time 3-D graphics. The purpose of the proposed system is to test vehicle longitudinal control and warning algorithms such as Adaptive Cruise Control(ACC), stop and go systems, and collision warning systems. For acceleration and deceleration situations which only need throttle movements, a vehicle longitudinal spacing control algorithm has been tested on the test bed. The spacing control algorithm has been designed based on sliding mode control and road grade estimation scheme which utilizes the vehicle engine torque map and gear shift information.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.717-722
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• 2003

A driving simulator is a computer-controlled tool to study an interface between a driver and vehicle response by enabling the driver to participate in judging vehicle characteristics. Using the driving simulator, human factor study, vehicle system development and other research can be effectively done under controllable, reproducible and non-dangerous conditions. An Adaptive Cruise Control (ACC) system is generally regarded as a system that can be achieved in the near future without the demanding infrastructure components and technologies. ACC system is an automatic vehicle following system with no human engagement in the longitudinal vehicle direction. And the influence of the driver is substantial in developing the system. Driving characteristic is very different according to the accident riskiness, gender, age and so on. In this research, experiments have been carried out to investigate driving characteristics with the ACC system, using a driving simulator. Participants are 21 male and 19 female. Driving characteristics such as preferred headway-time, lane keeping ability, eye direction, and head movement have been observed and compared between the driving with ACC and the driving without ACC.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2173-2175
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• 2003

This paper presents a cruise control system design using variable structure control (AVCS) is an important part of the intelligent vehicle and highway systems (IVHS). A vehicle desired acceleration profile has been designed based on the vehicle speed and distance control algorithm. Cruise control system has been designed using VSC theory for which we propose a moving switching surface(MSS). It has been shown that the proposed control system can provide satisfactory performance. Simulation results are given to show the effectiveness of this controller.