• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.6
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• pp.295-301
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• 2001

In this paper, an impedance control using a serial chain of spring-damper system is proposed for a vehicle platoon. For safety of the vehicle platoon, it is required to regulated the distance between each vehicle at a preassigned value even in case of vehicle model error, or moise in the measurement signal. Since the spring-damper system is physically stable and widely used to represent the interaction with the uncertain environments, it is appropriate to the longitudinal control of the vehicle platoon. By considering the nonholonomic characteristics of the vehicle motion, the lateral control and the longitudinal control of the vehicle paltoon are unified in the proposed algorithm. Computer simulation is carried out to verify the robustness against the uncertainties such as the vehicle model error and the measurement noise.

• Proceedings of the KOR-KST Conference
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• 2007.02a
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• pp.476-485
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• 2007

• International Journal of Highway Engineering
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• v.18 no.6
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• pp.69-76
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• 2016

OBJECTIVES : The objective of this study is to propose a capacity analysis methodology for riverside bike-exclusive roads. METHODS : Three steps were performed to develop a methodology to estimate bikeway capacity. First, we reviewed previous studies on the vehicle-road capacity analysis and proposed their applicability to bikeways. Second, two assumptions were made based on the traffic flow characteristics of bikeways: (1) the capacitated state in bikeways occur within a bicycle platoon, and (2) a bicycle platoon consists of more than three bicycles running in close proximity. In addition, it is assumed that the mean time headway of a bicycle platoon represents the characteristics of the platoon. The normality of the mean-time headway of a bicycle platoon calculated using the central limit theorem leads to the development of a method that estimates the riverside bikeway capacity using data collected from two different riverside bike-exclusive roads (Han-river and Anyangcheon). We used a location-fixed video camera to record videos of running bicycles and wrote a special-purpose software program to code the time-headway data from the videos. RESULTS : Time headways from 189 bicycle platoons were analyzed. The estimated mean-time headway of the capacitated bicycle flow is 1.01 s, from which the capacity of the bikeway is found to be 3578 vehicles/h. CONCLUSIONS : The proposed method that estimates bikeway capacity could be applicable to the analysis of short-range congested area rather than planning the number of lanes. In other words, it determines the sections that are temporarily highly congested and proposes appropriate strategies to mitigate the congestion.

• 한국ITS학회:학술대회논문집
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• 2008.11a
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• pp.1-7
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• 2008

• Journal of Korean Society of Transportation
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• v.34 no.2
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• pp.191-206
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• 2016

Pedestrian performance measurement has generally used the average values of pedestrian volumes and speeds from a sample, although each individual's pedestrian behavior of the sample is mainly affected by his/her socio-economic and physical characteristics. In particular, if such individual characteristics of the sample have wide variations, the average values are hard to be representative. In this respect, this study found that a platoon of pedestrians had a major effect on their pedestrian flows on sidewalks. The more platoons was mixed on pedestrian roads, the lower pedestrian flow rate was. The indexes such as a pedestrian flow rate and an occupancy space are typically calculated by pedestrian volumes in a given period of time regardless of the existence of a platoon. However, it is plausible that a pedestrian speed and a level of pedestrian congestion can be different under the equal amount of pedestrian volumes. Therefore, this study suggested criteria for determining level of service for pedestrian considering platoon effects and confirmed that two places had different pedestrian LOSs because of the platoon effects, even if they showed the same pedestrian flow rate.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.410-415
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• 2013

This paper proposes a bidirectional platoon control law using a coupled distance error based on the backstepping-like feedback linearization control method for an interconnected mobile agent system with a string structure. Unlike the previous results where the single agent was controlled using the only own information without other agents, the proposed control law cannot show the only distance error convergence of each agent, but also the string stability of the whole system. Also, the control performances are improved by the proposed control law in spite of low performance of bidirectional control strategy in the previous results. The proposed bidirectional platoon control algorithm is based on the backstepping-like feedback linearization control method. The position errors between each agent and the preceding and the behind agents are coupled by weighted summation. By the proposed control law, the distance error of each agent can converge to zero while the string stability is guaranteed when the coupled errors can converge to zero. To this end, the back-stepping control method is employed. The pseudo velocity input is determined considering the kinematic relationship between agents and the string stability. Then, the actual dynamic control input is determined to make the actual velocity converge to the pseudo velocity input. The stability analysis and the simulation results of the proposed method are included in order to demonstrate the practical application of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.659-665
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• 2000

In this paper a platoon merging control system is considered as a remotely located system with state represented by a stochastic process. in the system it is common to encounter situations where a single decision maker controls a large number of subsystems and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike a classical estimation problem where the observation is a continuous process corrupted by additive noise there is a constraint that the observation must be coded and transmitted over a digital communication channel with fintie capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. in this paper we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons the lead vehicle of the following platoon is controlled by a remote control station. Using the observation transmitted over communication channel the remote control station designs the feedback controller. The simulation results show that the intervehicle spacings and the deviations from the desired intervehicle spacing are well regulated.

• Journal of the military operations research society of Korea
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• v.17 no.2
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• pp.16-30
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• 1991

Data from a series of four studies on leadership behavior are analyzed and compared to identify effective patterns of leadership behavior for platoon leaders and battalion commanders in ROK Army. Multiple-method research strategy is utilized in four studies to overcome some of the limitations of previous researches. Two of four studies employ a questionnaire method, and the rest use content analysis of critical incidents. Important behaviors for leadership effectiveness in both platoon leaders and battalion commanders include Supporting and Motivating Task Commitment. However, Developing and Monitoring Operations are only important in platoon level, and Planning & Organizing and Recognizing & Rewarding only in battalion level. Most discrepancies in results among studies can be explained in terms of either method effects or situational differences in role requirements for leaders.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.160.4-160
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• 2001

Many physical systems today are modeled by interacting continuous and discrete states that influence the dynamic behavior. Hybrid system models, suitable for describing the essential dynamics of a fairly large class of physical systems in control engineering applications, contain both continuous dynamics and discrete dynamics. We discuss the design of efficient hybrid controllers for the platoon maneuvers on an AHS. For the modeling of a hybrid system including the merge and split operations, we introduce the safety distance policy for the merge and split operations. Then, the platoon system will be modeled by a hybrid system. In addition, the hybrid controller for the proposed merge and split operation models will be presented. Finally, we will demonstrate our scenarios ...

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.192-192
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• 2000

In this paper, a platoon merging is considered as a remote-controlled system with the state represented by a stochastic process. In this system, it becomes to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem in which the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capaci쇼. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. Using the coder-estimator sequence, the remote control station designs a feedback controller. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles considering the angle between a road surface and a horizontal plane as a stochastic process. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.