• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.9
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• pp.1003-1008
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• 2012

The paper presents an Experimental Vehicle Model (EVM), that utilizes the kinematic characteristics of suspensions from SPMD test data. The relative displacement and orientation of a wheel with respect to the body are represented as a function of the vertical displacement of the wheel. The equations of motion of the vehicle are formulated in terms of local coordinates that do not require coordinate transformation, which improves the efficiency of dynamic analysis. The EOM was modularized for each suspension model, and a $6{\times}6$ vehicle model was obtained by combining six suspensions. The analysis results were compared with ADAMS to verify the accuracy of the EVM. This study also verifies the feasibility of real-time simulation with the developed EVM. For a vehicle simulation for 1 ms, the real simulation time required within 20% of the prescribed time. This result shows that the EVM meets the real-time simulation requirements.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.3
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• pp.555-560
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• 2018

In this paper, we focus on the study of educational contents using real vehicle based electric vehicle diagnosis system. To understand the electric vehicle, we describe the driving modes and operating principles of the core components and electric vehicles that make up the electric vehicles. In addition, we implemented a diagnostic system for analyzing the characteristics of the electric vehicle test bed and analyzed the characteristics of the vehicle based on the driving mode.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.115.2-115
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• 2002

A real-time vehicle simulation system is a key element of a driving simulator because accurate prediction of vehicle motion with respect to driver input is required to generate realistic visual, motion, sound and proprioceptive cues. In order to predict vehicle motion caused by various driving actions of the driver on board the simulator, the vehicle model should consist of complete subsystems. On this paper, a tracked vehicle dynamic model with high efficiency and effectiveness is introduced that has been implemented on a training driving simulator. The multi-body vehicle model is based on recursive formulation and has been automatically generated from a symbolic computation package develop...

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.741-746
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• 2001

This paper presents an investigation of a vehicle-to-vehicle distance control using a Hardware-in-the-Loop Simulation(HiLS) system. Since vehicle tests are costly and time consuming, how to establish a efficient and low cost development tool is an important issue. The HiLS system consists of a stepper motor, an electronic vacuum booster, a controller unit and two computers which are used to form real time simulation and to save vehicle parameters and signals of actuator through a CAN(Controller Area Network). Adoption of a CAN for communication is a trend in the automotive industry. Since this environment is the same as that of a real vehicle, a distance control logic verified in laboratory can be easily transfered to a test vehicle.

• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.77-83
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• 2022

Occupant behaviors and body contact with vehicle interior parts are main injury mechanism in far-side collisions. In vehicle side impact accident where the crash accident occurs on the opposite side of the vehicle from the a particular occupant, it is exposed in terms of relatively larger lateral motion to interact with the opposite side of the vehicle structure. The challenge of minimizing motions of upper body and injury risk according to a direct contact is a primary occupant protection research. This study has performed a data analysis of real-world accident database extracted from the 2016~2020 CISS database and a parametric investigation of impact angles and occupant kinematics in far-side lateral and oblique impact simulations. A detailed data analysis was conducted to reveal the relationship among the accident and injury data. Database analysis and computational far-side impact results proposed the fundamental vehicle design for safety improvement in far-side collisions.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.187-193
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• 2015

When developing a vehicle control system, simulation methods are widely used to validate the whole system in the early development phase. With this regard, the simulator should correctly behave just like the real parts that are not yet implemented while interacting with already implemented parts in real-time. However, most simulators cannot provide functionally and temporally accurate behaviors of the target system. In order to overcome this limitation, this paper proposes a novel real-time simulation technique that can efficiently simulate the temporal behavior as well as the functional behavior of the simulation target system.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

• International Journal of Automotive Technology
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• v.7 no.2
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• pp.227-235
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• 2006

In this paper a robust image processing method with modified Otsu algorithm to recognize the road lane for a real-time controlled autonomous vehicle is presented. The main objective of a proposed method is to drive an autonomous vehicle safely irrespective of road image qualities. For the steering of real-time controlled autonomous vehicle, a detection area is predefined by lane segment, with previously obtained frame data, and the edges are detected on the basis of a lane width. For stable as well as psudo-robust autonomous driving with "good", "shady" or even "bad" road profiles, the variable threshold with modified Otsu algorithm in the image histogram, is utilized to obtain a binary image from each frame. Also Hough transform is utilized to extract the lane segment. Whether the image is "good", "shady" or "bad", always robust and reliable edges are obtained from the algorithms applied in this paper in a real-time basis. For verifying the adaptability of the proposed algorithm, a miniature vehicle with a camera is constructed and tested with various road conditions. Also, various highway road images are analyzed with proposed algorithm to prove its usefulness.

• International Journal of Highway Engineering
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• v.14 no.3
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• pp.163-171
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• 2012

Demand Responsive Transit (DRT) services are becoming necessary as part of not only alternative transportation means for elderly and mobility impaired passengers, but also sustainable and flexible transportation options in urban area due to the development of communication technologies and Location Based Services (LBS). It is difficult to investigate the system performance regarding vehicle operational schemes and vehicle routing algorithms due to the lack of commercial software to support door-to-door vehicle simulation for larger area. This study proposes a simulation framework to evaluate innovative and flexible transit systems focusing on various vehicle routing algorithms, which describes data-type requirements for simulating door-to-door service on demand. A simulation framework is applied to compare two vehicle dispatch algorithms, Nearest Vehicle Dispatch (NVD) and Insertion Heuristic (IH) for real-time shared-taxi service in Seoul. System productivity and efficiency of the shared-taxi service are investigated, comparing to the conventional taxi system.

• International Journal of Highway Engineering
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• v.19 no.6
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• pp.13-21
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• 2017

PURPOSES : In this research, an SB3-level roadside barrier for a highway transition zone that meets the newly established guide Installation and Management Guide for Roadside Safety Appurtenance is developed. Its performance is evaluated by a numerical simulation and real-scale vehicle impact test. METHODS : The commercial explicit dynamic software LS-DYNA is utilized for impact simulation. An FE model of a passenger vehicle developed and released by the National Crash Analysis Center (NCAC) at George Washington University and a heavy goods vehicle (HGV) model developed by the TC226/CM-E Work Group are utilized for impact simulation. The original vehicle models were modified to reflect the conditions of test vehicles. The impact positions of the passenger vehicle and truck to the transition guardrail were set as 1/2 and 3/4 of the transition region, respectively, according to the guide. RESULTS : Based on the numerical simulation results of the existing transition barrier, a new structural system with improved performance was suggested. According to the result of a numerical simulation of the suggested structural system, two sets of transition barriers were manufactured and installed for real-scale vehicle impact tests. The tests were performed at a test field for roadside safety hardware of the Korea Highway Corporation Research Institute. CONCLUSIONS : The results of both the real-vehicle impact tests and numerical simulations of the developed transition barrier satisfied the performance criteria, and the results of numerical simulation showed good correlation with the test results.