• 대한인간공학회지
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• 제35권1호
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• pp.11-27
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• 2016

Objective: The purpose of this study was to develop and evaluate high technology adaptive driving controls, such as mini steering wheel-lever system and joystick system, for the people with physical disabilities in the driving simulator. Background: The drivers with severe physical disabilities have problems in operation of the motor vehicle because of reduced muscle strength and limited range of motion. Therefore, if the remote control system with driver-by-wire technology is used for adaptive driving controls for people with physical limitations, the disabled people can improve their quality of life by driving a motor vehicle. Method: We developed the remotely controlled driving simulator with drive-by-wire technology, e.g., mini steering wheel-lever system and joystick system, in order to evaluate driving performance in a safe environment for people with severe physical disabilities. STISim Drive 3 software was used for driving test and the customized Labview program was used in order to control the servomotors and the adaptive driving devices. Thirty subjects participated in the study to evaluate driving performance associated with three different driving controls: conventional driving control, mini steering wheel-lever controls and joystick controls. We analyzed the driving performance in three different courses: straight lane course for acceleration and braking performance, a curved course for steering performance, and intersections for coupled performance. Results: The mini steering wheel-lever system and joystick system developed in this study showed no significant statistical difference (p>0.05) compared to the conventional driving system in the acceleration performance (specified speed travel time, average speed when passing on the right), steering performance (lane departure at the slow curved road, high-speed curved road and the intersection), and braking performance (brake reaction time). However, conventional driving system showed significant statistical difference (p<0.05) compared to the mini steering wheel-lever system or joystick system in the heading angle of the vehicle at the completion point of intersection and the passing speed of the vehicle at left turning. Characteristics of the subjects were found to give a significant effect (p<0.05) on the driving performance, except for the braking reaction time (p>0.05). The subjects with physical disabilities showed a tendency of relatively slow acceleration (p<0.05) at the straight lane course and intersection. The steering performance and braking performance were confirmed that there was no statistically significant difference (p>0.05) according to the characteristics of the subjects. Conclusion: The driving performance with mini steering wheel-lever system and joystick control system showed no significant statistical difference compared to conventional system in the driving simulator. Application: This study can be used to design primary controls with driver-by-wire technology for adaptive vehicle and to improve their community mobility for people with severe physical disabilities.

• 로봇학회논문지
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• 제8권1호
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• pp.43-50
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• 2013

$A^*$ algorithm is a global path generation algorithm, and typically create a path using only the distance information. Therefore along the path, a moving vehicle is usually not be considered by driving characteristics. Deceleration at the corner is one of the driving characteristics of the vehicle. In this paper, considering this characteristic, a new evaluation function based path algorithm is proposed to decrease the number of driving path corner, in order to reduce the driving cost, such as driving time, fuel consumption and so on. Also the potential field method is applied for driving of UGV, which is robust against static and dynamic obstacle environment during following the generated path of the mobile robot under. The driving time and path following test was occurred by experiments based on a pseudo UGV, mobile robot in downscaled UGV's maximum and driving speed in corner. The experiment results were confirmed that the driving time by the proposed algorithm was decreased comparing with the results from $A^*$ algorithm.

• 한국HCI학회논문지
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• 제14권2호
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• pp.49-60
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• 2019

자율주행차량에서 전기자동차의 등장까지 자동차 산업은 급속도로 변화하고 있다. 이러한 변화 속에서 운전자가 자동차를 어떻게 제어하고 안전과 편의를 얻을 것인가에 대한 HMI 연구는 더욱 중요해지고 있다. 본 연구는 차량 제조사들이 어떠한 관점으로 주행상황을 이해하고 있으며, 운전자의 인터랙션을 어떻게 정의하고 한계 짓는가에 대해 이해하고자 하였다. 이를 위해 HMI에 대한 선행 연구를 리뷰하였으며, 15인의 참가자가 직접 5개 제조사의 차량을 실제 도로에서 운전하고 인터페이스를 사용해보는 온로드 연구를 수행하였다. 연구 결과를 통해 본 연구는 주행 중 운전자가 쉽게 제어할 수 있는 버튼과 스위치 류가 제조사별로 상이했으며, 주행 중 보다 집중적으로 제어할 수 있는 버튼과 제어하기에 어려운 버튼이 존재함을 확인하였다. Audi 차량은 '컨트롤러의 선택과 집중', BMW 차량은 '드라이빙 중심의 최적화', Benz의 차량은 '단순화와 최소화', Lexus의 차량은 '조작분산의 제거', KIA의 차량은 '시각적 안정감'을 HMI의 특징적 키워드로 도출할 수 있었다. 이것은 각 제조사들이 운전자의 드라이빙 제어 영역에 대한 정의와 해석이 다름을 보여준다. 본 연구는 외관으로 드러나지 않는 차량별 HMI의 특성을 실제 주행상황에서 파악해보았다는 점에서 기존의 연구와 차별적인 의미를 갖는다. 군집주행, 자율주행과 같은 주행환경의 변화와 HMI의 변화에서도 실제 주행을 통해 인터랙션의 차이를 확인해보는 본 연구의 접근이 유용하게 활용될 수 있기를 기대한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.164-164
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• 2000

This paper proposes a moving window technique that extracts lanes and vehicles using the images captured by a CCD camera equipped inside an automobile in real time. For the purpose, first of all the optimal size of moving window is determined based upon speed of the vehicle, road curvature, and camera parameters. Within the moving windows that are dynamically changing, lanes and vehicles are extracted, and the vehicles within the driving lanes are classified as obstacles. Assuming highway driving, there are two sorts of image-objects within the driving lanes: one is ground mark to show the limit speed or some information for driving, and the other is the vehicle as an obstacle. Using characteristics of three-dimension objects, a neural network can be trained to distinguish the vehicle from ground mark. When it is recognized as an obstacle, the distance from the camera to the front vehicle can be calculated with the aids of database that keeps the models of automobiles on the highway. The correctness of this measurement is verified through the experiments comparing with the radar and laser sensor data.

• 한국기후변화학회지
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• 제6권2호
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• pp.143-158
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• 2015

This study developed the emission intensity estimation method of GHGs by considering the characteristics of the models and time series. The telematics device was installed on the vehicle (OBD-II) to collect information on the operation conditions from each sample vehicle of public authorities. As a result of comparing the mileage distance and fuel consumption, the matching degree is analyzed very high, showed a ${\pm}1{\sim}4%$ error for each vehicle. By comparing driving record diary of vehicles managed by public authorities, this study presents the method that can be used to verify driving information in order to derive the GHGs emission intensity.

• 한국정밀공학회지
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• 제28권1호
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• pp.31-39
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• 2011

This paper presents design and control of a quarter-vehicle magneto-rheological (MR) suspension system for ECS (electronic control suspension). In order to achieve this goal, MR shock absorber is designed and manufactured based on the optimized damping force levels and mechanical dimensions required for a commercial mid-sized passenger vehicle. After experimentally evaluating dynamic characteristics of the manufactured MR shock absorber, the quarter-vehicle MR suspension system consisting of sprung mass, spring, tire and the MR shock absorber is constructed in order to investigate the ride comfort and driving stability. After deriving the equations of the motion for the proposed quarter-vehicle MR suspension system, the skyhook controller is then implemented for the realization of quarter-vehicle MR suspension system. In order to present control performance of MR shock absorber for ECS, ride comfort and driving stability characteristics such as vertical acceleration of sprung mass and tire deflection are experimentally evaluated under various road conditions and presented in both time and frequency domain.

• ETRI Journal
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• 제38권4호
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• pp.757-766
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• 2016

This study was conducted to examine the usage effects of an augmented reality head-up display (AR-HUD) system on the risk perception and psychological changes of drivers. To do so, we conducted an experiment to collect the driver response times for vehicles and pedestrians as their risk perception behavior, and used a driving behavior determinants questionnaire consisting of Problem Evading, Benefits/Sensation Seeking, Anti-Personal Anxiety, Anti-Personal Angry, and Aggression factors for collecting the psychological characteristics of the drivers. Thirty drivers were randomly assigned into an in-vehicle AR-HUD using group and a control group. As a result, the Anti-Personal Anxiety and Anti-Personal Angry factors were negatively correlated with the response time for the control group. In contrast, these results were not shown for the in-vehicle AR-HUD system using group. These results indicate that the in-vehicle AR-HUD system may partially induce a relaxation of tension or stress for drivers with a high level of interpersonal anxiety. Therefore, the in-vehicle AR-HUD system might contribute to not only the visual safety driving behaviors of drivers, but also to their psychological driving safety with specific characteristics.

• 한국실천공학교육학회논문지
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• 제3권2호
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• pp.100-105
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• 2011

HIL(Hardware-in-the-Loop) 개념을 적용하면 하이브리드 자동차용 부품의 자동차 환경에서의 특성을 부품을 차량에 장착하지 않고도 평가 할 수 있게 된다. 본 논문에서는 특정 전동기를 하이브리드 자동차용 전동기로 사용하였을 경우 자동차의 구동 특성을 분석할 수 있는 HIL 방식을 구현하기 위한 부품 특성 시험. 구동특성 시뮬레이션, 장치 구성 방법을 설명한다. 시험장치는 자동차 시뮬레이터, 부하장치로 구성되며 시뮬레이션에서 사용된 차량제어기를 직접 차량제어기로 사용하게 된다. 부하장치는 차량의 동적 특성을 모의하게 된다. 특히 기존의 차량의 관성을 모의하기 위한 기계적 관성부하를 사용하지 않고 부하장치를 능동적으로 제어 하여 차량에 적용되었을 경우의 전동기 특성을 구할 수 있다. 시험 전동기가 병렬방식 하이브리드 자동차에 적용되었을 경우의 전동기의 실제 특성을 구할 수 있다. 제안된 방식은 하이브리드 자동차의 구동 특성을 교육하기 위한 교육매체로 사용 될 수 있다.

• 한국소음진동공학회논문집
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• 제25권8호
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• pp.525-531
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• 2015

Driving sound is an effective element to promote the product identity of a vehicle by providing customers with attractive sound which reflects the concept of a vehicle. Recently, major automakers are focusing on the target sound setting so that the sound can represent the brand image as well as the unique concept of a vehicle. In this study, a new method of target setting for the driving sound will be introduced based on using formant filter and musical harmonics characteristics. In addition, a target sound suggested from this method will be realized and verified by using active noise control in vehicle.

• 융복합기술연구소 논문집
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• 제5권1호
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• pp.23-26
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• 2015

The purpose of present study is to analysis the Characteristics of fuel economy and Green house gases due to the driving mode conditions of The hybrid electric vehicle(HEV). HEVs are divided into mild and power types according to the their functions. mild type HEVs are inexpensive because they do not need to implement a pure electric mode. Power type HEVs are more expensive but has also better fuel efficiency. In the present paper, the test results for the gasoline vehicle using FTP-75 mode and HWFET are present.