• 공학교육연구
• /
• 제15권4호
• /
• pp.48-52
• /
• 2012

The purpose of this paper is to design and implement the user motion pattern control system for the simulated vehicle. After analyzing the user motion patterns in the system, the patterns are used to control the moving direction of the simulated vehicle such as forward, backward, turn right, turn left etc. The patterns in the system around are sent to the simulated vehicle in real time. In order to execute the suggested user motion pattern control system, the Kinect is used for executing the system. The Kinect recognizes the specified user motion patterns and it transmits the data to the user motion pattern control system. There are nine kinds of the user motion patterns in the system for controlling the simulated vehicle. In addition to this, some sensors are used to detect the condition of the simulated vehicle. GPS is also used to estimate the current location of the simulated vehicle and to obtain the driving information.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1481-1484
• /
• 1997

The vehicle driving simulator expects vehicle motion with real-time simulation arise from driver's steering, accelerating, stopping and simulates motion of vehicl with visula, audio and washout algorithm. And it gives a vivid feeling to driver in reality. Vehicle driving simulator with vehicle integration control system is used for analysis of analysis of vehicle controllaility, steering capacity and safety in various pseudo environment alike. basides, it analyzeds vehicle safety factor dirver's reaction and promotes traffic safety without driver's own risks. The main proceduress of development of the vehicle driving simulator are classified by 3 parts. first the motion base system which can be generated by the motion queues, should be developed. Secondly, real-time vehicle software which can afford the vehicle dynamics, might be constructed. The third procedure is the integration of vehicle driing simulator which can be interconnected between visual systems with motion base. In this study, we are to study of the motion base for a vehicle driving simulator design and that of its real time control and using an extra gyro sensor and accelerometers to find a position and an orientatiion of the moving platform except for calculating forward kinematics. To drive the motion base, we use National Instruments corp's Labview software. Furthemore, we use analysis module for the vehicle motionand the washout algorithm module to consummate driving simulator, which can be driven by human in reality, so we are doing experimentally process about various vehicle motion conditon.

• 제어로봇시스템학회논문지
• /
• 제20권7호
• /
• pp.701-705
• /
• 2014

This article presents a comparison among several yaw and roll motion controllers for vehicle rollover prevention. In the previous research, yaw and roll motion controllers can be independently designed for rollover prevention. Following this idea, several yaw and roll motion controllers are designed and compared in terms of rollover prevention. For the yaw motion control, PID, LQR, SMC (Sliding Mode Control) and TDC (Time-Delay Control) are adopted. For the roll motion control, LQR, LQ SOF (Static Output Feedback) control, PID, and SMC are adopted. To compare the performance of each controller, simulation is performed on a vehicle simulation package, CarSim$^{(R)}$. From simulation, TDC and LQ SOF are the best for yaw and roll motion control, respectively.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.257-257
• /
• 2000

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car Like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

• 동력기계공학회지
• /
• 제16권1호
• /
• pp.91-97
• /
• 2012

It is being accelerated to develop environment-friendly vehicles to solve problems on the energy and environment of earth. The electric driving motor commonly installed in these vehicles has the excellent control capability such as fast response and accurate generation to torque control command. Especially, in-wheel motor has the additional merit such as independently driving each wheel in vehicle. Recently, being developed various control algorithm to enhance the safety and stability of vehicle motion using actively the merits of in-wheel motor. In addition to that, being issued the possibility of enhancing the ride comfort and attitude of vehicle motion such as pitching and rolling. In this paper, investigate the theoretical relationship between the braking/driving force and the motion of sprung mass of vehicle and propose the control method to enhance the ride comfort and attitude of vehicle motion. The proposed control method is proved through the simulation with vehicle model provided by TruckSim software which is commercial one and specializes in vehicle dynamics.

• 대한기계학회논문집A
• /
• 제29권1호
• /
• pp.139-144
• /
• 2005

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion. have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
• /
• pp.185-188
• /
• 1999

An estimation algorithm for vehicle driving load has been proposed in this paper. Driving load is an important factor in a vehicle's longitudinal motion control. An approach using an observer is introduced to estimate driving load based on inexpensive RPM sensors currently being used in production vehicles. Also, a torque estimation technique using nonlinear characteristic functions has been incorporated in this estimation algorithm. Using a nonlinear full vehicle simulation model, we study the effect of the driving load on longitudinal vehicle motion, and the performance of the estimation algorithm has been evaluated. The proposed estimation algorithm has good performance and robustness over uncertainties in the system parameters. An accurate estimate of the driving load can be very helpful in the development of advance vehicle control systems such as intelligent cruise control systems, CW/CA systems and smooth shift control systems.

• 한국자동차공학회논문집
• /
• 제19권5호
• /
• pp.22-28
• /
• 2011

This paper presents an active roll motion control of a passenger vehicle. The roll controller is designed in the framework of $H_{\infty}$ control scheme based on the 3 DOF vehicle model taking into consideration parameter variations, which affect the roll dynamics, and unmodeled high frequency dynamics for robustness and performance. In order to investigate the feasibility of the active roll control system in a car, its performance is evaluated by simulation in a full vehicle model with nonlinear tire characteristics under various operating conditions. Finally, in order to enhance the performance in a transient region taking into account the limited bandwidth of the actuating module, a hybrid control strategy is presented.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 추계학술대회
• /
• pp.696-701
• /
• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제49권5호
• /
• pp.249-256
• /
• 2000

This paper deals with the control of the lateral motion of a mobile vehicle. A mobile vehicle using in this experiment is able to adapt many unmanned automatic driving system, for example, like a automated product transporting system. This vehicle is consist of the two servomotors. One is used to accelerate this vehicle and the another is used to change this lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral motion of the vehicle. Therefore, the main aim of this paper is investigate the possibility of applying adaptive fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. Fuzzy control rules are derived by modelling an expert's driving actions. Experiments are performed using a mobile vehicle with sensing units, a microprocessor and a host computer.