• 자동차안전학회지
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• 제15권3호
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• pp.17-26
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• 2023

This paper presents extended state feedback control based on impulse response for lane change of autonomous driving vehicle. The triple characteristic root of path tracking system and longitudinal velocity determine feedback gains. We suggest a resemblance of impulse response curve of the system and lane change trajectory of the vehicle. The root affects the duration of lane change and lateral acceleration. The effect of limited lateral acceleration and saturation of steering angle will be analyzed and discussed. Finally, simulation results will show the trajectory of lane change based on impulse response under limitation of lateral acceleration.

• 대한임베디드공학회논문지
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• 제19권2호
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• pp.101-106
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• 2024

For the commercialization of automated vehicles, it is necessary to create various scenarios that can evaluate driving safety and establish a data system that can verify them. Depending on the vehicle's ODD (Operational Design Domain), there are numerous scenarios with various parameters indicating vehicle driving conditions, but no systematic methodology has been proposed to create and combine scenarios to test them. Therefore, projects are actively underway abroad to establish a scenario library for real-world testing or simulation of autonomous vehicles. However, since it is difficult to obtain data, research is being conducted based on simulations that simulate real road. Therefore, in this study, parameters calculated through individual vehicle trajectory data extracted based on roadside CCTV image-based driving environment DB was proposed through the extracted data. This study can be used as basic data for safety standards for scenarios representing various driving behaviors.

• 한국산업정보학회논문지
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• 제19권6호
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• pp.53-61
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• 2014

나로우주센터의 발사통제시스템은 우주발사체의 비행궤적과 상태정보를 감시하기 위하여 지상추적시스템(추적레이더 2대, 원격자료수신장비 4대, 광학추적장비 1대)으로부터 정보를 받아 처리한다. 각 추적장치는 주로 다중경로나 클러터, 전파굴절에 의해 자체 오차를 나타내고 있어 전송된 정보들 중 하나만을 이용해서는 우주발사체의 실제 궤적을 판별할 수 없다. 본 논문에서는 취득된 추적자료의 후처리를 통해 우주발사체 비행궤적을 생성해내는 방법을 제시한다. 본 후처리 알고리즘은 크게 대기의 전파굴절에 따른 오차를 보정하는 부분과 다중센서 정보를 융합하는 부분으로 나뉘며, 효과적인 센서 융합을 위해 등가속 운동모델에 기반한 분산식 칼만필터를 구성하였다. 실측 자료의 후처리 적용 결과, 어떤 단일 센서에 의한 것 보다 오차가 최소화된 발사궤적을 얻을 수 있었다.

• 한국추진공학회지
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• 제16권1호
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• pp.16-24
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• 2012

비행 마하수 6으로 운용되며, 지상 정지 추력으로부터 사용이 가능하도록 2단 추진체 개념이 적용된 스크램제트 엔진 비행체에 대한 개념설계를 수행하였다. 1단은 고체로켓을 적용하였으며, 2단은 탄화수소 계열의 연료를 사용하는 스크램제트 엔진을 적용하였다. 개념설계를 위하여 2,000 km의 운용거리와 0.2 톤의 탑재체 무게를 가정하였다. 개념설계의 첫 번째 단계로 3-DOF 코드를 이용하여 비행궤도를 계산하였으며, 계산된 비행궤도를 바탕으로 일차원-비평형 유동 코드와 NASA의 HASA 데이터베이스를 이용하여 스크램제트 엔진에 대한 개념설계를 수행하였다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2011년도 제36회 춘계학술대회논문집
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• pp.309-317
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• 2011

비행 마하수 6으로 운용되며, 지상 정지 추력으로부터 사용이 가능하도록 2단 추진체 개념이 적용된 스크램제트 엔진 비행체에 대한 개념설계를 수행하였다. 1단은 로켓을 적용되었으며, 2단은 탄화수소 계열의 연료를 사용하는 스크램제트 엔진이 적용되었다. 개념설계를 위하여 반경 2,000km의 운용거리와 0.2톤의 탑재체 무게를 가정하였다. 개념설계의 첫 번째 단계로 3-DOF 코드를 이용하여 비행궤도를 계산하였으며, 계산된 비행계도를 바탕으로 일차원-비평형 유동 코드와 NASA의 HASA 데이터베이스를 이용하여 스크램제트 엔진에 대한 개념설계를 수행하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.643-646
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• 1994

A method of trajectory error estimation of a hypersonic vehicle, by a covariance analysis technique is presented and discussed. The method itself is a wellkown technique, however, the thema has been rarely treated. As the importance is increasing, it is explained here and some of our newly deviced techniques are also presented.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.543-545
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• 2008

The Inner Arch developed several softwares: $\circ$ One dedicated to solid propulsion project : APSOL $\circ$ One dedicated to liquid propulsion projects ELIS A third one, PERFOL, is used to optimize the trajectory and the propulsion parameters The paper will describe the main software used for this study and illustrate the interest of these tools to make the first design of a new version of a launch vehicle with optimisation both of intrinsic propulsion parameters and of the trajectory.

• 동력기계공학회지
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• 제13권2호
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• pp.56-62
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• 2009

The fatalities of pedestrian account for about 40.0% of all fatalities in Korea 2005. Vehicle-Pedestrian accident generates trajectory of pedestrian. In pedestrian involved accident, the most important data to inspect accident is throw distance of pedestrian. The throw distance of pedestrian can be influenced by many variables. But existing studies have been done for simple factors. The variables that influence trajectory of pedestrian can be classified into vehicular factors, pedestrian factors, and road factors. The trajectory of pedestrian, dynamic characteristics of multi-body were analyzed by PC-CRASH, a kinetic analysis program for a traffic accident. PC-CRASH enables an analyst to investigate the effect of many variables. The influence of the offset of impact point was analyzed by Working Model. Based on the results, the variables that influence trajectory of pedestrian were vehicular frontal shape, vehicular impact speed, the offset of impact point, the height of pedestrian, friction coefficients of pedestrian. However the weight of pedestrian did not affect trajectory of pedestrian considerably.

• Journal of Positioning, Navigation, and Timing
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• 제4권3호
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• pp.123-130
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• 2015

In this study, a carrier smoothed global positioning system / dead reckoning (CSGPS/DR) integrated system for high-precision trajectory estimation for the purpose of vehicle navigation was proposed. Existing code-based GPS has a low position accuracy, and carrier-phase differential global positioning system (CPDGPS) has a long waiting time for high-precision positioning and has a problem of high cost due to the establishment of infrastructure. To resolve this, the continuity of a trajectory was guaranteed by integrating CSGPS and DR. The results of the experiment indicated that the trajectory precision of the code-based GPS showed an error performance of more than 30cm, while that of the CSGPS/DR integrated system showed an error performance of less than 10cm. Based on this, it was found that the trajectory precision of the proposed CSGPS/DR integrated system is superior to that of the code-based GPS.

• 한국도로학회논문집
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• 제15권1호
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• pp.65-73
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• 2013

PURPOSES: This paper presents the results of computer simulations of roadside safety barrier, called by safety roller guardrail, consisting of rotational roller, rotation control plate, post and subsidiary members. The rotation roller and rotation control plate are made by EVA(ethylene vinyl acetate), and PE(polyester), respectively. METHODS: The occupant risk analysis has been carried out under vehicle crash condition for high containment level of SB-4 for the purpose of local road. Simulations are performed with the finite element code LS/DYNA-3D. RESULTS: The numerical results obtained by LS/DYNA-3D software from the viewpoints of vehicle stability, vehicle trajectory, occupant risk, etc. CONCLUSIONS: It is noted that not only impact severity is drastically reduced but also vehicle trajectory is improved due to the characteristics of energy absorption and rotation pattern of EVA rollers connected by control plates.