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조향 회피 시스템의 성능 개선을 위한 ESC/RWS 통합 샤시 제어
조환성(Hwanseong Jo),김두용(Dooyong Kim),강태완(Taewan Kang),소민우(Minwoo Soh),권재준(Jaejoon Kwon),박기홍(Kihong Park) 한국자동차공학회 2014 한국자동차공학회 학술대회 및 전시회 Vol.2014 No.11
This paper presents an performance improvement of emergency avoidance system with Electronic Stability Control(ESC) & Rear Wheel Steer(RWS) integrated control. ESC system is designed using Sliding Mode Control(SMC), which is one of high robustness variable structure control system. Front wheel steering angle and rear wheel steering angle are calculated by using Linear Quadratic Regulator(LQR). The desired trajectory for collision avoidance is determined by a 5th order polynomial. The desired steering wheel angle to follow the trajectory is calculated with Vector pursuit and the current position of the vehicle is estimated by using the Observer. The results indicate that the proposed logics can delay last time to steer for collision avoidance.
첨단안전자동차의 국제안전시험 적용을 위한 무인 평가 시스템 개발 - PartⅡ
강태완(Taewan Kang),노태호(Taeho Noh),조환성(Hwanseong Jo),문병찬(Byungchan Moon),권재준(Jaejoon Kwon),정재일(Jayil Jeong),박기홍(Kihong Park) 한국자동차공학회 2015 한국자동차공학회 부문종합 학술대회 Vol.2015 No.5
The collision avoidance system like AEB(Autonomous Emergency Braking) and FCWS(Forward Collision Warning System), a component of the Active Safety System in automobiles, is constantly developing to reduce further transportation-related fatalities and injuries. As a result, various automotive manufactures are interested in evaluating reliability of active safety systems and establishing international safety test standards for objective evaluation. For example ISO(International Organization for Standardization) is promoting the standardization of assessing advanced active safety systems and since 2014 active safety system such as AEBS(Autonomous Emergency Braking System) rating test is performed in Euro NCAP. The current existing methods are active safety assessing via applying a vehicle-shaped Balloon Car to the vehicle or by Dummy Car, a crane for crash-test simulation, for imitating a real situation. But it is impossible to copy the assessment with same condition, especially dynamic characteristic of Dummy Car traveling by crane and real car are critically different. Therefore assessment system using self-driving car is developed for assessment with same condition in this study. For verifying developed assessment system, cut-in scenario and braking scenario with 0.2g deceleration is executed.