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Multi-CPU를 이용한 통합샤시 제어로직 구현 및 성능검증
서경일(Kyungil Seo),조완기(Wanki Cho),허현동(Hyundong Heo),이경수(Kyongsu Yi) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper describes the design and evaluation procedure of a Unified Chassis Control (UCC) Algorithm for implementation on a Field Programmable Gate Array (FPGA) assisting multi-core processes. The UCC algorithm consists of three parts ? the Supervisor, the Main Controller and the Fault Detection, and Isolation (FDI)/ Fault Tolerance Control (FTC). The architecture supports a distributed control with analytical and physical redundancy capabilities. The Supervisor comprises estimation, monitoring and decision logic components based on a Rollover Index (RI). The Main Controller is made up of Rollover Mitigation Control (RMC), Active Front Steering (AFS) control and Electronic Stability Control (ESC) elements. The FDI/FTC is composed of subsystems for handling sensor and brake actuator faults. The aims of the multi-core ECU platforms proposed by this paper are to reduce the operating load and to maximize reliability in order to maintain improvements of the vehicle’s dynamics performance. A Vehicle Simulator and Brake Hardware-In-the-Loop Simulator (HILS) are used to evaluate the proposed algorithm. The test results show that the UCC algorithm improves the performance of lateral stability, and that is able to recover from sensor and actuator fault conditions. In addition to these, the multi-core processor structure enhances reliability, and reduces the execution time.
무인차량의 주행을 위한 3차원 환경지도의 작성 및 지형분석
이용주(Yong-Ju Lee),서경일(KyungIl Seo),안장모(Jangmo Ahn),문일기(Il-Ki Moon) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
This research deals with the outdoor environmental modeling for unmanned ground vehicle. As outdoor environments are not flat and contain many compelx objects, the environemts are modeled by three dimensional models. Also, the pattern of each grid of the model is determined using the pre-defined models for analysis of the modeled terrain. The experiments and simulation results show that the proposed method can enhance performance of outdoor mapping.
함준호(JunHo Ham),문일기(IlKi Moon),서경일(KyungIl Seo),차종조(ChongJo Cha) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
The fusion sensing methodology of longitudinal velocity and acceleration sensors is proposed in this work. Additionally an accelerometer has gravity and initial bias, which is detrimental to control performance. The proposed estimator also can reduce effects of these biases. Many estimators, which use longitudinal velocity and acceleration sensors, was developed and used. The proposed estimator shows better performance than others. Because of more tight fusion method is applied. This paper will be shown that the proposed fusion filtering has better performance than others with simulation and vehicle test.