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측후방 충돌 회피를 위한 조향 보조 토크 및 차등 제동 분배 제어 알고리즘 개발
이준영,김동욱,이경수,유현재,정혁진,고봉철,Lee, Junyung,Kim, Dongwook,Yi, Kyongsu,Yoo, Hyunjae,Chong, Hyokjin,Ko, Bongchul 한국자동차안전학회 2013 자동차안전학회지 Vol.5 No.2
This paper describes a coordinated control algorithm for rear-side collision avoidance. In order to assist driver actively and increase driver's safety, the proposed coordinated control algorithm is designed to combine lateral control using a steering torque overlay by Motor Driven Power Steering (MDPS) and differential braking by Vehicle Stability Control (VSC). The main objective of a combined control strategy is twofold. The one is to prevent the collision between the subject vehicle and approaching vehicle in the adjacent lanes. The other is to limit actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort. In order to achieve these goals, the Lyapunov theory and LMI optimization methods has been employed. The proposed coordinated control algorithm for rear-side collision avoidance has been evaluated via simulation using CarSim and MATLAB/Simulink.
단일 카메라를 이용한 차선 이탈 및 전방 충돌 통합 경보 알고리즘 개발, 구성 및 검증
이준영(Junyung Lee),문승욱(Seungwuk Moon),이경수(Kyongsu Yi),윤병민(Byoungmin Yun),류시복(Sibok Yu) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper describes a combined warning system for Lane Departure Warning and Forward Collision Warning based on a single camera. The measurements from a single camera are a relative distance, a relative velocity, a road width, lateral offsets between each tire and each lane boundary and the rate of departure relative to lane boundary. The forward collision warning algorithm computes a warning index and an inverse time to collision in order to detect vehicle-to-vehicle collision. In addition, the lane departure warning algorithm computes a Distance to Lane Crossing(DLC) and a Time to Lane Crossing (TLC) to detect inattentive lane departure. The proposed warning system is investigated via the closed-loop simulation with human driver model Finally, it has been implemented on a test vehicle and tested in real road environment.
차선 이탈 방지를 위한 조향 보조 토크 및 차등 제동의 분배 제어 전략 개발
이준영(Junyung Lee),이경수(Kyongsu Yi) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
차선 이탈 방지 시스템은 능동 안전 시스템으로서 운전자가 졸거나 부주의하여 의도치 않는 차선 이탈이 예상될 경우 운전자를 보조하여 차선 이탈을 방지하여야 한다. 이때 차선 이탈 방지 시스템의 불필요한 간섭은 운전자의 승차감과 조향성을 방해하고 이로 인해 예기치 않은 사고를 발생시킬 수 있다. 본 논문에서는 운전자의 의도를 파악하여 불필요한 간섭을 피하고 MDPS와 ESP를 이용하여 차선 이탈을 방지하도록 제어하는 전략을 제안하고 이를 운전자 모델을 이용한 시뮬레이션으로 검증하였다. Lane departure avoidance systems are required to assist actively the driver during drowsiness or inattention. Furthermore the unnecessary intervention by the lane departure avoidance system should be prevented because it can cause unexpected accidents. This paper presents a decision method of driver’s intention and lane departure for reducing unnecessary intervention by lane departure avoidance system and a combined steering and differential braking strategy for lane departure avoidance. The proposed lane departure avoidance system was evaluated via human driver-in the loop simulation.
V2V 기반 횡 방향 충돌 방지를 위한 ESP-MDPS 통합제어 시스템 개발
김동욱(Dongwook Kim),이준영(Junyung Lee),이경수(Kyoungsu Yi) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
Side crash prevention systems are required to assist actively the driver in the event of detecting the possibility of side crash. Furthermore the unnecessary intervention by the side crash system should be prevented because it can cause unexpected accidents. This paper presents a risk monitoring method and lane departure for reducing unnecessary intervention by side crash prevention system and a combined steering and differential braking strategy for lane departure avoidance. The proposed side crash prevention system was evaluated via human driver-in the loop simulation.