Nonlinear Control of Heterogeneous Vehicle Platoon with Time-varying Delays and Limited Communication Range

Haifeng Li,Zhenping Chen,Baochuan Fu,Manman Sun 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.6

Vehicle platooning can significantly increase throughput of transportation, while the impairment of communication may affect the control performance of vehicle platooning. Communication delays are inevitable in the process of driving, which will cause the instability of the platoon. Moreover, the transmission power level between vehicles is finite, resulting in a limited communication range. A nonlinear control algorithm is proposed where the car-following interactions between vehicles are considered. First, a third-order heterogeneous dynamic model is established for vehicles in the platoon. The control gains and parameters are heterogeneous. Then considering the constant time headway spacing policy and the gap supplement, conditions of the control gains for maintaining the internal stability of the platoon are obtained. Second, with time-varying communication delays taken into account, the allowed upper bound of communication delays is derived. Third, given the ability of each vehicle to receive information from multiple predecessors and followers, conditions of string stability are obtained, where the communication range is limited. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed controller.

주행거리 연장형 청소용 전기자동차에 장착된 상용 디젤엔진의 토크제어를 위한 통신 방안

박용국(Young-Kug Park) 한국산학기술학회 2018 한국산학기술학회논문지 Vol.19 No.7

본 논문은 주행거리 연장형 전기자동차에서 발전량을 결정하는 차량 제어기와 이를 수행하는 엔진 제어기 간 토크 명령을 전달하기 위한 새로운 통신방법을 설명한 것이다. 일반적으로 자동차는 CAN 통신방식을 사용하지만, 이 경우 기존 엔진 제어기의 하드웨어 및 소프프웨어를 수정해야만 한다. 이러한 이유로 중소 자동차 개조업체는 발전용 엔진이 탑재된 주행거리 연장형 전기자동차에 대한 개발 및 개조 작업 시 CAN통신방식의 적용이 쉽지 않다. 따라서 본 연구과정에서는 기존의 양산용 엔진 제어기를 주행거리 연장형 전기자동차에 적용하기 위한 핀-핀 통신방안를 제시하였다. 핀-핀 통신방안은 기존 양산용 엔진 제어기내에 탑재된 운전자요구토크 제어 맵을 엔진의 목표속도와 목표토크에 따른 가상 엑셀 열림량으로 변환하는 과정과 이를 기존 양산 엔진제어기가 인식 할 수 있도록 해당 엑셀페달 전압신호로 변환하는 과정으로 구성된다. 가상 엑셀 열림량은 오프라인 환경에서 역 변환 과정을 통하여 차량 최상위제어기에 제어 맵 형태로 탑재되고, 엔진 발전요구량과 엔진 최적 운전점 알고리즘을 통하여 결정된다. 이렇게 결정된 가상엑셀 열림량은 DA신호 변환기를 통하여 기존 엔진제어기가 인식할 수 있는 전압신호로 최종적으로 변환된다. 엔진토크 전달을 위한 이러한 알고리즘과 신호변환 회로는 차량제어기(VCU)에 탑재되어 엔진목표토크에 따른 가상엑셀페달 열림량 변환과정과 신호변환기를 이용한 가상 엑셀페달 전압신호에 대한 통신시험을 실시하여 이러한 통신방식의 실현 가능성을 입증하였다. This paper describes new communication methods for transmitting torque commands between the vehicle controller that determines the amount of power generation in a range-extended electric vehicle and the engine controller that performs it. Generally, vehicles use CAN communication, but in this case, the hardware and software of the existing engine controller must be modified. For this reason, it is not easy to apply CAN communication to small and medium sized automotive reorganize companies. Therefore, this research presents a pin-pin communication method for applying the existing mass produced engine controller to range-extended electric vehicles. The pin-pin communication method converts the driver`s demand torque control map inside an mass produced engine controller into a virtual accelerator opening position according to the target speed and target torque of the engine, and converts this to a voltage signal for the existing mass produced engine controller to recognize it. The virtual accelerator opening positions are mounted in the form of a control map in the vehicle controller through the reverse conversion process in an offline environment and are determined by the engine generating power requirements and engine optimal operating point algorithm. These algorithms and signal conversion circuits for engine torque transmission have been mounted on the vehicle controller to conduct the virtual accelerator opening position conversion process according to the engine target torque and to establish the virtual accelerator voltage signal using the signal converter.

점대다중점 매체다중접속을 지원하는 무선통신모듈의 구현

김준환,정진호 한국인터넷방송통신학회 2012 한국인터넷방송통신학회 논문지 Vol.12 No.5

본 논문에서는 50미터 내에서 40개 이상의 단말이 빈번히 통신하는 점대다중점 환경에서 필요한 통신모듈을 개발하였다. 이 통신모듈의 매체다중접속계층은 비동기 시분할다중화방식을 사용하여 여러 단말이 동시에 통신을 하 고자 할 경우에도 빠르고 견고한 통신을 제공하며, 매체다중접속계층에서 수신확인응답기능과 재전송기능을 추가하여 송수신간의 장애물이 없는 환경에서 매우 낮은 패킷오류율을 얻었다. 개발된 통신모듈의 점대다중점 통신성능을 확인 하기 위해 상용 지그비 통신모듈과의 비교시험을 하였으며, 두 통신모듈에 대하여 각각 10분기에서 40분기까지 시험 하여 측정된 데이터를 도시하였다. 본 논문에서 제시한 특정한 환경에서 지그비 모듈보다 개발된 근거리 통신모듈이 보다 빠른 통신속도를 보이며, 특히 20분기 이상의 점대다중점 환경에서 통신속도가 큰 차이를 보였다. 이는 여러가 지의 네트워크 토폴로지를 사용하는 지그비모듈은 매체다중접속계층 이외에도 네트워크계층 어플리케이션계층 등의 프 로토콜을 사용함으로써 네트워크 오버헤드가 크기 때문이며, 또한 좁은 지역에서 여러 개의 단말이 빈번히 통신하는 환경에서 지그비에서 사용하는 CSMA-CA 다중화방식보다는 비동기 시분할다중화방식이 더 적합한 것으로 판단된다. The short-range communication module was developed in this paper which is suitable for the point-to-multipoint circumstances of 40 terminals communicating frequently in about 50 meters. The media access control layer of this communication module using asynchronous time-division multiplexing provides a fast and robust performance even in the worst case of simultaneous transmission events, and low packet error rate was measured a in LOS (Line-of-sight) circumstance by adding the function of acknowledge response to media access control layer. The difference test was carried out in order to measure the performance of point-to-multipoint communication. Two communication modules are respectively measured and graphed in 10 branches to 40 branches. The communication module developed in this paper showed a faster performance than the commercial Zigbee module in the specific case presented in this paper. Especially, in over 20 branches showed wide differences of the transmission speed. This results is caused by more network overhead of Zigbee whose wider applications needs the network layer and applicaiton layer besides media access control layer. Also, the asynchronous time-division multiplexing proposed in this paper are more suitable than CSMA-CA of Zigbee module when a lot of module ought to be frequently communicated in small area.

Current Status of Indoor Positioning System Based on Visible Light

Kun Yan,Haiyan Zhou,Hailin Xiao,Xiangli Zhang 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

With the flourishing of wireless information access, indoor positioning is becoming a topic of interest in both academic and industry community. Numerous techniques have been proposed to address this problem under diverse circumstances. Recently, the area of indoor positioning is dominated by three kinds of methodologies, such as rangebased positioning, fingerprint-based positioning and inertial positioning. This paper is presented to overview the indoor positioning techniques using visible light based on the range-based positioning. The state-of-the-art research results will be studied. The typical localization mechanisms used in visible light positioning systems are analyzed by evaluation metrics to provide an insight of the systems’ performances.

지능형 교통체제에서 차량 단말장치의 DSRC 통신기술 설계

이대식 (사)디지털산업정보학회 2012 디지털산업정보학회논문지 Vol.8 No.4

DSRC system is a communication system that consists of road side equipment and on board equipment to provide services of communication technology for intelligent transportation systems. In this paper, we carry out a short-range dedicated high-speed wireless communications via DSRC system based on board equipment that is installed in the vehicle and road side equipment through wireless channels of communication. on board equipment is system that have a memory which initialization information is stored, it loads physical layer and MAC layer, LLC layer, L7 layer in turn. In the upper, it should analyze the various commands that are sent from roadside base stations, and carry out the operation which is in accordance with the command. and also it designs the structure of protocol stack which is TRM Layer loaded that is to initialize on L7 layer and MAC layer and efficiently designs operation between on board equipment and the road side equipment.

REAL-TIME MULTI-AUGMENTED REALITY DEVELOPMENT UTILIZING THE BLUETOOTH

Hyun-Il Jung,Hyeong-Won Jung,Tae-Gyu Kim 한국엔터테인먼트산업학회 2018 한국엔터테인먼트산업학회 학술대회 논문집 Vol.2018 No.7

The augmented reality technology, which combines virtual objects into the real world, gives a greater sense of immersion. although there are many augmented reality contents, it was not possible to find augmented reality contents that are used at the same time by two or more terminals communicating in real time. in this paper, Bluetooth is used to explore the possibilities of augmented reality content via Short-range Wireless Communication. the Study will help expand the type of augmented reality content.

멀티미디어 영상자료 활용 초등영어 문화교육 효과 연구

박성은,이동주 한국교원대학교 뇌기반교육연구소 2022 Brain, Digital, & Learning Vol.12 No.3

This study attempts to examine the effectiveness of application of multimedia materials for culture education in elementary school English classes. To this end, this study investigates to what extent the culture education contents of the 2015 revised elementary English textbooks reflect the cultures of different countries followed by developing lesson plans incorporating English multicultural multimedia materials based on their relevance to elementary English vocabulary using the corpus program, RANGE. The researcher conducted classes using the developed lessons and observed students’ reactions while teaching. In addition, pre- and post-surveys and in-depth interviews with students were carried out to examine students’ affective changes. The results are as follows. First, the contents of culture covered in elementary school English textbooks were biased toward Asian, English, and European cultures, and the volume of Latin American and African cultures was relatively small. Second, the students in the experimental group showed positive changes towards the selected multimedia materials compared to the control group. Third, both teachers and students responded that they were interested in culture learning, and it would help them learn English. Based on the results, it is necessary to reflect the cultures of various countries as well as Asian, British, and American cultures in elementary English textbooks. Additionally, culture education, which focused on the introduction of simple culture in the existing textbooks, needs to arouse more interest by using an integrated approach to the subject and learner-led activities. Lastly, when developing and utilizing multimedia materials for culture education for elementary school learners, it is imperative to design and apply classes including activities and tasks that can improve communication skills.

로봇통신범위 변화에 따른 군집로봇 통신연결 알고리즘 개발

김경하,지상훈 제어로봇시스템학회 2012 제어로봇시스템학회 각 지부별 자료집 Vol.2012 No.12

It is important to preserve the communication connection among the multi-robots operating in the unstructured environments such as collapsed building. However, in the previous researches the changes in the robot communication range due to the communication obstacles such as walls and steel skeletons has not been taken into account. And as a result, the stability of the robot communication network may be weakened. Therefore, in this paper, we suggest an algorithm to smooth the communication connection between the robots in the multi-robot systems which navigate in the environments with the communication obstacles. For this purpose, we analyzed the changes of communication range and extracted major features of collective communication connectivity including safety communication range, maximum communication range, and minimum communication range and suggested a formation control method which all the communication connectivities among multi-robot are always guaranteed by. And the effectiveness of our suggested method is verified with experimental results

해상 광대역 통신시스템 개발

김지성,윤정인,정경국,김성윤,강희욱,이종률,손원일,김경남,이두용 한국마린엔지니어링학회 2018 한국마린엔지니어링학회지 Vol.42 No.4

This study aims to develop bridge equipment for terrestrial and maritime terminal stations and automatic tracking antenna systems for low-cost base stations. The tests were performed considering the bridging speed, hardware recovery, distance range and communication speed. The bridging speed test was conducted by installing a bridging device and an antenna, and it was confirmed that the existing antenna could be connected to the new antenna within 10 s if the connection was cut off because of signal interruption. The hardware recovery test method was used to install the bridge device, and it was confirmed that the time to reach the login screen by pressing the power button of the breeze device was within 60 s. The test method of the distance range test verified the communication status of the land base station and the repeater, and it was confirmed through the GPS equipped in the repeater that the distance between the land base station and the repeater was over 30 km. The test method of the communication speed test aimed to check the communication status by connecting to the site for the transmission test using the installed repeater. This test confirmed that the communication speed between the terrestrial base station and the repeater was over 1 Mbps at a 30 km distance. The experiment showed that in all tests, the bridging processing speed was 3.16 s; the hardware recovery time was 52.21 s; the communication distance was 32.26 km; and the communication speed for downloading was 6.35 Mbps, whereas that for uploading was 4.05 Mbps. The results of this study are expected to contribute to the development of a remote monitoring system 본 논문의 목적은 육상 및 해상 단말기지국용 브릿지 장비, 저가 보급형 기지국 자동추적 안테나 시스템을 개발하는 것이다. 시험은 브리징 처리속도, 하드웨어 복구, 통달거리 및 통신속도로 총 4가지를 기본적으로 실시하였다. 브리징처리속도 시험의 실험방법은 브리지 장비와 안테나를 설치하고 기존의 안테나가 신호단절로 인하여 연결이 끊어졌을 경우 10 초 이내에 새로운 안테나에 연결이 가능한지 확인하였다. 하드웨어 복구 시험의 실험방법은 브리지 장비를 설치하고 브리장비의 전원을 눌러 로그인 화면이 나올 때까지의 시간이 60 초 이내인지 확인하였다. 통달거리 시험의 실험방법은 육상 기지국과 중계기의 통신상태를 확인하고 중계기가 장착된 GPS를 통해 육상 기지국과 중계기의 거리가 30 km이상인지 확인하였다. 통신속도 시험의 실험방법은 설치된 중계기를 이용하여 전송시험을 위한 사이트에 접속하여 통신상태를 확인한 뒤 30 km거리에서 육상 기지국과 중계기의 통신속도가 1 Mbps이상인지 확인하였다. 실험 측정결과 브리징처리 속도 3.16 초, 하드웨어 복구시간 52.21 초, 통달거리 32.26 km, 통신속도 다운로드 6.35 Mbps, 업로드 4.05 Mbps로 4 가지 실험 모두 요구기준에 충족하여 적합 판정을 받았다. 본 연구에서 실험한 통신시스템의 4가지 성능이 목표치 이상을 충족하며 개발완료된 상태로 본 연구결과는 원격 모니터링 시스템(NMS) 개발에 기여할 수 있을 것으로 기대된다.

해상 환경에서 무인수상정용 통신시스템의 전파 통달거리 분석

김태현,박현성,곽상열,이성호,전호석 한국군사과학기술학회 2018 한국군사과학기술학회지 Vol.21 No.6

In this paper, we analyzed the communication distances in the flat and spherical earth model using the main specifications of the wireless communication device under development to be installed in the unmanned surface vehicle(USV). We installed the wireless communication device on the test ship and the actual communication test was performed in the South Sea of Korea, it compared the experimental result with the simulated results. If the installation altitude of the transmitting and receiving antennas is low, there is not the big difference between the two models. However, when the altitude of one of the two antennas is high, the spherical earth model has similar results to the experimental data. As the altitude of the antenna installation increases, fading occurs in a certain section. We expect that this fading can be overcome through antenna technologies such as space diversity.