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실시간 주행 안정성 분석을 위한 6X6 스키드 조향 무인 자율 주행 차량의 경로 추종 제어
홍효성(Hyosung Hong),한종부(Jong-Boo Han),송하준(Hajun Song),정사무엘(Samuel Jung),김성수(Sung-Soo Kim),유완석(Wan Suk Yoo),원문철(Mooncheol Won),주상현(Sanghyun Joo) 대한기계학회 2017 大韓機械學會論文集A Vol.41 No.7
무인 자율 주행 차량이 야지 환경에서 안전하게 주행하기 위해서는 차량의 주행 안정성이 반드시 고려되어야 한다. 본 논문에서는 실시간 주행 안정성 분석을 위한 자율 주행 시뮬레이션에 적용되는 경로 추종 제어기를 제시한다. 경로 추종 제어기는 Preview 거리를 사용하여 차량의 지향 각을 제어하고, 요 모멘트 관측기로부터 추정된 외란 모멘트를 보상하여 지향 각 오차와 횡 방향 거리 오차를 감소시킨다. 곡선 경로에서는 곡률을 이용하여 차량의 주행 속도를 결정한다. 대상 차량은 6X6 스키드 조향차량이기 때문에 6개의 휠에 서로 다른 구동력을 분배하는 방법을 사용하여 주어진 경로를 주행한다. ADAMS에서 모델링 된 차량을 MATLAB과 연동시켜 시뮬레이션하고, 경로 추종 제어기 성능을 검증하였다. For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle’s stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle’s desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS / MATLAB co-simulation.
무인자율주행차량의 실시간 주행 경로 및 차량 상태 정보를 이용한 능동 속도 계획과 보정에 관한 연구
조윤기(Yun gi Jo),배승호(Seung ho Bae),조봉근(Bong geun Cho),김병우(Byong woo Kim) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
Unmanned ground vehicle in the velocity plans is can be divided into Velocity control according to driving path and according to the current state of the vehicle velocity control. This study is not pre-established plan the velocity along the path in the unmanned ground vehicle driving. The velocity appropriate to the path of the unmanned vehicle command created in real-time and monitor the status of the vehicle. The purpose of a research is create the velocity calibration command on a real time when the unstable of the vehicle state.
우훈제(HoonJe Woo),박상배(SangBae Park),조경환(KyungHwan Cho),김병우,JungHa Kim 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper introduces an optimal local and global path planning algorithm through analyzing and researching various algorithms used in DARPA Urban Challenge 2007 and making a numerical statement about each algorithm. The top eleven teams that passed the NQE (National Qualifying Event) used Dijkstra, A<SUP>*</SUP>, D<SUP>*</SUP> and RRTs. Therefore, this research will focus on those algorithms and research a method to apply an optimal path planning algorithm.
박명욱(Myungwook Park),박재웅(Jaeung Park),장재훈(Jaehoon Jang),김정하(Jungha Kim) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
The UGV system is composed of navigation system, obstacle detecting system, vision system, vehicle control system, and arbiter system. This paper verifies the information about the design and control of the UGV using SUV of commercial vehicles. The experimental vehicle was mounted Smart motor and Linear motor. Also, we were equipped with a lot of sensors to view the status of vehicle. Based on this, we have accomplished the research about control over longitudinal and lateral direction. The control of the vehicle system can be divided into two: longitudinal control, lateral control. The longitudinal control is composed of acceleration and braking system. The motor used for acceleration and braking was the BLDC motor. The acceleration & brake (pedal) control is associated with each pedal through the wire and done by the motor itself. For the lateral control, the same motor used in the longitudinal control. Also we used Compact RIO real-time controller for designing the control system.
UGV의 운용적합성 평가를 위한 운용 시험 시나리오 연구
강규민,이경수 사단법인 한국자동차안전학회 2023 자동차안전학회지 Vol.15 No.4
This paper develops scenarios to evaluate the safety performance of Unmanned Ground Vehicle on military circumstances. The scenarios were created using Pegasus Project 6-layer format. These scenarios consist of straight road, curved road, merging road and crossroad. We adapt these scenarios to unpaved road. The characteristics of unpaved roads were divided into roughness, friction coefficient and road frequency. This adaption is validated via computer simulation. We observe the scan lines of vehicle become tangled of the straight road that make the cognitive abilities of the vehicle low and the lane-keeping is unable when vehicles entering curved off-roads over 40 km/h. The developed scenarios will contribute to enhancing stability from the perspective of introducing autonomous driving technology to Korean military.
차량동역학 해석을 통한 무인차량의 DR항법에 관한 연구
정승권(Seungkwon Jung),박명욱(Myungwook Park),장재훈(Jaehoon Jang),김정하(Jungha Kim) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This research proposes a navigation algorithm with DR through vehicle’s dynamic analysis. GPS system sometimes lose their signals and receive inaccurate position data due to many factors, such as obstructions. This paper shows that GPS failure can be solved by using a DR navigation method with encoders and that position errors can be decreased by using RTK_GPS units. In addition to this method, steer angle can be calculated by single track model.
색 기반의 보행자 검출을 통한 영상 기반의 무인자율주행차량 속도 계획
민경인(Kyungin Min),오재석(Jaesaek Oh),김정하(Jungha Kim) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
Unmanned ground vehicle for the road-based driving needs for multiple obstacles, particularly the safety of occupants and pedestrians should be guaranteed. In this study, on the basis of the image information obtained by the vision sensor, it based on image processing to detect pedestrians. After detecting pedestrians, it is used to control the vehicle’s speed control base on the color information of image data. In other words, it adds formal concept of the existing obstacles plus the data of color element(RGB or HSI). It is not simple for a judgment of the presence of this obstacle. It can composition alarm system of image data when unexpected obstacle appeared on the road environment , or recognition length was shorten from obstacle to unmanned ground vehicle. This study may be suggest to another way to take safety problem of unmanned ground vehicle.
무인 차량의 험지 자율주행을 위한 유전자 알고리즘 기반3D 환경 지역 경로계획
윤승재,원문철 한국군사과학기술학회 2017 한국군사과학기술학회지 Vol.20 No.6
This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.