• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.298-312
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• 2014

This paper describes control applications in automobiles. Many aspects of automotive applications of advanced control methods, which include suspension systems, stability control systems, engines, hybrid vehicle control systems, electric vehicle controls systems, advanced driver assistance systems and automated driving control systems, are reviewed. The control methods used in each area are briefly reviewed to help readers understand the applicability and effectiveness of these methods. In addition, some new trends in the research of automotive applications are described.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.856-864
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• 2008

This paper describes a vehicle low speed driving assistant (VLDA) system that is composed of laser scanner. This vehicle is designed for following lead vehicle (LV) without driver's operation. The system is made up several component systems that are based on unmanned ground vehicle (UGV). Each component system is applied to use advanced safety vehicle developed to complete UGV system. VLDA system was divided into vehicle control system and obstacle detecting system. The obstacle detecting system calculate distance and angle of LV and transmit these data to vehicle control system using front, left and right laser scanners. Vehicle control system makes vehicle control values such as steering angle, acceleration and brake position and control vehicle's movement with steering, acceleration and brake actuators. In this research, we designed VLDA system like as low speed cruise control system and test it on real road environments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1130-1133
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• 2003

The goal of this research is developing advanced lane detecting algorithm for unmanned vehicle. Previous lane detecting method to bring on error become of the lane loss and noise. Therefore, new algorithm developed to get exact information of lane. This algorithm can be used to AGV(Autonomous Guide Vehicle) and LSWS(Lane Departure Warning System), ACC(Adapted Cruise Control). We used 1/10 scale RC car to embody developed algorithm. A CCD camera is installed on top of vehicle. Images are transmitted to a main computer though wireless video transmitter. A main computer finds information of lane in road image. And it calculates control value of vehicle and transmit these to vehicle. This algorithm can detect in input image marked by 256 gray levels to get exact information of lane. To find the driving direction of vehicle, it search line equation by curve fitting of detected pixel. Finally, author used median filtering method to removal of noise and used characteristic part of road image for advanced of processing time.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.754-758
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• 2002

In the fuel-cell electric vehicle system, the low-voltage output of unit fuel-cell demands a number of cells to be stacked In series to produce a DC link voltage which is high enough to drive the vehicle inverter system. However, this increases the complexity of the fuel-cell control system. This paper presents a design of high-efficiency boost converter employing the average current-mode control, which is able to convert a low voltage of a fuel-cell generator with a small number of unit cells to a stable and high DC link voltage for electric vehicle applications.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.10
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• pp.1287-1296
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• 2014

This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• International Journal of Automotive Technology
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• v.1 no.1
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• pp.48-55
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• 2000

Two major roles of the traction control system (TCS) are to guarantee the acceleration performance and directional stability even in extreme road conditions, under which average drivers may not control the car properly. Commercial TCSs use experiential methods such as lookup table and gain-scheduling to achieve proper performance under various road and vehicle conditions. This paper proposes a new slip controller which uses the brake and the throttle actuator simultaneously. To avoid measurement problems and to get a simple structure, the brake controller and the throttle controller are designed using Lyapunov redesign method and multiple sliding mode control respectively. Through the hybrid use of brake and throttle controllers, the vehicle is insensitive to the variation of the vehicle mass, brake gain and road condition and can achieve the required acceleration performance. The proposed method is validated with simulations based on 15 DOF passenger car model.

• Journal of Auto-vehicle Safety Association
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• v.4 no.1
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• pp.12-17
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• 2012

ADAS(Advanced Driver Assistance System) which is developed for alleviating driver's load has become improved with extending it's role. Previously, ADAS offered simple function just to make driver's convenience. However, nowadays ADAS also acts as Active Safety system which is made to release and/or prevent accidents. Longitudinal control system, as one of major parts of Active Safety System, is assessed as doing direct effect on avoiding accidents. Therefore, many countries such as Europe and America has pushed longitudinal control system as a government-wide project. In this paper, it covers the result of evaluation system and vehicle evaluation for development study in FCW, ACC and AEB.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.181-184
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• 1999

Leading vehicle states are useful and essential elements in adaptive cruise control (ACC) system, collision warning (CW) and collision avoidance (CA) system, and automated highway system (AHS). There are many approaches in ACC using Kalman filter. Mostly only distance to leading vehicle and velocity difference are estimated and used for the above systems. Applications in road vehicle in curved road need to obtain more informations such as yaw angle, steering angle which can be estimated using vision system. Since vision system is not robust to environment change, we used Kalman filter to estimate distance, velocity, yaw angle, and steering angle. Application to active tracking of target vehicle is shown.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1005-1007
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• 2005

A Nonlinear approach to control of Small Scale Rotary Wing Unmanned Aerial Vehicle (R-UAV) is presented. Using Backstepping, a globally stabilizing control law is derived. We derive backstepping control law for angle of attack and sideslip control. The inherent nonlinear nature of the system are considered here which helps in naturally stabilizing without extensive external effort. Thus, the resulting control law is much simpler than if the feedback linearization had been used.