• Journal of IKEEE
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• v.22 no.4
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• pp.1099-1103
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• 2018

Platooning of vehicles is an efficient traffic management model that improves traffic flow and fuel consumption. Especially, it is necessary to reduce computational load and networking overhead in automated connected vehicle systems. Because it is important to maintain the size of the platoon group appropriately for efficient platoon operation, this study proposed a dynamic grouping scheme for platooning in an automated vehicle system. The proposed scheme is analyzed by a mathematical model based on Markov chain. From the performance evaluation, it was confirmed that the proposed scheme appropriately controls the size of the platoon group.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.23.5-23
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• 2001

This paper is concerned with the vehicle platooning in the AHS (Automated Highway Systems). For this, a relative navigation system is developed for the vehicles operating as a platoon. The relative navigation system is based on two sensors including GPS and MMWR (Millimeter-Wave Radar) and the federated Kalman Iter processing measurements of them. The architecture of this system requires GPS measurements of a preceding vehicle via communication link. Even if GPS measurements are available, they contain errors which are unacceptably high in vehicle platooning. Therefore, GPS carrier phase is considered. Integer ambiguities of GPS carrier phase measurements are determined by using MMWR ...

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1853-1856
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• 2003

This paper considers the problem of longitudinal control of a platoon of automotive vehicles on a straight lane of a highway and proposes control laws in the event of loss of communication between the lead vehicle and the other vehicles in the platoon. Since safety plays a key role in the development of an Automated Highway System, fault-tolerant control is vital. In this paper, we develop a control algorithm in vehicle platooning and prove that this control algorithm is stable for certain class of faults such as parameter uncertainties. The performance of the controller is demonstrated through a series of simulations incorporating various vehicles and AHS faults. Results of simulation shows that the vehicles have good performance in spite of simple automotive and AHS failure, such as actuator failure,that is to say, engine input failure, communication failure between lead vehicle and the another vehicles.

• Journal of the Korea institute for structural maintenance and inspection
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• v.27 no.2
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• pp.50-57
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• 2023

Autonomous driving technologies have been gradually improved for road traffic owing to the development of artificial intelligence. Since the truck platooning is beneficial in terms of the associated transporting expenses, the Connected-Automated Vehicle technology is rapidly evolving. The structural performance is, however, rarely investigated to capture the effect of truck platooning on civil infrastructures.In this study, the dynamic behavior of bridges under truck platooning was investigated, and the amplification factor of responses was estimated considering several parameters associated with the driving conditions. Artificial intelligence techniques were used to estimate the maximum response of the mid span of a bridge as the platooning vehicles passing, and the importance of the parameters was evaluated. The most suitable algorithm was selected by evaluating the consistency of the estimated displacement.

• Journal of Korean Society of Transportation
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• v.35 no.4
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• pp.332-347
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• 2017

Analysis of the interaction between the automated vehicles and manual vehicles is very important in analyzing the performance of automated cooperative driving environments. In particular, the automated vehicle platooning can affect the driving behavior of adjacent manual vehicles. The purpose of this study is to analyze the lane change behavior of the manual vehicles in automated vehicle platonning environment and to conduct the experiment and questionnaire surveys in three stages. In the first stage, a video questionnaire survey was conducted, and responsive behaviors of manual vehicles were investigated. In second stage, the driving simulator experiments were conducted to investigate the lane change behaviors of in automated vehicle platonning environments. To analyze the lane change behavior of the manual vehicles, lane change durations and acceleration noise, which are indicators of traffic flow stability, were used. The driving behavior of manual vehicles were compared across different market penetration rates (MPR) of automated vehicles and human factors. Lastly, NASA-TLX (NASA Task Load Index) was used to evaluate the workload of the manual vehicle drivers. As a result of the analysis, it was identified that manual vehicle drivers had psychological burdens while driving in automated vehicle platonning environments. Lane change durations were longer when the MPR of the automated vehicles increased, and acceleration noise were increased in the case of 30-40 years old or female drivers. The results from this study can be used as a fundamental for more realistic traffic simulations reflecting the interaction between the automated vehicles and manual vehicles. It is also expected to effectively support the establishment of valuable transportation management strategy in automated vehicle environments.

• Journal of IKEEE
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• v.25 no.3
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• pp.425-429
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• 2021

Vehicle platooning in automated connected vehicle systems is an efficient transportation operation model that not only significantly reduces computational load and networking overhead of the central system but also improves traffic flow. For efficient platoon group management, it is important to maintain the platoon group size appropriately and to control the merge request of a new vehicle and other group member vehicle. In this paper, we present a merger control scheme that accepts or rejects merge requests based on the current group size and the priority of vehicles. The proposed method was analyzed and validated through mathematical models based on Markov chains. Performance evaluation shows that the proposed scheme properly manages the load of the central system.

• Journal of Korean Society of Transportation
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• v.36 no.2
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• pp.67-85
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• 2018

Vehicle platooning through wireless communication and automated driving technology has become realized. Platooning is a technique in which several vehicles travel at regular intervals while maintaining a minimum safety distance. Truck platooning is of keen interest because it contributes to preventing truck crashes and reducing vehicle emissions, in addition to the increase in truck flow capacity. However, it should be noted that interactions between vehicle platoons and adjacent manually-driven vehicles (MV) significantly give an impact on the performance of traffic flow. In particular, when vehicles entering from on-ramp attempt to merge into the mainstream of freeway, proper interactions by adjusting platoon size and inter-platoon spacing are required to maximize traffic performance. This study developed a methodology for establishing operational strategies for truck platoonings on freeway on-ramp areas. Average speed and conflict rate were used as measure of effectiveness (MOE) to evaluate operational efficiency and safety. Microscopic traffic simulation experiments using VISSIM were conducted to evaluate the effectiveness of various platooning scenarios. A decision making process for selecting better platoon operations to satisfy operations and safety requirements was proposed. It was revealed that a platoon operating scenario with 50m inter-platoon spacing and the platoon consisting of 6 vehicles outperformed other scenarios. The proposed methodology would effectively support the realization of novel traffic management concepts in the era of automated driving environments.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.218-218
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• 2000

Advanced Vehicle Control Systems(AVCS) is one of the key elements in Intelligent Transportation Systems(ITS). This paper considers the problem of longitudinal control in vehicle platoon on a straight lane of a highway. In a very simplified situation, longitudinal vehicle dynamics contains many nonlinear elements. The nonlinear characteristics are mainly composed of an engine, a torque converter, and a drag force. In this paper, sliding control, one of nonlinear control methods, is applied to longitudinal automated vehicle control for platooning. Output feedback linearization is also simulated for comparison with the sliding control. Simulations for comparative study for the adopted controllers such as sliding control and output feedback linearization are peformed under the same conditions. This Paper aims at clarifying the characteristics of sliding control and output feedback linearization.

• Journal of Korean Society of Transportation
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• v.36 no.2
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• pp.98-111
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• 2018

Truck platooning, which is a cluster of trucks in support of vehicle-to-vehicle communication and automated longitudinal vehicle control, is a promising method to both operational efficiency and prevent traffic crashes. Although a variety of studies have been conducted to identify the effects of vehicle platooning on traffic stream, we are not aware of any study attempting to identify promising road segments for vehicle platooning. This study aims to develop a methodology for determining the priority of freeway segments that would potentially lead to maximize the effectiveness of truck platooning. Evaluation measures derived in this study includes truck crash rates, the percentage of truck traffic, segment length, and the number of entry and exit points. Weighting values obtained from an analytical hierarchical process (AHP) method were applied to compute the proposed priority score to determine better freeway segment for truck platooning. Results suggested that a 46.9km freeway segment, from Sacheon IC to Sanin JC, was the most promising segment for maximizing the effectiveness of truck platooning. It is expected that the outcome of this study would be effectively used as a fundamental to establish operational strategies for truck platooning.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.325-328
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• 2018

With the rapid development of autonomous driving technology, commercialization of freight cars and buses as well as passenger cars has come to the near future. As researches for commercialization of autonomous navigation are being actively carried out in various countries around the world, in accordance with the development of technology, this paper proposes a bus adopting a new concept of community driving technology based on C-V2X for more effective autonomous driving of buses do. In order to realize the cluster bus, we propose a more effective cluster bus using C-V2X, which is the core communication of the cluster driving, which is complementary to the existing V2X for inter-vehicle communication and vehicle-to-infrastructure communication.