이경수 교수

Abstract This paper presents a vehicle adaptive cruise control algorithm design with human factors considerations. Adaptive cruise control (ACC) systems should be acceptable to drivers. In order to be acceptable to drivers, the ACC systems need to be designed based on the analysis of human driver driving behaviour. Manual driving characteristics are investigated using real-world driving test data. The goal of the control algorithm is to achieve naturalistic behaviour of the controlled vehicle th

Abstract This paper presents methods for identifying the tire-road friction coefficient. The proposed methods are: an observer-based least square method and an observer/filtered-regressor-based method. These methods were designed assuming that some of the states are not available since physical parameter identification methods developed assuming that the system states are available are not attractive from a practical point of view. The observer is used to estimate signals which are difficult or

This paper describes a unified chassis control (UCC) strategy to improve the lateral stability andmanoeuvrability of vehicles by integrating individual chassis control modules such as electronic stability control (ESC), active front steering (AFS) and continuous damping control (CDC). In order to achieve a target lateral vehicle response, an integrated AFS and four individual wheel braking controls have been used for an optimum distribution of longitudinal and lateral tyre forces the desired yaw

Abstract This paper presents a rollover index (RI)-based vehicle stability control (VSC) scheme. A rollover index, which indicates an impending rollover, is developed by a roll dynamics phase plane analysis. A model-based roll estimator is designed to estimate the roll angle and roll rate of the vehicle body with lateral acceleration, yaw rate, steering angle and vehicle velocity measurements. The rollover index is computed using an estimated roll angle, estimated roll rate, measured lateral acc

A brake control law for vehicle collision warning/collision avoidance (CW/CA) systems has been proposed in the paper. The control law has been designed for optimized safety and comfort. A solenoid-valve-controlled hydraulic brake actuator system for the CW/CA systems has been investigated. A nonlinear computer model and a linear model of the hydraulic brake actuator system have been developed. Both models were found to represent the actual system with good accuracy. Uncertainties in the brake ac

This paper proposes a new adaptive sky-hook control law for vehicle semi-active suspensions. Vehicle suspensions are disturbance-affected dynamic systems. In semi-active suspensions, damping coefficients are controlled so as to make the actual damper force as close to the desired damper force as possible at any time instance. The proposed control law consists of a ‘new adaptive’ sky-hook damping algorithm and a road detection algorithm (RDA). This approach leads to the sprung mass and unsprung m

This paper presents a differential braking strategy for vehicle stability control. The controller has been designed using a three-degree-of-freedom (3DOF) yaw plane vehicle model, and a simulation study has been performed using a full non-linear three-dimensional vehicle model. The brake control inputs have been directly derived from the sliding control law based on a 3DOF yaw plane vehicle model with differential braking. The performance of the sliding controller has been compared with that of

A vehicle speed and vehicle-to-vehicle distance control algorithm for vehicle stop-and-go cruise control has been proposed in this paper. The control algorithm consists of speed and distance control algorithms and a combined throttle-brake control law. Linear quadratic optimal control theory has been used to develop a vehicle speed and distance control algorithm. A desired acceleration for the vehicle has been designed on the basis of the vehicle speed and distance control algorithm. Throttle an

This paper presents an adaptive sliding observer-based method for estimation of turbine torque. The estimated turbine torques can be used for the closed-loop control of vehicle power train for better shift quality. A sliding observer structure including saturation functions and boundary layers is applied to adapt torque converter parameters. The proposed method has been investigated via simulation and laboratory experimental studies. It has been shown via simulation and experiments that the prop