선우명호 교수

Path tracking control is one of the most important functions for autonomous driving. In path tracking control, high accuracy and smooth tracking are required for safe and comfort driving. In order to meet these requirements, model predictive control approaches, which can obtain an optimized solution with respect to a predefined path, have been widely studied. Conventional predictive controllers have been studied based on a simple bicycle model. However, the conventional predictive controllers ha

For predictive powertrain control, accurate prediction of vehicle speed is required. As vehicle speed prediction is affected by the driver’s response to numerous driving conditions under uncertainty, the development of an accurate model is quite challenging. This paper proposes an ego-vehicle speed prediction model using a long short-term memory (LSTM) based recurrent neural network (RNN). The proposed model uses various inputs to increase the prediction accuracy: internal vehicle information, r

This paper presents a path planning algorithm for autonomous vehicles to generate feasible and smooth maneuvers in unstructured environments. Our approach uses a graph-based search algorithm and a discrete kinematic vehicle model to find a primitive path that is non-holonomic, collision-free, and safe. The algorithm then improves the quality and smoothness of the identified path by making local shortcuts. This shortcut for smoothing the path is determined by connecting the internal state of the

The common-rail fuel injection system is becoming a common technology for High Speed Direct Injection(HSDI) diesel engines. The injection timing and rate are important factors for combustion control and pollutants formation mechanisms during engine operation. This paper introduces an estimation methodology of the injection timing and rate of a common-rail injector for HSDI diesel engines. A sliding mode observer that is based on the nonlinear mathematical model of the common-rail injector is des

The Variable Valve Timing (VVT) system for high performance is a key technology used in newly developed engines. The system realizes higher torque, better fuel economy, and lower emissions by allowing an additional degree of freedom in valve timing during engine operation. In this study, a model-based control method is proposed to enable a fast and precise VVT control system that is robust with respect to manufacturing tolerances and aging. The VVT system is modeled by a third-order nonlinear st

An engine control system to provide a convenient environment for easier engine experiments has been developed. This system is able to control ignition (Timing & Dwell) and fuel injection (Timing & Duration) of each cylinder individually. A Crank shaft encoder was used for event-based control and various types of engines and shaft encoders can be applied. It mainly consists of a hardware which is a 2-layer PCB compatible with the IBM-PC AT slot and a software that is easy to use. By using this sy

A computer aided test system is newly developed for vehicle emission tests. This system is designed for emission engineers and test drivers with the aim of being cost-effective and easy-to-use. The driver utilizes the system during EPA certification tests for catalytic converters together with a chassis dynamometer, and it is named an Advanced Driver Aid System (ADAS). Compared to currently-existing Driver Aid Systems (DAS), the ADAS has a couple of unique features. These features are 1) to be

This paper presents a strategy to deal with upcoming ULEV regulations. Usually the HC emission is caused by poor fuel atomization during the cold starting and warm-up period. Improvement on fuel atomization is planned by heating the fuel in fuel-rail. In this experiment, the heated fuel-rail system is constructed to investigate the reduction effects on the size of the fuel droplet by fuel heating. The fuel atomization is examined by measuring Sauter Mean Diameter (SMD) of the fuel droplets from

Current trends indicate that the government is expanding its supply and distribution of Liquid Petroleum Gas as a substitute fuel for Diesel fuel, but there is a lack of research and interest in LPG engines. Therefore. in order to prevent LPG leakage in LPG engines, a method of installing a pressure sensor in the primary vaporizer chamber and thus allowing the vehicle driver to self-determine LPG leakage is presented here. A method of improving LPG leakage detection and thus preventing error in