Future E-Mobility

• Sensor fusion-based path tracking

      - GPS and Camera

      - Step motor for steering control

      - Variable resistor for wheel angle measuring

      - In-wheel motor for driving

      - Particle filter for lane tracing

• Steering and driving module

      - In-wheel motor

      - Step motor

      - Variable resistor

      - Single-layer lidar

      - Reduction gear

Experimental test - detection with particle filter (with cam)

• Particle filter can find the moving object (clustered one point)

       : Using image difference and particle filter

       : Data processing using Matlab software

Experimental test - detection with difference value (with cam)

• Difference value can find the moving object

       : Using laptop cam for obtaining image data

       : Data processing using Matlab software

Experimental test - version 2 (with high torque motor)

• Tracking performance is improved

       : Tracking torque and speed are increased

       : Object classification algorithm is being developed using lidar and camera

Experimental test - object tracking (curved path)

• Lidar based target tracking (tracking index)

• Object information based path generation

• Driving and steering control of truck with one wheel-based driving and steering module

       : Object recognition -> tracking -> stop

Experimental test - 3 steering modes

• Vehicle with 4 steering and driving modules at each corner

• Representative three steering modes

       - All wheel steering  (opposite-directional steering)

       - Crab steering

       - Zero-radius turning

• 2D Lidar based test will be conducted