지능형 자동차용 노면상태 모니터링 시스템 개발

A road condition monitoring system for FCWA (Forward Collision Warning & Avoidance) system is presented. FCW A system is an active and intelligent safety system for a vehicle. To operate a FCW A system robustly, the road friction condition must be considered while braking distance is estimated. The road condition monitoring system of this paper uses 7sensors, or 4 wheel speed sensors, engine RPM sensor, throttle position sensor, and brake on/off sensor. A slip and a normalized traction force are calculated from the measured sensor data. And median and Kalman filter was used to get rid of measurement noise and least square method was used to estimated a slip slope from slip and normalized traction force data. Several road test has been performed to evaluate the road condition monitoring system using DAEWOO Leganza 2.0 DOHC