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    • 4. 发明授权
    • 통합형 차량 제어 방법
    • 集成型车辆控制方法
    • KR101526621B1
    • 2015-06-10
    • KR1020100062799
    • 2010-06-30
    • 현대자동차주식회사서울대학교산학협력단
    • 이찬규엄재용고봉철이시형이경수조완기문승욱
    • B60W30/02B60W40/10B60W40/12B60W40/04
    • 본발명은안전을위한지능형차량제어방법에관한것으로서, 특히차량에장착된센서를통해주행중인차량및 주변차량의동작상태에따른변화를감지하는차량상태측정단계와; 상기차량상태측정단계를통해차량의상태정보를제공받아바퀴에가해지는힘, 차량의횡속도, 노면마찰계수를데이터로변환하는데이터추정단계와; 상기데이터추정단계를통해차량의종방향제어및 횡방향제어상황을판단하여제어모드를결정하는상황판단단계와; 상기상황판단단계를통해종방향제어시 목표가속도를계산하게되며, 횡방향제어시 목표요율(yaw rate)을계산하는종횡방향제1계산단계와; 상기종횡방향제1계산단계에서계산된목표가속도와목표요율을추종하기위한종방향힘과요모멘트를계산하는종횡방향제2계산단계와; 상기종횡방향제2계산단계에서계산된종방향힘과요모멘트를주행중인차량에적용하여액츄에이터를작동시키는입력값을계산하는종횡방향제3계산단계로이루어져, 기존에독립적으로작동했던차량능동안전시스템인 ESC와 AFS, 운전자보조시스템인 SCC/CA를통합하여제어전략과주행상황별제어모드를정의하고상기제어모드의변경시점을결정할수 있는주행상황판단용데이터를산출할수 있게함으로써, 종래의종방향및 횡방향위험상황뿐만아니라종방향과횡방향의복합적인제어입력이필요한위험상황에서도차량의안정성을높이고원하지않는제어입력을줄여운전자의이질감을최소화하는동시에원활한교통흐름에도움이될 수있게하여상품성을향상시키는데효과가있도록하는것이다.
    • 5. 发明公开
    • 통합형 차량 제어 시스템
    • 用于控制集成类型车辆的系统
    • KR1020120002091A
    • 2012-01-05
    • KR1020100062801
    • 2010-06-30
    • 현대자동차주식회사서울대학교산학협력단
    • 이찬규엄재용고봉철이시형이경수조완기문승욱
    • B60W40/00B60W40/12B60W40/02B60W30/02
    • PURPOSE: An integrated vehicle controlling system for securing the longitudinal and horizontal stability is provided to integrate systems operating separately, and to minimize the unnecessary control input. CONSTITUTION: An integrated vehicle controlling system comprises the following: a parameter measuring unit(100) measuring plural specific parameters; a sensor unit(200) detecting the change of condition based on the operation state of moving vehicles; an estimating unit(300) calculating data of the vehicles based on information obtained from the sensor unit; and a controller(400) controlling an actuator(410) mounted on the vehicle by calculating the target speed reduction rate and the target moment, and by measuring the data of the vehicles.
    • 目的:提供一种用于确保纵向和横向稳定性的集成车辆控制系统,以集成单独运行的系统,并最大限度地减少不必要的控制输入。 构成:集成车辆控制系统包括:测量多个特定参数的参数测量单元(100); 传感器单元,根据移动车辆的运行状态来检测状态的变化; 估计单元,基于从所述传感器单元获得的信息来计算所述车辆的数据; 以及通过计算目标速度降低率和目标力矩以及通过测量车辆的数据来控制安装在车辆上的致动器(410)的控制器(400)。
    • 6. 发明公开
    • 통합형 차량 제어 방법
    • 控制集成类型车辆的方法
    • KR1020120002089A
    • 2012-01-05
    • KR1020100062799
    • 2010-06-30
    • 현대자동차주식회사서울대학교산학협력단
    • 이찬규엄재용고봉철이시형이경수조완기문승욱
    • B60W30/02B60W40/10B60W40/12B60W40/04
    • PURPOSE: An integrated type vehicle controlling method for securing the longitudinal direction stability is provided to improve the stability of vehicles at the dangerous situation. CONSTITUTION: An integrated type vehicle controlling method comprises the following steps: detecting the change on the operation state of driving vehicles using sensors, and measuring a specific parameter of the vehicles(S10); converting power applied on wheels, the horizontal speed of the vehicles, and the load friction coefficient into data(S20); setting a controlling mode by determining the longitudinal and horizontal controlling condition based on the data obtained from the previous step(S30); firstly calculating the longitudinal direction target acceleration speed for obtaining the target rate for horizontal controlling(S40); secondly calculating the longitudinal direction powder and the target moment to obtain the target acceleration speed and the target moment(S50); and thirdly calculating the input value for operating an actuator based on the longitudinal direction powder and the target moment(S60).
    • 目的:提供一种确保纵向稳定性的综合型车辆控制方法,以提高车辆在危险情况下的稳定性。 一种综合型车辆控制方法,包括以下步骤:使用传感器检测驾驶车辆的运行状态的变化,并测量车辆的特定参数(S10); 将车轮上施加的功率,车辆的水平速度和负载摩擦系数转换为数据(S20); 通过基于从前一步骤获得的数据确定纵向和水平控制条件来设置控制模式(S30); 首先计算用于获得水平控制的目标速率的纵向目标加速度(S40); 二次计算纵向粉末和目标力矩以获得目标加速度和目标力矩(S50); 以及第三计算基于纵向方向粉末和目标力矩来操作致动器的输入值(S60)。