KR100774669B1 - 차량 차선유지 보조장치의 조향각 센서 오차 보정을 위한자동 측정방법 - Google Patents
차량 차선유지 보조장치의 조향각 센서 오차 보정을 위한자동 측정방법 Download PDFInfo
- Publication number
- KR100774669B1 KR100774669B1 KR1020060090113A KR20060090113A KR100774669B1 KR 100774669 B1 KR100774669 B1 KR 100774669B1 KR 1020060090113 A KR1020060090113 A KR 1020060090113A KR 20060090113 A KR20060090113 A KR 20060090113A KR 100774669 B1 KR100774669 B1 KR 100774669B1
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- South Korea
- Prior art keywords
- steering angle
- error
- angle sensor
- sas
- vehicle
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- 238000000034 method Methods 0.000 title abstract description 6
- 238000012423 maintenance Methods 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000005484 gravity Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000002542 deteriorative effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (2)
- 좌측/우측 차선의 픽셀(Pixel) 좌표와 소실점 좌표를 확인하여 소실점 변화가 없고, 각각의 X절편 값이 일정하면 차량이 직진 정상주행을 하고 있음을 판단하는 단계;조향각 센서의 출력값이 0도를 제외한 범위에서 일정한지를 확인하는 단계;좌측/우측 차선에 대한 X절편의 변화가 없고 조향각 출력값이 0도이외의 값으로 일정할 경우 차량의 휠 얼라이먼트가 오차를 가지고 있다고 판단하는 단계;조향각 센서의 오차값을 보상하기 위해 상위 제어기(LKAS)에서 캔 커맨드(CAN Command) 전송하는 단계;현재 조향각을 제로 포인트(Zero point)로 인식시키기 위해 조향각 센서에 디 캘브레이션 캔 아이디(De-Calibration CAN ID)를 전송하여 조향각 센서를 디 캘브레이션(De-calibration)시키는 단계;조향각 센서에 캘브레이션 캔 아이디(Calibration CAN ID)를 전송하여 현재의 조향각이 제로 포인트(Zero Point)라는 것을 인식시켜 조향각 센서를 초기화하는 단계;로 이루어지는 차량 차선유지 보조장치의 조향각 센서 오차 보정을 위한 자동 측정방법.
- 제1항에 있어서, 휠 얼라인먼트의 오차로 인한 조향각 센서를 오차 보정을 한 경우 휠 얼라인먼트의 오차 정보를 LED로 표시하여 운전자에게 알려줄 수 있도록 한 것을 특징으로 하는 차량 차선유지 보조장치의 조향각 센서 오차 보정을 위한 자동 측정방법.
Priority Applications (1)
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KR1020060090113A KR100774669B1 (ko) | 2006-09-18 | 2006-09-18 | 차량 차선유지 보조장치의 조향각 센서 오차 보정을 위한자동 측정방법 |
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KR1020060090113A KR100774669B1 (ko) | 2006-09-18 | 2006-09-18 | 차량 차선유지 보조장치의 조향각 센서 오차 보정을 위한자동 측정방법 |
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KR100774669B1 true KR100774669B1 (ko) | 2007-11-08 |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014035320A1 (en) * | 2012-09-03 | 2014-03-06 | Scania Cv Ab | Method of detecting a steering fault, and a steering fault detection system of a vehicle's steering system |
KR101701050B1 (ko) | 2015-08-13 | 2017-02-13 | 주식회사 만도 | 전방 카메라를 이용한 주행 차량 휠 얼라인먼트 경보 시스템 및 방법 |
KR20170083212A (ko) * | 2016-01-08 | 2017-07-18 | 주식회사 만도 | 차량제어장치 및 차량제어방법 |
KR101795240B1 (ko) | 2016-04-15 | 2017-12-01 | 현대자동차주식회사 | 차량의 얼라인먼트 이상 경고 시스템 및 제어방법 |
US10994781B2 (en) | 2018-03-02 | 2021-05-04 | Hyundai Motor Company | System and method for automatic adjustment of steering wheel |
KR102349654B1 (ko) * | 2021-06-21 | 2022-01-13 | 주식회사 라이드플럭스 | 자율주행 차량의 곡률 오차 보정방법 장치 및 컴퓨터프로그램 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR19990059812A (ko) * | 1997-12-31 | 1999-07-26 | 정몽규 | 차량의 능동제어장치 |
JP2002225740A (ja) | 2000-12-20 | 2002-08-14 | Visteon Global Technologies Inc | ステアリングホイールのトルクを利用した車両の操舵装置のミスアラインメント検出装置及び方法 |
KR20040040553A (ko) * | 2002-11-07 | 2004-05-13 | 주식회사 만도 | 조향각 센서의 영점 보정 장치 및 그 방법 |
KR20040071889A (ko) * | 2003-02-07 | 2004-08-16 | 주식회사 만도 | 차량의 안정성 제어 시스템 |
-
2006
- 2006-09-18 KR KR1020060090113A patent/KR100774669B1/ko active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR19990059812A (ko) * | 1997-12-31 | 1999-07-26 | 정몽규 | 차량의 능동제어장치 |
JP2002225740A (ja) | 2000-12-20 | 2002-08-14 | Visteon Global Technologies Inc | ステアリングホイールのトルクを利用した車両の操舵装置のミスアラインメント検出装置及び方法 |
KR20040040553A (ko) * | 2002-11-07 | 2004-05-13 | 주식회사 만도 | 조향각 센서의 영점 보정 장치 및 그 방법 |
KR20040071889A (ko) * | 2003-02-07 | 2004-08-16 | 주식회사 만도 | 차량의 안정성 제어 시스템 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014035320A1 (en) * | 2012-09-03 | 2014-03-06 | Scania Cv Ab | Method of detecting a steering fault, and a steering fault detection system of a vehicle's steering system |
EP2893294A4 (en) * | 2012-09-03 | 2016-04-13 | Scania Cv Ab | METHOD FOR DETECTING STEER FAILURE, AND SYSTEM FOR DETECTING STEERING FAILURE OF VEHICLE STEERING SYSTEM |
KR101701050B1 (ko) | 2015-08-13 | 2017-02-13 | 주식회사 만도 | 전방 카메라를 이용한 주행 차량 휠 얼라인먼트 경보 시스템 및 방법 |
KR20170083212A (ko) * | 2016-01-08 | 2017-07-18 | 주식회사 만도 | 차량제어장치 및 차량제어방법 |
KR102419092B1 (ko) | 2016-01-08 | 2022-07-11 | 주식회사 만도 | 차량제어장치 및 차량제어방법 |
KR101795240B1 (ko) | 2016-04-15 | 2017-12-01 | 현대자동차주식회사 | 차량의 얼라인먼트 이상 경고 시스템 및 제어방법 |
US10062221B2 (en) | 2016-04-15 | 2018-08-28 | Hyundai Motor Company | System producing alarm when wheel misalignment of vehicle occurs and control method for producing the same |
US10994781B2 (en) | 2018-03-02 | 2021-05-04 | Hyundai Motor Company | System and method for automatic adjustment of steering wheel |
KR102349654B1 (ko) * | 2021-06-21 | 2022-01-13 | 주식회사 라이드플럭스 | 자율주행 차량의 곡률 오차 보정방법 장치 및 컴퓨터프로그램 |
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