KR100793869B1 - 차량의 차간거리 제어 시스템 - Google Patents
차량의 차간거리 제어 시스템 Download PDFInfo
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- KR100793869B1 KR100793869B1 KR1020050124968A KR20050124968A KR100793869B1 KR 100793869 B1 KR100793869 B1 KR 100793869B1 KR 1020050124968 A KR1020050124968 A KR 1020050124968A KR 20050124968 A KR20050124968 A KR 20050124968A KR 100793869 B1 KR100793869 B1 KR 100793869B1
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- friction coefficient
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/30—Wheel torque
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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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/10—Weight
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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
- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- 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
- B60Y2300/14—Cruise control
- B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
- B60Y2400/3032—Wheel speed sensors
Abstract
Description
또한 본 발명은 선행차와의 상대거리가 계산된 최소 안전거리 보다 작아지면 운전자에게 충돌 경보를 하게 됨과 동시에 자동 감속이 이루어지도록 함으로써 운전자의 안전을 더욱 고려한 능동 제어가 수행된다.
Claims (11)
- 차간거리 제어 시스템에 있어서,각 차륜의 휠 속도와 브레이크 압력으로부터 브레이크 이득을 추출하는 브레이크 이득 검출부(10)와;브레이크 이득과 변속단 토크로부터 각 차륜의 타이어에 수평축으로 작용하는 작용력을 검출하는 수평축 작용력 검출부(11)와;차량의 총 중량과 차량의 동역학이 고려된 연산으로 각 차륜의 타이어에 수직축으로 작용하는 작용력을 검출하는 수직축 작용력 검출부(12)와;각 차륜의 타이어에 수평축으로 작용하는 작용력과 수직축으로 작용하는 작용력의 관계로부터 노면과 타이어간의 마찰계수를 연산하는 마찰계수 연산부(13)와;각 차륜의 타이어에 수직축으로 작용하는 작용력으로부터 차륜의 중심축과 노면간의 거리인 타이어의 동반경을 검출하는 타이어 동반경 검출부(14)와;각 차륜에 대한 각속도로부터 해당 차륜의 휠 속도를 검출하는 휠 각속도 검출부(15)와;변속기 출력축에 장착되는 차속센서로, 출력축 회전수로부터 현재의 주행 차속을 검출하는 차속 검출부(16)와;각 차륜의 휠 속도와 현재의 차속 및 타이어 동반경의 정보를 설정된 알고리즘을 통한 연산으로 각 차륜에서의 슬립율을 검출하는 슬립 연산부(17)와;마찰계수 연산부(13)에서 인가되는 노면과 타이어간의 마찰계수와 슬립 연산부(17)에서 인가되는 각 차륜에서의 슬립율을 설정된 알고리즘을 통해 분석하여 슬립 기울기를 검출하는 슬립 기울기 연산부(18)와;슬립과 마찰계수의 초기 기울기에 따라 노면과 타이어간의 최대 마찰계수를 추정하여 차간 거리 제어에 적용하는 최대 마찰계수 연산부(19)를 포함하는 것을 특징으로 하는 차량의 차간거리 제어 시스템.
- 제1항에 있어서,상기 변속단 토크는 토크 컨버터의 토크와 휠 속도에 의해 산출되는 것을 특징으로 하는 차량의 차간거리 제어 시스템.
- 제2항에 있어서,상기 토크 컨버터의 토크는 스로틀 개도와 엔진 회전수에 따라 엔진 맵으로부터 추출되는 엔진 토크와 캐리어 속도와 기어 상태(변속단)에 의해 산출되는 것을 특징으로 하는 차량의 차간거리 제어 시스템.
- 제1항에 있어서,상기 휠 각속도 검출부(15)는 각각의 차륜에 장착되는 휠 속도 센서로 이루어지는 것을 특징으로 하는 차량의 차간거리 제어 시스템.
- 제1항에 있어서,상기 최대 마찰계수 연산부(19)는 슬립과 마찰계수의 관계를 이용하며, 마찰계수는 타이어의 슬립이 증가할 수 있도록 증가하다가 슬립이 과도해지는 경우에는 다시 감소하는 특성을 적용하여 노면과 타이어간의 최대 마찰계수를 추정하는 것을 특징으로 하는 차량의 차간거리 제어 시스템.
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020050124968A KR100793869B1 (ko) | 2005-12-17 | 2005-12-17 | 차량의 차간거리 제어 시스템 |
JP2006199036A JP5074720B2 (ja) | 2005-12-17 | 2006-07-21 | 車間距離制御方法 |
DE102006036814.2A DE102006036814B4 (de) | 2005-12-17 | 2006-08-07 | Verfahren und System zur adaptiven Geschwindigkeitsregelung eines Fahrzeugs |
US11/592,837 US7739023B2 (en) | 2005-12-17 | 2006-11-03 | Adaptive cruise control system and method for vehicle |
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KR1020050124968A KR100793869B1 (ko) | 2005-12-17 | 2005-12-17 | 차량의 차간거리 제어 시스템 |
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KR20070064490A KR20070064490A (ko) | 2007-06-21 |
KR100793869B1 true KR100793869B1 (ko) | 2008-01-15 |
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US (1) | US7739023B2 (ko) |
JP (1) | JP5074720B2 (ko) |
KR (1) | KR100793869B1 (ko) |
DE (1) | DE102006036814B4 (ko) |
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KR20070064490A (ko) | 2007-06-21 |
JP2007161225A (ja) | 2007-06-28 |
DE102006036814A1 (de) | 2007-06-28 |
US7739023B2 (en) | 2010-06-15 |
JP5074720B2 (ja) | 2012-11-14 |
DE102006036814B4 (de) | 2016-07-14 |
US20070142996A1 (en) | 2007-06-21 |
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