KR100903665B1 - 가가속도 정보를 이용한 차량의 운동 제어장치 - Google Patents
가가속도 정보를 이용한 차량의 운동 제어장치 Download PDFInfo
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Abstract
Description
Claims (10)
- 차량의 요 모멘트(yaw moment)를 제어하는 제어수단을 구비한 차량의 운동 제어장치에 있어서,차량의 전후방향의 속도(V)를 검출하는 제 1 검출수단과, 차량의 가로방향의 가가속도(Gy_dot)를 검출하는 제 2 검출수단을 가지고,상기 제 2 검출수단으로 검출한 차량의 가로방향의 가가속도(Gy_dot)를 상기 제 1 검출수단으로 검출한 차량의 전후방향의 속도(V)로 나눈 값(Gy_dot/V)에 의거하여, 차량의 요 모멘트를 제어하는 것을 특징으로 하는 차량의 운동 제어장치.
- 제 1항에 있어서,차량의 요각가속도(r_dot)를 검출하는 제 3 검출수단을 가지고,상기 차량의 가로방향의 가가속도(Gy_dot)를 상기 차량의 전후방향의 속도(V)로 나눈 값(Gy_dot/V)과, 상기 제 3 검출수단으로 검출한 차량의 요각가속도(r_dot)와의 차가 작아지도록, 상기 제어수단에 의하여 차량의 요 모멘트를 제어하는 것을 특징으로 하는 차량의 운동 제어장치.
- 제 1항에 있어서,상기 차량의 요 모멘트를 제어하는 제어수단은, 차량의 각 륜의 횡(橫) 미끄러짐각을 변화시켜 전륜과 후륜의 횡력의 차를 제어하는 것임을 특징으로 하는 차 량의 운동 제어장치.
- 제 1항에 있어서,상기 차량의 요 모멘트를 제어하는 제어수단은, 차량의 각 륜의 종(縱) 미끄러짐률을 변화시켜 좌우륜의 구동력 차 또는 제동력 차를 발생시키는 것임을 특징으로 하는 차량의 운동 제어장치.
- 제 1항에 있어서,상기 차량의 요 모멘트를 제어하는 제어수단은, 차량에 횡 가속도가 작용하고 있는 상태에서, 차량의 각 륜의 종 미끄러짐률을 변화시켜 전후력을 발생하고, 이것에 의하여 후륜으로부터 전륜으로의 또는 그 반대의 하중 이동의 전후력을 발생하고, 전륜과 후륜의 횡력의 차를 변화시키는 것임을 특징으로 하는 차량의 운동 제어장치.
- 차량의 전후방향의 속도(V)를 검출하는 제 1 검출수단과, 차량의 가로방향의 가속도(Gy)를 검출하는 제 2 검출수단과, 차량의 요레이트(yaw-rate; 회전각속도)를 검출하는 제 3 검출수단을 가지고,상기 제 2 검출수단으로 검출한 가로방향의 가속도(Gy)를 미분하여 차량의 가로방향의 가가속도(Gy_dot)를 구하고,상기 구한 차량의 가로방향의 가가속도(Gy_dot)를 상기 제 1 검출수단으로 검출한 차량의 전후방향의 속도(V)로 나눈 값(Gy_dot/V=r_ref)값을 산출하고,상기 제 3 검출수단으로 검출한 요레이트를 미분하여 요각가속도(r_real)를 산출하고,상기 산출한 상기 값(r_ref)과 상기 요각가속도(r_real)의 차분에 의거한 보정 요 모멘트를 구하고,상기 구한 보정 요 모멘트에 의거하여, 조향에 의한 요 모멘트 부가, 좌우 차동제구동입력에 의한 요 모멘트 부가, 후륜으로부터 전륜으로의 하중 이동에 의한 요 모멘트 부가 중 어느 하나의 요 모멘트 부가, 또는 어느 하나를 조합한 요 모멘트 부가를 이용하여, 차량에 가하는 요 모멘트를 제어하는 것을 특징으로 하는 차량의 운동 제어장치.
- 차량의 전후 가속도를 제어하는 제어수단을 구비한 차량의 운동 제어장치에 있어서,차량의 전후방향의 속도(V)를 검출하는 제 1 검출수단과, 차량의 가로방향의 가가속도(Gy_dot)를 검출하는 제 2 검출수단을 가지고,상기 제 2 검출수단에 의하여 검출된 차량의 가로방향의 가가속도(Gy_dot)를 상기 제 1 검출수단에 의하여 검출한 차량의 전후방향의 속도(V)로 나눈 값(Gy_dot/V)에 의거하여, 차량의 전후 가속도를 제어하는 것을 특징으로 하는 차량의 운동 제어장치.
- 제 7항에 있어서,상기 차량은, 차량의 횡가속도(Gy)를 검출하는 제 3 검출수단을 가지고,상기 제 3 검출수단에 의하여 검출한 상기 횡가속도(Gy)를 기초로 차량의 가로방향의 가가속도(Gy_dot)를 구하고,상기 구한 차량의 가로방향의 가가속도(Gy_dot)를 상기 제 1 검출수단에 의하여 검출한 차량의 전후방향의 속도(V)로 나눈 값(Gy_dot/V)에 대하여, 또한 상기 제 3 검출수단에 의하여 검출한 차량의 횡가속도(Gy)로 나눈 값에 비례한 물리량에 의거하여, 차량의 전후 가속도를 제어하는 것을 특징으로 하는 차량의 운동 제어장치.
- 차량의 전후 가속도를 제어하는 제어수단을 구비한 차량의 운동 제어장치에 있어서,차량의 가로방향의 가가속도(Gy_dot)를 검출하는 수단을 가지고,상기 검출수단에 의하여 검출한 차량의 가로방향의 가가속도(Gy_dot)에 의거하여 차량의 전후 가속도를 제어하는 것을 특징으로 하는 차량의 운동 제어장치.
- 제 9항에 있어서,차량의 전후 가속도가, 차량의 가로방향의 가가속도(Gy_dot)에 계수를 곱한 값에 가까워지도록 제어하는 것을 특징으로 하는 차량의 운동 제어장치.
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JPJP-P-2007-00132987 | 2007-05-18 | ||
JP2007132987A JP4568302B2 (ja) | 2007-05-18 | 2007-05-18 | 加加速度情報を用いた車両の前後加速度制御装置 |
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KR20080101738A KR20080101738A (ko) | 2008-11-21 |
KR100903665B1 true KR100903665B1 (ko) | 2009-06-18 |
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US (4) | US7979180B2 (ko) |
EP (3) | EP1992537B1 (ko) |
JP (1) | JP4568302B2 (ko) |
KR (1) | KR100903665B1 (ko) |
CN (2) | CN101311050B (ko) |
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KR102149762B1 (ko) * | 2019-04-04 | 2020-08-31 | 한국항공우주연구원 | 비행체의 충돌추락 감지장치 및 그 운영시스템 |
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JP5414454B2 (ja) * | 2009-10-23 | 2014-02-12 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置 |
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JP5378318B2 (ja) | 2010-07-30 | 2013-12-25 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置 |
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JP4568302B2 (ja) | 2010-10-27 |
US20120323445A1 (en) | 2012-12-20 |
CN101311050A (zh) | 2008-11-26 |
EP1992537B1 (en) | 2011-11-16 |
US7979180B2 (en) | 2011-07-12 |
EP2433840B1 (en) | 2013-06-05 |
US20120101657A1 (en) | 2012-04-26 |
US20090192675A1 (en) | 2009-07-30 |
CN102107660B (zh) | 2014-01-08 |
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CN102107660A (zh) | 2011-06-29 |
US20110231033A1 (en) | 2011-09-22 |
EP2626264A1 (en) | 2013-08-14 |
EP2626264B1 (en) | 2016-09-21 |
US8239096B2 (en) | 2012-08-07 |
CN101311050B (zh) | 2011-07-06 |
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US8515619B2 (en) | 2013-08-20 |
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