KR20060132865A - 조향 가능한 후륜 로크를 제어하는 방법 및 시스템과대응하는 차량 - Google Patents
조향 가능한 후륜 로크를 제어하는 방법 및 시스템과대응하는 차량 Download PDFInfo
- Publication number
- KR20060132865A KR20060132865A KR1020067014289A KR20067014289A KR20060132865A KR 20060132865 A KR20060132865 A KR 20060132865A KR 1020067014289 A KR1020067014289 A KR 1020067014289A KR 20067014289 A KR20067014289 A KR 20067014289A KR 20060132865 A KR20060132865 A KR 20060132865A
- Authority
- KR
- South Korea
- Prior art keywords
- vehicle
- rear wheel
- wheel lock
- setpoint
- lock
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 230000003068 static effect Effects 0.000 claims description 22
- 230000005484 gravity Effects 0.000 claims description 7
- 230000007935 neutral effect Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 description 18
- 230000006870 function Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 9
- 230000001052 transient effect Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Hydraulic Control Valves For Brake Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims (16)
- 3개 이상의 조향 가능한 휠을 구비하는 차량을 위한 조향 가능한 후륜 로크(lock)를 제어하는 방법으로서, 후륜 로크의 현재 셋포인트(setpoint)를 전륜 로크 각도, 차량 변위 데이터 및 후륜 로크의 기존의 셋포인트의 함수로서 정하는 것인 후륜 로크 제어 방법.
- 제1항에 있어서, 상가 차량 변위 데이터는 후륜 로크의 현재 셋포인트를 차량 속도의 함수로서 확립하기 위해서 차량 속도를 포함하는 것인 후륜 로크 제어 방법.
- 제1항 또는 제2항에 있어서, 후륜 로크의 현재 셋포인트는 조정 파라메터들이 하나의 값으로 동일할 때에 차량의 거동에 관하여 중립인 조정 파라메터들에 의해서 정해지는 것인 후륜 로크 제어 방법.
- 제1항 내지 제3항 중 어느 한 항에 있어서, 상기 차량 변위 데이터는 요율(yaw rate)을 포함하는 것인 후륜 로크 제어 방법.
- 제1항 내지 제4항 중 어느 한 항에 있어서, 상기 차량 변위 데이터는 차량의 무게 중심에서의 드리프트(drift)를 포함하는 것인 후륜 로크 제어 방법.
- 제1항 내지 제5항 중 어느 한 항에 있어서, 차량의 상태 테이터가 입력 데이터를 기초로 하여 추정되는 것인 후륜 로크 제어 방법.
- 제1항 내지 제8항 중 어느 한 항에 있어서, 상기 후륜 로크의 현재 셋포인트는 동적 셋포인트와 정적 셋포인트의 차이와 동일한 것인 후륜 로크 제어 방법.
- 제9항에 있어서, 상기 동적 셋포인트는 추정된 상태 데이터에 적용되는 교정자를 기초로 하여 정해지는 것인 후륜 로크 제어 방법.
- 제9항 또는 제10항에 있어서, 상기 정적 셋포인트는 추정된 상태 데이터에 적용되는 교장자와 조정 파라메터를 기초로 하여 정해지는 것인 후륜 로크 제어 방법.
- 제11항에 있어서, 상기 교정자는 속도의 함수로서 보간되는 것인 후륜 로크 제어 방법.
- 3개 이상의 조향 가능한 휠을 구비하는 차량(1)용의 조향 가능한 후륜 로크(5) 제어 시스템(10)으로서, 후륜의 현재 셋포인트를 전륜의 로크(3) 각도(α1), 차량 변위 데이터 및 후륜 로크(5)의 기존 셋포인트의 함수로서 정하는 수단을 포함하는 것을 특징으로 하는 후륜 로크 제어 시스템.
- 제13항에 있어서, 입력 데이터를 기초로 하여 차량의 상태 데이터를 추정하는 모듈(23)과, 동적 셋포인트를 정하는 모듈(24)과, 정적 셋포인트를 정하는 모듈(25)과, 동적 셋포인트 및 정적 셋포인트를 조합하는 모듈을 포함하는 것을 특징으로 하는 후륜 로크 제어 시스템.
- 제14항에 있어서, 상기 조합 모듈은 감산자(subtractor)(26)인 것을 특징으로 하는 후륜 로크 제어 시스템.
- 섀시(2)와, 이 섀시(2)에 탄성적으로 링크된 3개 이상의 조향 가능한 휠(3 내지 5)를 포함하는 차량(1)으로서,후륜 로크의 현재 셋포인트를 전륜의 로크(3) 각도(α1), 차량 변위 데이터 및 후륜 로크(5)의 기존 셋포인트의 함수로서 정하는 수단을 포함하는, 조향 가능한 후륜 로크(5)를 제어하는 제어 시스템(10)을 포함하는 것을 특징으로 하는 차량.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0314929A FR2864001B1 (fr) | 2003-12-18 | 2003-12-18 | Procede et systeme de commande du braquage de roue arriere directrice et vehicule correspondant |
FR0314929 | 2003-12-18 | ||
PCT/FR2004/050705 WO2005061305A1 (fr) | 2003-12-18 | 2004-12-16 | Procede et systeme de commande du braquage de roue arriere directrice et vehicule correspondant |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20060132865A true KR20060132865A (ko) | 2006-12-22 |
KR101139636B1 KR101139636B1 (ko) | 2012-05-15 |
Family
ID=34508700
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020067014289A Expired - Fee Related KR101139636B1 (ko) | 2003-12-18 | 2004-12-16 | 조향 가능한 후륜 로크를 제어하는 방법 및 장치와 대응하는 차량 |
Country Status (8)
Country | Link |
---|---|
EP (1) | EP1544080B1 (ko) |
JP (1) | JP4863880B2 (ko) |
KR (1) | KR101139636B1 (ko) |
AT (1) | ATE403590T1 (ko) |
DE (1) | DE602004015554D1 (ko) |
ES (1) | ES2308129T3 (ko) |
FR (1) | FR2864001B1 (ko) |
WO (1) | WO2005061305A1 (ko) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2895347B1 (fr) | 2005-12-23 | 2008-02-15 | Renault Sas | Procede et dispositif de commande de l'angle de braquage de roue arriere d'un vehicule automobile |
FR2896753B1 (fr) | 2006-01-27 | 2008-04-11 | Renault Sas | Procede et dispositif de compensation de variations de couple |
FR2902067B1 (fr) | 2006-06-09 | 2008-09-26 | Renault Sas | Procede et systeme de commande de roue directrice de vehicule |
FR2903952B1 (fr) * | 2006-07-21 | 2009-06-12 | Renault Sas | Dispositif et procede de surveillance de la commande du braquage de roue arriere directrice. |
FR2991279B1 (fr) | 2012-06-01 | 2015-07-17 | Renault Sa | Dispositif de controle de trajectoire d'un vehicule. |
FR2991276B1 (fr) | 2012-06-04 | 2014-05-16 | Renault Sa | Dispositif de controle de trajectoire d'un vehicule |
FR2992931B1 (fr) | 2012-07-03 | 2014-08-08 | Renault Sa | Dispositif et procede de controle de trajectoire d'un vehicule. |
FR3026709B1 (fr) | 2014-10-02 | 2018-01-26 | Renault S.A.S | Procede de reglage du comportement d'un vehicule automobile |
FR3041590B1 (fr) | 2015-09-30 | 2018-08-17 | Renault S.A.S | Systeme de commande de la direction d'un vehicule automobile en cas de collision imminente avec un obstacle |
US10343685B2 (en) * | 2016-09-28 | 2019-07-09 | Baidu Usa Llc | Physical model and machine learning combined method to simulate autonomous vehicle movement |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4706979A (en) * | 1985-07-12 | 1987-11-17 | Nissan Motor Co., Ltd. | Steering control system for wheeled vehicle |
DE3816254A1 (de) * | 1988-05-11 | 1989-11-23 | Siemens Ag | Steuereinheit zur lenkung der hinterraeder eines strassenfahrzeuges |
US5524079A (en) * | 1992-09-01 | 1996-06-04 | Matsushita Electric Industrial Co., Ltd. | Rear wheel steering angle controlling apparatus of four-wheel steering vehicle |
EP0663333B1 (en) * | 1994-01-14 | 1998-12-23 | Matsushita Electric Industrial Co., Ltd. | Steering angle control apparatus |
JPH0848256A (ja) * | 1994-08-08 | 1996-02-20 | Toyota Motor Corp | 車両の運動制御装置 |
JP3067564B2 (ja) * | 1995-01-12 | 2000-07-17 | トヨタ自動車株式会社 | 車両旋回制御装置 |
JPH0939821A (ja) * | 1995-08-02 | 1997-02-10 | Mitsubishi Motors Corp | 車両の後輪操舵制御装置 |
JPH09249145A (ja) * | 1996-03-15 | 1997-09-22 | Toyota Motor Corp | 車両の運動制御装置 |
DE10039782A1 (de) | 2000-08-16 | 2002-02-28 | Daimler Chrysler Ag | Verfahren zur Regelung der Gier-und Querdynamik bei einem Straßenfahrzeug |
-
2003
- 2003-12-18 FR FR0314929A patent/FR2864001B1/fr not_active Expired - Fee Related
-
2004
- 2004-12-06 ES ES04300850T patent/ES2308129T3/es not_active Expired - Lifetime
- 2004-12-06 AT AT04300850T patent/ATE403590T1/de not_active IP Right Cessation
- 2004-12-06 EP EP04300850A patent/EP1544080B1/fr not_active Expired - Lifetime
- 2004-12-06 DE DE602004015554T patent/DE602004015554D1/de not_active Expired - Lifetime
- 2004-12-16 JP JP2006544521A patent/JP4863880B2/ja not_active Expired - Fee Related
- 2004-12-16 KR KR1020067014289A patent/KR101139636B1/ko not_active Expired - Fee Related
- 2004-12-16 WO PCT/FR2004/050705 patent/WO2005061305A1/fr active Application Filing
Also Published As
Publication number | Publication date |
---|---|
KR101139636B1 (ko) | 2012-05-15 |
WO2005061305A1 (fr) | 2005-07-07 |
ATE403590T1 (de) | 2008-08-15 |
EP1544080B1 (fr) | 2008-08-06 |
FR2864001A1 (fr) | 2005-06-24 |
FR2864001B1 (fr) | 2007-11-23 |
DE602004015554D1 (de) | 2008-09-18 |
JP4863880B2 (ja) | 2012-01-25 |
JP2007514600A (ja) | 2007-06-07 |
ES2308129T3 (es) | 2008-12-01 |
EP1544080A1 (fr) | 2005-06-22 |
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