KR950005616A - 차량운전조작상태추정방법 및 차량운전특성제어방법 - Google Patents

차량운전조작상태추정방법 및 차량운전특성제어방법 Download PDF

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KR950005616A
KR950005616A KR1019940019559A KR19940019559A KR950005616A KR 950005616 A KR950005616 A KR 950005616A KR 1019940019559 A KR1019940019559 A KR 1019940019559A KR 19940019559 A KR19940019559 A KR 19940019559A KR 950005616 A KR950005616 A KR 950005616A
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vehicle
vehicle driving
operation state
parameter
driving operation
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KR970009794B1 (en
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노부오 모모세
마사요시 이토
히로아키 요시다
마사노리 타니
요시아키 사노
마시히토 타이라
타카시 테시마
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나까무라 유이찌
미쯔비시지도오샤고오교오 가부시기가이샤
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
    • 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
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0057—Frequency analysis, spectral techniques or transforms
    • 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
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • 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
    • B60W2540/30—Driving style
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • 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
    • B60W40/08—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 drivers or passengers
    • B60W40/09—Driving style or behaviour
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H2059/003—Detecting or using driving style of a driver, e.g. for adapting shift schedules
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H2059/605—Traffic stagnation information, e.g. traffic jams
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
    • F16H2061/0081—Fuzzy logic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
    • F16H2061/0084—Neural networks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S706/00—Data processing: artificial intelligence
    • Y10S706/902—Application using ai with detail of the ai system
    • Y10S706/903—Control
    • Y10S706/905—Vehicle or aerospace

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mathematical Physics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Feedback Control In General (AREA)
  • Vehicle Body Suspensions (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Transmission Device (AREA)

Abstract

본 발명의 차량운전조작상태추정 및 차량운전특성제어장치는, 퍼지추론기능 및 뉴어럴네트워크 기능을 가진 제어기를 포함한다. 제어기는 차속, 핸들각, 액셀개방도 및 차량의 전후가속도 및 횡가속도등의 차량운전파라미터에 대한 빈도해석을 행하여 각파라미터의 평균치 및 분산을 구하는 동시에, 차속 및/또는 핸들각으로부터 각각 구한 주행시간 비율, 평균속도 및 평균횡가속도에 기초한 퍼지추론을 행하여 시가지도, 정체로도 및 산간로도등의 도로교통상황파라미터를 산출한다. 또, 제어기는, 그 뉴어럴네트워크기능에 의해, 차량운전피라미터의 평균치 및 분산 및 도로교통상황파라미터의 웨이팅총계를 비선형변환해서, 차량운전조작상태를 표시한 출력파라미터를 구하고, 이 출력파라미터에 따라서 후륜조타제어장치등의 차재장치의 작동특성을 가변제어하고, 이에 의해 차량운전특성을 가변제어하는 것을 특징으로 한것이다.

Description

차량운전조작상태추정방법 및 차량운전특성제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 제1실시예에 의한 차량운전조작상태추정방법에 있어서의 도로교통상황파악수순을 표시한 개념도,
제2도는 동 실시예에 있어서의 운전조작상태파악수순을 표시한 개념도,
제3도는 동실시예에 의한 추정방법을 실시하기 위한 제어기 및 센서를 표시한 개략블럭도,
제4도는 제3도에 표시한 제어기에 의해 실행되는 주행시간비율산출루틴의 순서도.

Claims (18)

  1. 복수의 차량운전파라미터(vel, tps, gx, gy)를 검출하는 운전파라미터검출공정과, 상기 복수의 차량운전파라미터의 각각에 대해서 빈도해석을 행하는 빈도해석공정과, 상기 빈도해석결과에 기초해서 운전자가 의도하는 운전조작상태를 추정하는 운전조작상태추정공정을 포함한 차량운전조작상태를 추정방법에 있어서, 상기 빈도해석공정(S31~S46)에서는, 각 차량운전파라미터의 도수분포를 구하는 동시에, 상기 도수분포를 특징짓는 복수종류의 해석치(ave, var)를 각 차량운전파라미터마다 구하고, 상기 운전조작상태추정공정(S51~S53)에서는, 각 차량운전파라미터마다의 상기 복수종류의 해석치를 파라미터로서, 상기 각 입력파라미터의 웨이팅총계에 기초해서 차량운전조작상태를 표시하는 출력파라미터(drive)를 출력하는 것을 특징으로 하는 차량운전조작상태추정방법.
  2. 제1항에 있어서, 상기 빈도해석공정에서는, 상기 복수종류의 해석치로서 각 차량운전파라미터마다에 도수 분포의 평균치(ave) 및 분산(var)을 구하는 것을 특징으로 하는 차량운전조작상태추정방법.
  3. 복수의 차량운전파라미터(vel, tps, gx, gy)를 검출하는 운전파라미터검출공정과, 상기 복수의 차량운전파라미터의 각각에 대해서 빈도해석을 행하는 빈도해석공정과, 상기 빈도해석결과에 기초해서 운전자가 의도하는 운전조작상태를 추정하는 운전조작상태추정공정을 포함한 차량운전조작상태추정방법에 있어서, 차량주행시 시의 도로교통상황을 표시하는 추정치([city], [jam]를 출력하는 도로교통상황추정공정을 또 포함하고, 상기 빈도해석공정(S31~S46)에서는, 각 차량운전파라미터의 도수분포를 구하는 동시에, 상기 도수분포를 특징짓는 해석치(ave, var)를 각 차량운전파라미터마다에 구하고, 상기 운전조작상태추정공정(S51~S53)에서는, 상기 도로교통상황의 추정치와 상기 각 차량운전파라미터마다의 상기 해석치를 입력파라미터로서, 상기 각 입력파라미터의 웨이팅총계에 기초해서 차량운전조작상태를 표시한 출력파라미터(drive)를 출력하는 것을 특징으로 하는 차량운전조작상태추정방법.
  4. 제3항에 있어서, 상기 빈도해석공정에서는, 상기 해석치로서 각 차량운전파라미터마다에 도수분포의 평균치(ave) 및 분산(var)을 구하는 것을 특징으로 하는 차량운전조작상태추정방법.
  5. 제3항에 있어서, 상기 도로교통상황추정공정에서는, 차량주행상태파라미터의 검출치(vxave, ratio, gyave)와, 미리 설정된 복수의 퍼지루울 또는 맵에 기초해서, 상기 추정치를 출력하는 것을 특징으로 하는 차량 운전조작상태추정방법.
  6. 제3항에 있어서, 상기 도로교통상황추정공정에서는, 평균속도(vxave)와 주행시간비율(ratio)에 기초해서, 시가지도([city]) 및 정체로도([jam])를 상기 추정치로서 출력하는 것을 특징으로 하는 차량운전조작상태추정방법.
  7. 제3항에 있어서, 상기 도로교통상황추정공정에서는, 평균횡가속도(gyave)에 기초해서, 산간로도를 상기 추정치로서 출력하는 것을 특징으로 하는 차량운전조작상태추정방법.
  8. 제1항 또는 제3항에 있어서, 상기 운전파라미터검출공정에서는, 상기 복수의 차량운전파라미터로서 차속(vel), 액셀개방도(tps) 및 차량의 전후가속도(gx)를 검출하는 것을 특징으로 하는 차량운전조작상태추정방법.
  9. 제1항 또는 제3항에 있어서, 상기 빈도해석공정에서는, 상기 차량운전파라미터의 겁출치의 영역에 의해 상기 검출치에 대한 웨이트를 변화시켜서, 상기 도수분포를 구하는 것을 특징으로 하는 차량운전조작상태추정방법.
  10. 제1항 또는 제3항에 있어서, 상기 운전조작상태추정공정에서는, 상기 복수의 입력파라미터를 뉴어럴네트워크에 입력하므로서 상기 출력파라미터를 구하는 것을 특징으로 하는 차량운전조작상태추정방법.
  11. 제1항 또는 제3항에 있어서, 상기 운전조작상태추정공정에서는, 상기 출력파라미터가 운전자의 운전조작상의 스포티정도를 표시하도록, 상기 각 입력파라미터의 웨이팅총계를 구하는 것을 특징으로 하는 차량운전조작상태추정방법.
  12. 복수의 차량운전파라미터(vel, tps, gx, gy)를 검출하는 운전파라미터검출공정과, 상기 복수의 차량운전파라미터의 각각에 대해서 빈도해석을 행하는 빈도해석공정과, 상기 빈도해석결과에 기초해서 운전자가 의도하는 운전조작상태를 추정하는 운전조작상태추정공정과, 상기 운전조작상태에 따라 차제장치의 작동특성을 가변제어해서 차량의 운전특성을 가변제어하는 특성제어공정을 포함하는 차량운전특성제어방법에 있어서, 상기 빈도해석공정(S31~S46)에서는, 각 차량운전파라미터의 도수분포를 구하는 동시에, 상기 도수분포를 특징짓는 복수종류의 해석치(ave, var)를 각 차량운전파라미터마다 구하고, 상기 운전조작상태추정공정(S51~S53)에서는, 각 차량운전파라미터마다의상기 복수종류의 해석치를 입력파라미터로서, 상기 각 입력파라미터의 웨이팅총계에 기초해서 차량운전조작상태를 표시한 출력파라미터(drive)를 출력하는 것을 특징으로 하는 차량운전특성제어방법.
  13. 복수의 차량운전파라미터(vel, tps, gx, gy)를 검출하는 운전파라미터검출공정과, 상기 복수의 차량운전파라미터의 각각에 대해서 빈도해석을 행하는 빈도해석공정과, 상기 빈도해석결과에 기초해서 운전자가 의도하는 운전조작상태를 추정하는 운전조작상태추정공정과, 상기 운전조작상태에 따라 차제장치의 작동특성을 가변제어해서 차량의 운전특성을 가변제어하는 특성제어공정을 포함한 차량운전특성제어방법에 있어서, 차량주행시의 도로교통상황을 표시한 추정치([city],[jam])를 출력하는 도로교통상황추정공정을 또 포함하고, 상기 빈도해석공정(S31~S46)에서는, 각 차량운전파라미터의 도수분포를 구하는 동시에, 상기 도수분포를 특징짓는 해석치(ave, var)를 각 차량운전파라미터마다 구하고, 상기 운전조작상태추정공정(S51~S53)에서는, 상기 도로교통상황의 추정치와 상기 각 차량운전파라미터마다의 상기 해석치를 입력파라미터로서, 상기 각 입력파라미터의 웨이팅총계에 기초해서 차량운전조작상태를 표시한 출력파라미터(drive)를 출력하는 것을 특징으로 하는 차량운전특성제어방법.
  14. 제12항 또는 제13항에 있어서, 상기 장치는 전륜조타상태 또는 차량거동의 검출치를 계수배해서 얻게되는 목표후륜타각을 설정하는 후륜조타장치이며, 상기 특성제어공정은 상기 출력파라미터에 따라서 상기 계수를 가변제어하는 것을 특징으로 하는 차량운전특성제어방법.
  15. 제12항에 있어서, 상기 장치는 차속에 있어서 조타반력이 변화하는 파워스티어링장치이며, 상기 특성제어공정은 상기 출력파라미터에 따라서 상기 차속에 대한 조타반력특성을 가변제어하는 것을 특징으로 하는 차량운전특성제어방법.
  16. 제12항 또는 제13항에 있어서, 상기 장치는 차속과 스로틀개방도에 의거한 변속맵을 구비한 자동변속장치이며, 상기 특성제어공정은 상기 출력파라미터에 따라서 상기 변속맵을 가변설정하는 것을 특징으로 하는 차량운전특성제어방법.
  17. 제12항 또는 제13항에 있어서, 상기 장치는 차량의 선회상태에 기초한 목표구동토크에 엔진의 출력을 제한하는 동시에 목표구동토크의 변화량을 소정량으로 규제하는 상기 트랙션제어장치이며, 상기 특성제어공정은 상기 출력파라미터에 따라서 상기 소정량을 가변제어하는 것을 특징으로 하는 차량운전특성제어방법.
  18. 제12항 또는 제13항에 있어서, 상기 장치는 감쇠력 또는 스프링정수가변식의 서스펜션장치이며, 상기 특성제어공정은 상기 출력파라미터에 따라서 상기 감쇠력 또는 스프링정수를 절환제어하는 것을 특징으로 하는 차량운전특성제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR94019559A 1993-08-10 1994-08-09 Vehicle driving operating state estimating method and vehicle driving characteristic control method KR970009794B1 (en)

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