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公开(公告)号：KR1020120041555A
公开(公告)日：2012-05-02
申请号：KR1020100103054
申请日：2010-10-21
Applicant: 한화테크윈 주식회사 , 서울대학교산학협력단
IPC: B60K17/354 , B60K17/34
Abstract: PURPOSE: An independent multi-axis drive type vehicle improves the reliability of fault diagnosis by diagnosing the fault based on the relation of the detected value from the yawing rate sensor and calculated yawing rate value form the other sensors. CONSTITUTION: An independent multi-axis drive type vehicle comprises a control input unit, a driving control unit, an operating unit, a preprocessing unit, and a fail safety control unit. The control input unit is input the control input. The control input includes at least one value among the steering input and the acceleration input and the brake input. The driving control unit controls and drives some part of wheels according to the control input. The operating unit operates the vehicles through the control input of the driving control unit. The operating unit comprises a sensor module. The sensor module comprises a yawing rate sensor and a plurality of sensors. The yawing rate sensor detects the yawing rate of a vehicle. A plurality of sensors detects the operating state of a vehicle. The preprocessing unit generates the yawing rate by detecting the signal from a yawing rate sensor, and calculates the yawing rate during the operating state and control input state. The fail safety control unit diagnoses the failure of sensors based on the detected yawing rate and calculated yawing rate.
Abstract translation: 目的：独立的多轴驱动型车辆通过根据来自偏航速率传感器的检测值与其他传感器的计算偏航速率值的关系诊断故障，提高故障诊断的可靠性。 构成：独立的多轴驱动型车辆包括控制输入单元，驱动控制单元，操作单元，预处理单元和故障安全控制单元。 控制输入单元输入控制输入。 控制输入包括转向输入和加速度输入和制动输入中的至少一个值。 驱动控制单元根据控制输入控制和驱动车轮的某些部分。 操作单元通过驱动控制单元的控制输入来操作车辆。 操作单元包括传感器模块。 传感器模块包括偏航速率传感器和多个传感器。 偏航速率传感器检测车辆的偏航速度。 多个传感器检测车辆的运行状态。 预处理单元通过检测来自偏航速率传感器的信号来产生偏航率，并计算运转状态和控制输入状态期间的偏航速度。 故障安全控制单元基于检测到的偏航速率和计算出的偏航速率来诊断传感器的故障。
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公开(公告)号：KR1020120002091A
公开(公告)日：2012-01-05
申请号：KR1020100062801
申请日：2010-06-30
Applicant: 현대자동차주식회사 , 서울대학교산학협력단
Abstract: PURPOSE: An integrated vehicle controlling system for securing the longitudinal and horizontal stability is provided to integrate systems operating separately, and to minimize the unnecessary control input. CONSTITUTION: An integrated vehicle controlling system comprises the following: a parameter measuring unit(100) measuring plural specific parameters; a sensor unit(200) detecting the change of condition based on the operation state of moving vehicles; an estimating unit(300) calculating data of the vehicles based on information obtained from the sensor unit; and a controller(400) controlling an actuator(410) mounted on the vehicle by calculating the target speed reduction rate and the target moment, and by measuring the data of the vehicles.
Abstract translation: 目的：提供一种用于确保纵向和横向稳定性的集成车辆控制系统，以集成单独运行的系统，并最大限度地减少不必要的控制输入。 构成：集成车辆控制系统包括：测量多个特定参数的参数测量单元（100）; 传感器单元，根据移动车辆的运行状态来检测状态的变化; 估计单元，基于从所述传感器单元获得的信息来计算所述车辆的数据; 以及通过计算目标速度降低率和目标力矩以及通过测量车辆的数据来控制安装在车辆上的致动器（410）的控制器（400）。
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Patent Agency Ranking
公开(公告)号：KR1020120002089A
公开(公告)日：2012-01-05
申请号：KR1020100062799
申请日：2010-06-30
Applicant: 현대자동차주식회사 , 서울대학교산학협력단
Abstract: PURPOSE: An integrated type vehicle controlling method for securing the longitudinal direction stability is provided to improve the stability of vehicles at the dangerous situation. CONSTITUTION: An integrated type vehicle controlling method comprises the following steps: detecting the change on the operation state of driving vehicles using sensors, and measuring a specific parameter of the vehicles(S10); converting power applied on wheels, the horizontal speed of the vehicles, and the load friction coefficient into data(S20); setting a controlling mode by determining the longitudinal and horizontal controlling condition based on the data obtained from the previous step(S30); firstly calculating the longitudinal direction target acceleration speed for obtaining the target rate for horizontal controlling(S40); secondly calculating the longitudinal direction powder and the target moment to obtain the target acceleration speed and the target moment(S50); and thirdly calculating the input value for operating an actuator based on the longitudinal direction powder and the target moment(S60).
Abstract translation: 目的：提供一种确保纵向稳定性的综合型车辆控制方法，以提高车辆在危险情况下的稳定性。 一种综合型车辆控制方法，包括以下步骤：使用传感器检测驾驶车辆的运行状态的变化，并测量车辆的特定参数（S10）; 将车轮上施加的功率，车辆的水平速度和负载摩擦系数转换为数据（S20）; 通过基于从前一步骤获得的数据确定纵向和水平控制条件来设置控制模式（S30）; 首先计算用于获得水平控制的目标速率的纵向目标加速度（S40）; 二次计算纵向粉末和目标力矩以获得目标加速度和目标力矩（S50）; 以及第三计算基于纵向方向粉末和目标力矩来操作致动器的输入值（S60）。
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公开(公告)号：KR101036276B1
公开(公告)日：2011-05-23
申请号：KR1020090061119
申请日：2009-07-06
Applicant: 서울대학교산학협력단
Abstract: 전력 공급 장치 및 방법이 개시된다. 본 발명의 일 실시 예에 따르는 DC/DC 컨버터(converter)를 이용하는 전력 공급 장치는 복수의 전원, 전원 스위치 제어 신호에 따라 복수의 전원과 DC/DC 컨버터 간의 연결을 개폐하는 전원 스위치, 복수의 전원 중 선택된 어느 하나만을 DC/DC 컨버터와 연결하도록 제어하는 전원 스위치 제어 신호를 동기화부에 전달하는 전원 스위치 제어부, DC/DC 컨버터의 동작 주기에 동기화하여 전원 스위치 제어부로부터 전달받은 전원 스위치 제어 신호를 전원 스위치에 전달하는 동기화부 및 전원 스위치로부터 입력 전류를 받아 미리 설정된 출력 전압 범위를 가지는 출력 전류를 출력하는 DC/DC 컨버터를 포함할 수 있다.
하이브리드, 연료전지, 전력 공급-
公开(公告)号：KR1020170078096A
公开(公告)日：2017-07-07
申请号：KR1020150188259
申请日：2015-12-29
Applicant: 서울대학교산학협력단
CPC classification number: B60W30/14 , B60W30/16 , B60W40/02 , B60W40/08 , B60W40/10 , B60W40/105 , B60W50/00
Abstract: 본발명은자율주행차량의제어방법에관한것이다. 본발명의일 실시예에의한자율주행차량의제어방법은, 운전자에의한주행시차량주행정보를감지하는단계; 상기감지된차량주행정보를저장하는단계; 및차량의자율주행시상기저장된차량주행정보를기초로차량을제어하는단계를포함한다.
Abstract translation: 本发明涉及自主车辆的控制方法。 根据本发明实施例的控制自主车辆的方法包括以下步骤：在驾驶时由驾驶员感测车辆驾驶信息; 存储感测到的车辆驾驶信息; 并且在车辆自主行驶时基于所存储的车辆行驶信息来控制车辆。
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公开(公告)号：KR1020160147140A
公开(公告)日：2016-12-22
申请号：KR1020150082933
申请日：2015-06-11
Applicant: 서울대학교산학협력단
IPC: G01S7/481 , G01S17/93 , B60R21/0134 , B60Q9/00 , B60W30/095 , B25J13/08
CPC classification number: G01S7/481 , G01S7/4817 , G01S17/42 , G01S17/936
Abstract: 본발명은“장애물검지장치및 이를이용한검지방법”에관한것이다. 본발명의제1측면에의하면, 일면측정이가능한레이저스캐너, 상기레이저스캐너를고정시키고회전시킬수 있는회전축, 상기회전축의양 끝에배치되되바닥과수직으로설치되는한 쌍의지지부및 상기지지부, 상기레이저스캐너와연결되고회전축을감싸도록설치되어상기레이저스캐너에복원력을인가하는비틀림스프링을포함할수 있다. 이와같은본 발명에의하면비틀림스프링의복원력과공진의개념을이용하여레이저스캐너를주기운동을시킴으로써레이저스캐너에액츄에이터로모든입력을넣어주는것보다장애물검지장치구동에필요한에너지가적다는장점이있다. 그리고, 이를통해서장애물검지장치및 구동액츄에이터등을소형화할수 있고, 에너지소비량도줄일수 있다.
Abstract translation: 本发明涉及“障碍物检测装置及其使用的检测方法”。 根据本发明的第一方面，障碍物检测装置可以包括：能够测量一个表面的激光扫描仪; 能够固定和旋转激光扫描器的旋转轴; 一对支撑部件，设置在旋转轴的两端，并从底部垂直设置; 以及连接到支撑部件和激光扫描仪的变形弹簧，并且设置成包围旋转轴，由此向激光扫描器施加恢复力。 根据具有上述结构的本发明，激光扫描仪通过使用变形弹簧的恢复力和共振的概念周期性地移动，使得与所有障碍物检测装置相比驱动障碍物检测装置需要少量的能量 的输入由致动器应用于激光扫描器。 此外，障碍物检测装置，驱动致动器等可以小型化，并且可以降低能量消耗。
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公开(公告)号：KR1020110003709A
公开(公告)日：2011-01-13
申请号：KR1020090061119
申请日：2009-07-06
Applicant: 서울대학교산학협력단
Abstract: PURPOSE: An apparatus and method for supplying electric power using multiple power sources are provided to directly control power supply according to the input ratio of each power source by mixing a plurality of power sources. CONSTITUTION: Power switches(712,722) open and close the connection between the DC/DC converter(740) and a plurality of power sources(710,720). A power source switch control(730) transfers a power source switch control signal to a synchronization block(814). The synchronization block transfers the power source switch control signal from the power source switch control to the corresponding power switches. The DC/DC converter receives an input current from the power source and outputs an output current having a predetermined output range.
Abstract translation: 目的：提供使用多个电源提供电力的装置和方法，以通过混合多个电源来根据每个电源的输入比直接控制电源。 构成：电源开关（712,722）打开和关闭DC / DC转换器（740）和多个电源（710,720）之间的连接。 电源开关控制（730）将电源开关控制信号传送到同步块（814）。 同步块将电源开关控制信号从电源开关控制传送到相应的电源开关。 DC / DC转换器从电源接收输入电流并输出具有预定输出范围的输出电流。
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