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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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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：KR1020100056883A
公开(公告)日：2010-05-28
申请号：KR1020080115880
申请日：2008-11-20
Applicant: 현대자동차주식회사
Abstract: PURPOSE: An adaptive cruise control system sensing a vehicle that cuts in line is provided to enable a driver to flexibly cope with the situation in which vehicles cut in line by resetting the vehicles as a target vehicle of a radar. CONSTITUTION: An adaptive cruise control system sensing a vehicle that cuts in line comprises a camera(10), a radar(11), a lane extracting unit(12), a detecting unit(13), and a radar controller(14). The camera takes a photograph of the front region of the vehicles. The radar produces distance data between an own vehicle and a target vehicle, and the velocity of the target vehicle. The lane extracting unit extracts the lane on which the own vehicle is driven. The detecting unit checks the blinking of the turn signal lamp of the vehicle and detects the vehicle which cuts in line. The radar controller changes the target vehicle into a vehicle detected from the detecting unit.
Abstract translation: 目的：提供一种感应车辆的自适应巡航控制系统，以便驾驶员能够灵活地应对车辆通过重置作为雷达的目标车辆的车辆切入的情况。 构成：感测车辆的自适应巡航控制系统包括摄像机（10），雷达（11），车道提取单元（12），检测单元（13）和雷达控制器（14）。 相机拍摄车辆前部区域的照片。 雷达产生本车和目标车辆之间的距离数据，以及目标车辆的速度。 车道提取单元提取本车辆被驱动的车道。 检测单元检查车辆的转向信号灯的闪烁，并检测线路中的车辆。 雷达控制器将目标车辆改变为从检测单元检测到的车辆。
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公开(公告)号：KR100916259B1
公开(公告)日：2009-09-10
申请号：KR1020070129846
申请日：2007-12-13
Inventor： 이찬규
Abstract: 차간거리 제어 시스템 및 그 방법이 개시된다. 본 발명은 제어차량에 장착되며, 선행차량에 대한 제1 차간거리데이터를 산출하고, 산출된 제1 차간거리데이터를 이용하여 미리 설정된 방법에 따라 제1 요구가속도를 산출하는 제1 감지부, 전방차량에 대한 제2 차간거리데이터를 산출하고, 산출된 제2 차간거리데이터를 이용하여 미리 설정된 방법에 따라 제2 요구가속도를 산출하는 제2 감지부 및 제1 요구가속도 및 제2 요구가속도 중 작은 값을 이용하여 제어차량의 동력장치 및 제동장치 중 어느 하나를 제어하는 메인제어부를 포함한다. 본 발명에 따른 차간거리 제어 시스템은 선행차량에 선행하는 전방차량의 주행 환경도 고려하여 동작될 수 있으므로, 전방차량의 돌발적인 감속에도 제어차량의 운전자의 안정감을 유지시킬 수 있다.
차간거리, Cruise, 상대속도, 상대가속도-
公开(公告)号：KR100820436B1
公开(公告)日：2008-04-08
申请号：KR1020060105144
申请日：2006-10-27
Applicant: 현대자동차주식회사
Inventor： 이찬규
IPC: B60W30/16
Abstract: A vehicle interval control system and a vehicle interval control method thereof are provided to reduce the risk of a driver and unnecessary operations of an actuator by preventing the unnecessary deceleration control tendency after acceleration when own vehicle approaches the preceding vehicle, by allowing and disapproving acceleration. A vehicle interval control system is composed of a speed control module calculating acceleration in order to minimize difference between the vehicle speed set by a driver and the present vehicle speed and outputting calculated acceleration as a limited value in consideration of riding comfort of the driver; a distance control module making the demand distance set by a driver or demand distance calculated by multiplication of time(Headway) and vehicle speed, same and calculating the demand acceleration in order to make the relative speed to the preceding vehicle zero; and an acceleration condition detection module(4) calculating a time gap by using the relative distance and present vehicle speed and outputting an acceleration allow signal(AccelEn). Acceleration is limited within a range of DecelLmt~0(3). An acceleration limited value is set within a range of maximum control deceleration~maximum control acceleration(DecelLmt~AccelLmt) when the acceleration allow signal is output from the acceleration condition detection module, and the demand acceleration is output by executing switching for acceleration(5,6). Acceleration is controlled by a brake actuator and an acceleration actuator by outputting small one of the calculated vehicle speed control demand acceleration and distance control demand acceleration as final demand acceleration(7).
Abstract translation: 提供一种车辆间隔控制系统及其车辆间隔控制方法，通过允许和不加速加速度，通过防止本车辆接近前方车辆的加速后的不必要的减速控制倾向，来降低驾驶员的风险和驾驶员的不必要的操作。 车辆间隔控制系统由计算加速度的速度控制模块构成，以使驾驶员设定的车速与当前车速之间的差最小化，并且考虑驾驶员的乘坐舒适性将计算出的加速度输出为有限值; 距离控制模块，其使由驾驶员设定的需求距离或通过乘以时间（车头行驶）和车辆速度而计算出的需求距离相同，并且计算需求加速度，以使得与前一车辆零的相对速度; 以及加速度条件检测模块（4），通过使用相对距离和当前车速来计算时间间隔，并输出加速允许信号（AccelEn）。 加速度在DecelLmt〜0（3）的范围内受到限制。 加速度限制值设定在从加速度条件检测模块输出加速允许信号时的最大控制减速度〜最大控制加速度（DecelLmt〜AccelLmt）的范围内，通过执行加速切换输出需求加速度（5， 6）。 通过将计算的车速控制需求加速度和距离控制需求加速度中的较小的一个输出作为最终需求加速度（7），由制动致动器和加速致动器控制加速度。
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Patent Agency Ranking
公开(公告)号：KR1020070060568A
公开(公告)日：2007-06-13
申请号：KR1020050120266
申请日：2005-12-09
Applicant: 현대자동차주식회사
Inventor： 이찬규
IPC: B60W30/16
Abstract: An adaptive cruise control system and a method of controlling the same are provided to maintain a distance between vehicles from the vehicle ahead by using an integrated memory system and a time gap collecting portion. The adaptive cruise control system includes an integrated memory system(2) applying a time gap value according to propensity of a driver when the adaptive cruise control system operates and a time gap collecting portion(3) storing a time gap value which is calculated on the basis of a condition of the integrated memory system to the integrated memory system.
Abstract translation: 提供了一种自适应巡航控制系统及其控制方法，以通过使用集成的存储器系统和时间间隙收集部分来保持前方车辆之间的距离。 自适应巡航控制系统包括集成存储器系统（2），当自适应巡航控制系统运行时，根据驾驶员的倾向应用时间间隔值;以及时间间隔收集部分（3），存储在 集成存储器系统对集成存储器系统的条件的基础。
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公开(公告)号：KR101417522B1
公开(公告)日：2014-08-06
申请号：KR1020120155006
申请日：2012-12-27
Abstract: 본 발명의 실시예는 고속도로 자율주행 시스템 및 방법에 관한 것으로서, 네비게이션 장치로부터 전달된 차량의 주행 경로 정보를 기초로 고속도로 진입 또는 고속도로 진출을 파악하고, 카메라 장치를 통해 획득된 주행 도로 영상으로부터 차선을 검출하여 자율주행용 고속도로 본선인지 여부를 판단하는 고속도로 주행 판단부; 고속도로 주행 판단부에 의해 파악된 고속도로 진입, 고속도로 진출 또는 고속도로 본선 정보에 따라 자율주행 모드 동작을 제어하는 자율주행 제어부;를 포함할 수 있다.
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公开(公告)号：KR1020140073975A
公开(公告)日：2014-06-17
申请号：KR1020120142054
申请日：2012-12-07
Applicant: 현대자동차주식회사
CPC classification number: B60W30/12 , B60W2420/00 , G06K9/00798 , G06T7/73
Abstract: Disclosed are a system and a method for producing a virtual lane, wherein the system includes a generation unit which generates a left lane through a mean value of the vertical and horizontal position of a left lane vehicle and a vehicle on user′s lane sensed by a sensor unit which senses a vehicle ahead, and generates a right lane through a mean value of the vertical and horizontal position of a right lane vehicle and a vehicle on user′s lane sensed by the sensor unit.
Abstract translation: 公开了一种用于制造虚拟通道的系统和方法，其中该系统包括生成单元，该生成单元通过左车道车辆的垂直和水平位置的平均值和用户车道上的车辆生成左车道， 传感器单元，其感测前方的车辆，并且通过由传感器单元感测的用户车道上的右车道车辆和车辆的垂直和水平位置的平均值生成右车道。
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公开(公告)号：KR101394574B1
公开(公告)日：2014-05-27
申请号：KR1020120136458
申请日：2012-11-28
Applicant: 현대자동차주식회사
CPC classification number: G05D1/02 , B60W40/072 , B60W2050/0052 , B60W2420/42 , G06K9/00798 , G08G1/16
Abstract: The present invention discloses a guardrail information producing method of an autonomous driving system which produces guardrail information around road through the extraction of a representative value for each section, and the accumulation of distance information sensed by radar, and uses the guardrail information around road for lane recognition. The present invention comprises a step of collecting foreground information, a driving speed, steering angle change, and a steering angle speed when an autonomous driving mode is executed and accumulating it for a predetermined period of time; a step of extracting information of a stopped object in the accumulated data only and extracting the information of the stopped object included in a common range only and divides the information to valid data; a step of setting a section according to longitudinal distribution of the valid data and extracting a representative value by calculating an average value of the valid data included in each section; and a step of filtering the representative values for each section and outputting curve information and producing the guardrail information.
Abstract translation: 本发明公开了一种自主驾驶系统的护栏信息生成方法，其通过提取每个区段的代表值，以及由雷达感测到的距离信息的积累，在道路周围产生护栏信息，并使用道路周围的护栏信息 承认。 本发明包括当执行自主驾驶模式并将其积累预定时间段时收集前景信息，驾驶速度，转向角度变化和转向角速度的步骤; 仅在累积数据中提取停止对象的信息的步骤，仅提取包含在公共范围内的停止对象的信息，并将该信息分割为有效数据; 根据有效数据的纵向分布设置部分的步骤，并通过计算包括在每个部分中的有效数据的平均值来提取代表值; 以及对每个部分的代表值进行滤波并输出曲线信息并产生护栏信息的步骤。
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