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公开(公告)号：KR100827717B1
公开(公告)日：2008-05-07
申请号：KR1020060126776
申请日：2006-12-13
Applicant: 재단법인대구경북과학기술원
Abstract: A compensation method of side slip and yaw damping according to front and rear wheel steering control is provided to confirm that the vehicle is well balanced during the high speed traveling by controlling steering angles of front and rear wheels according to vehicle speeds, side slip angles, directivity angles, and yaw speeds. A control object output speed function is followed using vehicle speeds, side slip angles, directivity angles, and yaw speeds(S100); y'=(y1'/y2')=(Vpsi+Vbeta/r). V is a vertical direction speed of a vehicle having V=ux as uniform velocity. psi is a directivity angle. r is a yaw speed. beta is a side slip angle of weight center of the vehicle. An output speed function with respect to the control object output speed function is followed(S200); yd'=(y1d'/y2d')=(Vpsid/rd). psid is a desired directivity angle. rd is a desired yaw speed. The steering control input signal of front and rear wheels by applying a linear or non-linear control method to satisfy an error dynamic(S300,S400); (e1''/e2'')+Kd(e2'/e2')+Kp(e1/e2)=epsilon. e1=y1d-y1. e2=y2d-ye. e1', e2', e1'', and e2'' are first and second differentials of e1 and e2. Kp, and Kd are PD control gain matrixes. epsilon is a small value.
Abstract translation: 提供根据前轮和后轮转向控制的侧滑和偏航阻尼的补偿方法，以通过根据车速，侧滑角控制前轮和后轮的转向角来确认车辆在高速行驶期间的平衡度， 方向角和偏航速度。 使用车速，侧滑角，方向角和偏航速度跟踪控制对象输出速度功能（S100）; Y '=（Y1'/ Y2' ）=（Vpsi + Vbeta / R）。 V是具有V = ux作为均匀速度的车辆的垂直方向速度。 psi是方向角。 r是偏航速度。 β是车辆的重量中心的侧滑角。 遵循与控制对象输出速度功能相关的输出速度功能（S200）; 码 '=（Y1D'/ Y2D'）=（Vpsid / RD）。 psid是所需的方向角。 rd是所需的偏航速度。 通过应用线性或非线性控制方法来满足误差动态（S300，S400），前轮和后轮的转向控制输入信号; （E1 ''/ E2 ''）+ KD（E2 '/ E2'）+的Kp（E1 / E2）=小量。 E1 = Y1D-Y1。 E2 = Y2D业。 e1'，e2'，e1“和e2”是e1和e2的第一和第二差分。 Kp和Kd是PD控制增益矩阵。 epsilon是一个很小的值。
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公开(公告)号：KR100785693B1
公开(公告)日：2007-12-14
申请号：KR1020060126778
申请日：2006-12-13
Applicant: 재단법인대구경북과학기술원
Abstract: An electric pedal control device for a vehicle and a control method thereof are provided to prevent overload from being exerted onto a pedal by detecting obstacles under the pedal in a driver stepping on the pedal. An electric pedal control device for a vehicle comprises a pedal(100), a motor, a pedal driving unit(110), and a control unit(140). The motor is linked to the pedal and generates driving force for controlling height of the pedal. The pedal driving unit is installed to the motor and provided with a sensor outputting at least one pulse. The control unit calculates transition of the pulse to calculate torque of the motor, calculates movement distance of the pedal based on the torque of the motor, measures a period of the pulse, and determines the change of the period of the pulse as an error signal. If an error occurs in driving the pedal, the control unit returns the pedal to the original position, and informs the error of a driver through a driver interface(130).
Abstract translation: 提供了一种用于车辆的电动踏板控制装置及其控制方法，以通过检测踏在踏板上的驾驶员中的踏板下方的障碍物来防止过载被施加到踏板上。 一种用于车辆的电动踏板控制装置包括踏板（100），马达，踏板驱动单元（110）和控制单元（140）。 马达与踏板连接，产生用于控制踏板高度的驱动力。 踏板驱动单元安装到电动机上并设置有输出至少一个脉冲的传感器。 控制单元计算脉冲的转变以计算电动机的转矩，基于电动机的转矩来计算踏板的移动距离，测量脉冲的周期，并将脉冲周期的变化确定为误差信号 。 如果驾驶踏板发生错误，则控制单元将踏板返回到原始位置，并通过驾驶员接口通知驾驶员的错误（130）。
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公开(公告)号：KR1020070070606A
公开(公告)日：2007-07-04
申请号：KR1020050133330
申请日：2005-12-29
Applicant: 재단법인대구경북과학기술원
Abstract: An anti-sleep driving apparatus using a glove and a control method thereof are provided to protect a driver from sleep by generating alarm separately for slack condition and sleepy condition. An anti-sleep driving apparatus includes a glove; a measurement unit(10) attached to the glove to measure at least one of pressure, grip force and pulse rate; a control unit(20) for judging whether a driver is sleepy or not in accordance with the value measured by the measurement unit; and an alarm unit(30) for generating alarm if the control unit judges that the driver is sleepy.
Abstract translation: 提供使用手套的防睡眠驱动装置及其控制方法，通过分别产生用于松弛状况和困倦状态的警报来保护驾驶员免受睡眠。 防睡驱动装置包括手套; 测量单元（10），附接到手套以测量压力，握力和脉搏率中的至少一个; 控制单元，用于根据由测量单元测量的值来判断驾驶员是否困倦; 以及用于在所述控制单元判定所述驾驶员困倦时发出报警的报警单元（30）。
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公开(公告)号：KR100833565B1
公开(公告)日：2008-05-30
申请号：KR1020060134485
申请日：2006-12-27
Applicant: 재단법인대구경북과학기술원
Abstract: A steer by wire system and a control method using the same are provided to give the least counter force to a steering wheel when a counter force motor is broken while a spring is installed in the steering wheel by employing two control units for each part and motors for an actuator. A steer by wire system comprises a steering wheel(110), three steering wheel angle sensors(120), steering wheel control units(130), a counter force motor (140), and a spring(160). The steering angle sensors are mounted on the steering wheel to detect rotation angle of the steering wheel. The steering wheel control unit compares measured values of each steering angle sensor to detect errors of each steering angle sensor, compares the measured values of the steering angle sensors without errors to calculate difference caused by elasticity of the steering wheels, and measures torque applied to the steering wheel. The counter force motor gives rotation counter force to the steering wheel according to the measured torque value. The spring, which is attached to the steering wheel, provides a minimum counter force to the steering wheel when the counter force motor is out of order. The number of the steering wheel control units is at least two so that one controls the steering wheel when the other is broken.
Abstract translation: 提供一种转向系统及其控制方法，通过为每个部件和电机采用两个控制单元，当反力电机在方向盘中安装弹簧时，向方向盘施加最小反作用力 用于执行器。 导线系统的转向装置包括方向盘（110），三个方向盘角度传感器（120），方向盘控制单元（130），反作用力马达（140）和弹簧（160）。 转向角传感器安装在方向盘上以检测方向盘的旋转角度。 方向盘控制单元将每个转向角传感器的测量值进行比较，以检测每个转向角传感器的误差，将转向角传感器的测量值无错误地比较，以计算由方向盘的弹性引起的差异，并测量施加到 方向盘。 反力电动机根据测量的转矩值向方向盘提供旋转反作用力。 连接在方向盘上的弹簧在反作用力马达无序时向方向盘提供最小的反作用力。 方向盘控制单元的数量至少为两个，以便在另一个断开时控制方向盘。
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公开(公告)号：KR1020070064083A
公开(公告)日：2007-06-20
申请号：KR1020050124625
申请日：2005-12-16
Applicant: 재단법인대구경북과학기술원
IPC: B60K28/02
Abstract: A vehicle control device is provided to let a disabled person and an old or feeble person drive a vehicle by accelerating, decelerating, braking and steering a vehicle using an electromyogram signal. The vehicle control device comprises an electromyogram signal processing unit(110) obtaining an electromyogram from the body of a driver and processing the obtained electromyogram signal, an A/D(analog to digital) conversion unit(120) converting the processed electromyogram signal into a digital signal, a driver's intention judgment unit(130) receiving the digital signal from the A/D conversion unit and comparing with a standard signal, checking whether the difference value exceeds the critical value set variously by drivers or not and judging the driver's intention of driving a vehicle controller such as a brake system, an accelerator, a steering gear, etc., and then outputting the signal, a control signal conversion unit(140) receiving the signal from the driver's intention judgment unit and converting into a signal for controlling a vehicle controller, a vehicle controller control unit(150) connected with a vehicle controller electrically to drive and control the vehicle controller with the converted signal from the control signal conversion unit, and a vehicle controller driving unit(160) driving the vehicle controller by the vehicle controller control unit.
Abstract translation: 提供一种车辆控制装置，通过使用肌电信号加速，减速，制动和转向车辆，使残疾人和老年人或弱者驾驶车辆。 所述车辆控制装置包括：肌电图信号处理单元，从驾驶员的身体获取肌电图，并处理所获得的肌电图信号; A / D（模拟/数字）转换单元，将所述处理的肌电图信号转换为 数字信号，驾驶员意图判断单元（130），从A / D转换单元接收数字信号，并与标准信号进行比较，检查差值是否超过驾驶者不同地设定的临界值，并判断驾驶员的意图 驱动诸如制动系统，加速器，转向装置等的车辆控制器，然后输出该信号;控制信号转换单元，从驾驶员意图判断单元接收信号，并转换成用于控制的信号 车辆控制器，与车辆控制器电连接以驱动和控制车辆控制器的车辆控制器控制单元（150） 和来自控制信号转换单元的转换信号，以及由车辆控制器控制单元驱动车辆控制器的车辆控制器驱动单元（160）。
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Patent Agency Ranking
公开(公告)号：KR100827721B1
公开(公告)日：2008-05-07
申请号：KR1020060134486
申请日：2006-12-27
Applicant: 재단법인대구경북과학기술원
Abstract: A traveling limit apparatus of a drive by wire system and a traveling limit method of a vehicle using the same are provided to prevent the vehicle from traveling by shifting to a traveling limit mode when sensors detect car theft and drunken driving. A traveling limit apparatus of a drive by wire system comprises sensors(100), a signal processing control unit(110), and a wheel control unit(130). The sensors detect that a vehicle is stolen or that a drunken driver is behind a wheel and outputs alarming signals. Once the alarming signals are output the signal processing control unit shifts a drive mode into a traveling limit mode, and outputs specific signals. The wheel control unit actuates a drive device such as a motor according to the signal output by the control units and controls wheels, brakes, a transmission, and a throttle. In the traveling limit mode, the wheel control unit receives fixed steering wheel information, and the signal processing control unit keeps the wheels stopped.
Abstract translation: 提供一种由线系驱动的行驶限位装置以及使用其的车辆的行驶极限方法，以在传感器检测到汽车盗窃和酒醉驾驶时，通过转向行驶限位模式来防止车辆行驶。 传动系统（100），信号处理控制单元（110）和车轮控制单元（130），由有线系统驱动的行驶限位装置。 传感器检测到车辆被盗，或者醉酒驾驶员在车轮后面并输出报警信号。 一旦输出了报警信号，信号处理控制单元将驱动模式转换为行驶极限模式，并输出特定信号。 车轮控制单元根据由控制单元输出的信号来驱动诸如电动机的驱动装置，并控制车轮，制动器，变速器和节气门。 在行驶极限模式下，车轮控制单元接收固定方向盘信息，并且信号处理控制单元保持车轮停止。
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公开(公告)号：KR100728050B1
公开(公告)日：2007-06-13
申请号：KR1020050124627
申请日：2005-12-16
Applicant: 재단법인대구경북과학기술원
Abstract: A device for preventing accidental death from suffocation and cold in a vehicle is provided to mount a temperature and oxygen amount control unit and a telematics terminal for preventing the accidental death from suffocation or cold in hot or cold season. A device for preventing accidental death from suffocation and cold in a vehicle includes a temperature and oxygen sensor(21) for measuring a room temperature and an oxygen amount, and determining whether the measured values are in the range of preset temperature and oxygen amount ranges to output abnormal signals if not. A vision sensor(23) senses existence of people or animals in the vehicle for transmitting the sensing result, wherein the vision sensor photographs internal states of the vehicle periodically. A controller(25) drives the vision sensor according to the abnormal signals output from the temperature and oxygen sensor, and drive window driving motors(27), an air conditioner(29) or an external ventilation unit(31) for controlling the room temperature and the oxygen amount in the vehicle. A telematics terminal(33) receives the photographed images from the vision sensor via the controller and location information of the vehicle from a GPS(Global Positioning Satellite) for transmitting the same to a terminal at a receiving part.
Abstract translation: 本发明提供一种防止车辆窒息和寒冷意外死亡的装置，用于安装温度和氧气量控制单元和远程信息处理终端，以防止在炎热或寒冷季节因窒息或寒冷而意外死亡。 一种用于防止车辆中的窒息和寒冷意外死亡的装置包括：温度和氧气传感器（21），用于测量房间温度和氧气量，并且确定测量值是否在预设温度和氧气量的范围内， 否则输出异常信号。 视觉传感器（23）感测车辆中的人或动物的存在以传送感测结果，其中视觉传感器周期性地拍摄车辆的内部状态。 控制器（25）根据温度和氧气传感器输出的异常信号驱动视觉传感器，驱动窗户驱动马达（27），空调（29）或外部通风单元（31） 和车辆中的氧气量。 远程信息处理终端（33）通过控制器接收来自视觉传感器的拍摄图像，并从GPS（全球定位卫星）接收车辆的位置信息，以将其发送到接收部分的终端。
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公开(公告)号：KR100696889B1
公开(公告)日：2007-03-20
申请号：KR1020050082808
申请日：2005-09-06
Applicant: 재단법인대구경북과학기술원
Inventor： 이선봉
Abstract: 본 발명은 차량 내부 통신 시스템 및 게이트웨이에 관한 발명으로서, 보다 구체적으로 CAN(controller area network)과 일반 전기 배선을 상호 연결하는 게이트웨이 및 이를 포함하는 차량 내부 통신 시스템에 관한 발명이다.
본 발명은 CAN 버스 및 상기 CAN 버스에 접속된 복수의 전장 부품을 포함하는 CAN 통신 그룹; 일반 전기 배선 및 상기 일반 전기 배선에 접속된 복수의 전장 부품을 포함하는 일반 전기 배선 통신 그룹; 및 상기 CAN 통신 그룹 및 상기 일반 전기 배선 통신 그룹 사이에 접속하여, 프로토콜 중계 기능을 수행하는 게이트웨이를 포함하는 차량 내부 통신 시스템을 제공한다.-
公开(公告)号：KR1020070027324A
公开(公告)日：2007-03-09
申请号：KR1020050082808
申请日：2005-09-06
Applicant: 재단법인대구경북과학기술원
Inventor： 이선봉
Abstract: An inner vehicle communication system and a gateway are provided to construct a CAN(Controller Area Network) communication system by using existing electrical components as they are, and to reduce weight of wires equipped inside a vehicle, thereby improving fuel efficiency of the vehicle. A CAN communication group(10) is composed of CAN buses(HS_CAN_HI,HS_CAN_LO,LS_AN_HI,LS_CAN_LO) and a lot of electrical components(11-16) connected to the CAN buses(HS_CAN_HI,HS_CAN_LO,LS_AN_HI,LS_CAN_LO). A general electric wire communication group(30) is composed of general electric wires and a lot of electrical components connected to the general electric wires. A gateway(50) is connected between the CAN communication group(10) and the general electric wire communication group(30), and carries out a protocol relay function.
Abstract translation: 提供内部车辆通信系统和网关以通过使用现有的电气部件来构造CAN（控制器局域网）通信系统，并且减少车辆内部配线的重量，从而提高车辆的燃料效率。 CAN通信组（10）由连接到CAN总线（HS_CAN_HI，HS_CAN_LO，LS_AN_HI，LS_CAN_LO）的CAN总线（HS_CAN_HI，HS_CAN_LO，LS_AN_HI，LS_CAN_LO）和大量电气部件（11-16）组成。 一般的电线通信组（30）由通用电线和大量与一般电线连接的电气部件组成。 网关（50）连接在CAN通信组（10）和通用电线通信组（30）之间，并执行协议中继功能。
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公开(公告)号：KR100829904B1
公开(公告)日：2008-05-16
申请号：KR1020060126782
申请日：2006-12-13
Applicant: 재단법인대구경북과학기술원
CPC classification number: G06K9/4604 , G06K9/6202 , G06K2209/23 , G06T7/149 , G06T7/507 , G06T7/68 , G06T2207/20012
Abstract: A vehicle detecting method using multiple resolution technique is provided to calculate correlation of coefficient between a vehicle area and a vehicle template, using a specific map for checking vehicles ahead and behind accurately through template matching and CCD camera sensors. Light/darkness information is extracted from input images(S100). Contour information is extracted from the light/darkness information and images of multiple resolution are created(S120). Symmetrical information is extracted from the light/darkness information(S150). The contour and symmetrical specific images are created using contour and symmetrical information(S140,S170). The specific map is created by adding the contour and symmetrical specific images(S180). A following vehicle area is calculated using entropy algorithm(S200). An actual vehicle area is selected from the following vehicle area(S270). The correlation of coefficient between the following vehicle area and the vehicle template is calculated by putting the specific map.
Abstract translation: 提供使用多分辨率技术的车辆检测方法，通过模板匹配和CCD相机传感器，使用用于检查前方和后方的车辆的特定地图来计算车辆区域和车辆模板之间的系数的相关性。 从输入图像中提取光/黑度信息（S100）。 从亮/暗信息中提取轮廓信息，并创建多个分辨率的图像（S120）。 从亮/暗信息中提取对称信息（S150）。 使用轮廓和对称信息创建轮廓和对称的特定图像（S140，S170）。 通过添加轮廓和对称特定图像创建特定地图（S180）。 使用熵算法计算跟随车辆面积（S200）。 从后续车辆区域选择实际车辆区域（S270）。 通过放置特定地图来计算以下车辆区域与车辆模板之间的系数的相关性。
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