An autonomous driving low-level control system according to embodiments receives a target acceleration value, which is an output value of a high-level controller, and directly operates a control object (plant). In the embodiments, the control object is made to stably reach the target value from the moment an enable signal is generated until a torque command is output. In general, acceleration rate (accelerator %) control and braking range (brake degree) control are performed through low-level control, and in the embodiments, a system that performs low-level control with acceleration input values and deceleration input values is provided.

    실시예에 따른 자율주행 하위 제어 시스템은 상위 제어기의 출력값인 목표 가속도값을 입력 받아 제어 대상(plant)을 직접 동작 시킨다. 실시예에서는 이네이블(Enable) 신호가 생성된 순간 부터 토크 명령(Torque Command)이 출력되는 시간 동안 제어대상을 안정적으로 목표값에 도달하게 한다. 일반적으로 하위제어를 통해 가속 비율(accelerator %)제어, 제동 범위(brake degree)를 제어를 수행하므로, 실시예에서는 가속 입력값 및 감속 입력값으로 하위 제어를 수행하는 시스템을 제공한다.


    Access

    Download


    Export, share and cite



    Title :

    AUTONOMOUS DRIVING CHASSIS CONTROL SYSTEM


    Additional title:

    자율주행 하위 제어 시스템


    Contributors:
    YI KYONGSU (author) / HYUN YOUNGJIN (author) / PARK DAEHYUCK (author)

    Publication date :

    2023-07-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    AUTONOMOUS VEHICLE INTERACTION WITH CHASSIS CONTROL SYSTEM TO PROVIDE ENHANCED DRIVING MODES

    LAWS SHAD / TUNG KAR CHUN | European Patent Office | 2023

    Free access

    CHASSIS DOMAIN CONTROLLER FOR AUTONOMOUS DRIVING, AND CONTROL METHOD AND VEHICLE

    HE CHENGKUN / ZHANG JUNZHI / MA RUIHAI et al. | European Patent Office | 2024

    Free access

    Differential chassis driving control system and control method

    LIU ZHIKUO / HU YONGLIANG / ZHANG HUANHUAN | European Patent Office | 2024

    Free access

    Diagnosis and Prognosis of Chassis Systems in Autonomous Driving Conditions

    Sung, Dae-Un / Lee, Jongsoo / Lee, Kyung-Woo et al. | SAE Technical Papers | 2023


    Diagnosis and Prognosis of Chassis Systems in Autonomous Driving Conditions

    Lee, Kyung-Woo / Sung, Dae-Un / Han, Yong Ha et al. | British Library Conference Proceedings | 2023