Back to results
US 12,510,918 B2Granted
Integrated control apparatus for autonomous vehicle
AssigneesHyundai Motor Company, Kia Corporation, Kyung Chang Industrial Co., Ltd.
InventorsJae Wan Cho, Won Jin Jeong, Tae Hee Lee, In Sung Lee, Ji Soo Kim, Dae Yeon Kim
Life of this patent
Estimating the term…
Abstract
An integrated control apparatus for an autonomous vehicle is configured to perform acceleration, deceleration and steering operations of a vehicle by manipulating a joystick lever. Upon steering operation, feedback control for a steering motor is performed using a torque sensor module 800 to realize more precise steering feeling. A sensor configured to detect acceleration or deceleration position of the joystick lever and a sensor configured to detect a steering position of the joystick lever share a single position sensor PCB.
Claims21
An integrated control apparatus for a vehicle, the integrated control apparatus comprising:
- a main body;
- a joystick lever module, which is rotatably coupled to the main body and is configured for being manipulated by a user for acceleration, deceleration and steering of the vehicle;
- an acceleration and deceleration actuator module, which is coupled to the main body and is connected to the joystick lever module for power transmission, the acceleration and deceleration actuator module being configured to generate reactive force upon activation thereof and to return the joystick lever module, which has been rotated for the acceleration or the deceleration of the vehicle, to a neutral position using the generated reactive force of the acceleration and deceleration actuator module;
- and
- a steering actuator module, which is coupled to the main body and is connected to the joystick lever module for power transmission, the steering actuator module being configured to generate reactive force upon activation thereof and to return the joystick lever module, which has been rotated for the steering of the vehicle, to the neutral position using the generated reactive force of the steering actuator module;
- a first position sensor module provided at the joystick lever module and the main body to detect acceleration and deceleration positions of the joystick lever module;
- and
- a second position sensor module provided at the joystick lever module and the main body to detect a steering position of the joystick lever module,
- wherein the first position sensor module and the second position sensor module share a single position sensor PCB, and the single position sensor PCB is provided with a first Hall sensor and a second Hall sensor, which are spaced from each other.
6 more elements
An integrated control apparatus for a vehicle, the integrated control apparatus comprising:
- a main body;
- a joystick lever module, which is rotatably coupled to the main body and is configured for being manipulated by a user for acceleration, deceleration and steering of the vehicle;
- an acceleration and deceleration actuator module, which is coupled to the main body and is connected to the joystick lever module for power transmission, the acceleration and deceleration actuator module being configured to generate reactive force upon activation thereof and to return the joystick lever module, which has been rotated for the acceleration or the deceleration of the vehicle, to a neutral position using the generated reactive force of the acceleration and deceleration actuator module;
- and
- a steering actuator module, which is coupled to the main body and is connected to the joystick lever module for power transmission, the steering actuator module being configured to generate reactive force upon activation thereof and to return the joystick lever module, which has been rotated for the steering of the vehicle, to the neutral position using the generated reactive force of the steering actuator module,
- wherein the steering actuator module is fixed to the main body, and includes a steering motor connected to a steering shifter provided in the joystick lever module for power transmission, and
- wherein a torque sensor module is disposed between the steering shifter and the steering motor to connect the steering shifter and the steering motor to each other, the torque sensor module being configured to detect change of a magnetic field, which is caused by a rotational difference between the steering shifter and the steering motor, upon steering manipulation, and to perform feedback control for operation of the steering motor by a difference between an actual steering manipulating force and a target steering manipulating force using the detected magnetic field.
4 more elements
An integrated control apparatus for a vehicle, the integrated control apparatus comprising:
- a main body;
- a joystick lever module, which is rotatably coupled to the main body and is configured for being manipulated by a user for acceleration, deceleration and steering of the vehicle;
- an acceleration and deceleration actuator module, which is coupled to the main body and is connected to the joystick lever module for power transmission, the acceleration and deceleration actuator module being configured to generate reactive force upon activation thereof and to return the joystick lever module, which has been rotated for the acceleration or the deceleration of the vehicle, to a neutral position using the generated reactive force of the acceleration and deceleration actuator module;
- a steering actuator module, which is coupled to the main body and is connected to the joystick lever module for power transmission, the steering actuator module being configured to generate reactive force upon activation thereof and to return the joystick lever module, which has been rotated for the steering of the vehicle, to the neutral position using the generated reactive force of the steering actuator module;
- a first position sensor module provided at the joystick lever module and the main body to detect acceleration and deceleration positions of the joystick lever module;
- and
- a second position sensor module provided at the joystick lever module and the main body to detect a steering position of the joystick lever module,
- wherein the joystick lever module includes:
- a joystick lever configured for being gripped and manipulated by the user;
- an acceleration and deceleration shifter through which a lower end portion of the joystick lever extends and which includes a first hole, which extends rightward and leftward to allow rightward and leftward rotation of the joystick lever, the acceleration and deceleration shifter being coupled at right and left end portions thereof to the main body via first bearings to be rotatable in forward and backward;
- and
- a steering shifter, which is coupled to the lower end portion of the joystick lever, which extends through the acceleration and deceleration shifter, via a hinge and which includes a second hole, which extends forwards and backwards to allow forward and backward rotation of the joystick lever about the hinge, the steering shifter being coupled at front and rear end portions thereof to the main body via second bearings to be rotatable rightward and leftward,
- wherein the second position sensor module further includes a ball guide to which a permanent magnet is coupled and which is connected to the steering shifter, and
- wherein a first end portion of the ball guide is formed to include a shape of a sphere and is in contact with the steering shifter, and a second end portion of the ball guide extends in a lateral direction of the steering shifter and is coupled to the permanent magnet, the ball guide including protrusions, which project forwards and backwards and are coupled to the main body to be rotatable rightward and leftward.
11 more elements
Dependencies are inferred from the claim text.