초록 ▼

A system for estimating vehicle mass includes a control circuit determining an instantaneous vehicle acceleration signal (VA) and an instantaneous vehicle drive force (FDW). As long as a number of preconditions are met, such as vehicle speed within speed range, fueling command above a fueling thresh

A system for estimating vehicle mass includes a control circuit determining an instantaneous vehicle acceleration signal (VA) and an instantaneous vehicle drive force (FDW). As long as a number of preconditions are met, such as vehicle speed within speed range, fueling command above a fueling threshold, gear ratio within a predefined range and VA above an acceleration threshold, the control circuit computes a number of instantaneous vehicle mass estimates (VM) as a function of the VA and FDWvalues. When any one of the preconditions is no longer met, the control circuit computes a vehicle speed change during the next gear shift and disregards the number of vehicle mass estimates if this vehicle speed change is outside predefined boundaries. Otherwise, the control computer processes the number of vehicle mass estimates to form an updated vehicle mass estimate.

대표청구항 ▼

A system for estimating vehicle mass includes a control circuit determining an instantaneous vehicle acceleration signal (VA) and an instantaneous vehicle drive force (FDW). As long as a number of preconditions are met, such as vehicle speed within speed range, fueling command above a fueling thresh

A system for estimating vehicle mass includes a control circuit determining an instantaneous vehicle acceleration signal (VA) and an instantaneous vehicle drive force (FDW). As long as a number of preconditions are met, such as vehicle speed within speed range, fueling command above a fueling threshold, gear ratio within a predefined range and VA above an acceleration threshold, the control circuit computes a number of instantaneous vehicle mass estimates (VM) as a function of the VA and FDWvalues. When any one of the preconditions is no longer met, the control circuit computes a vehicle speed change during the next gear shift and disregards the number of vehicle mass estimates if this vehicle speed change is outside predefined boundaries. Otherwise, the control computer processes the number of vehicle mass estimates to form an updated vehicle mass estimate. ing for a command rejection rule and/or command change rule corresponding to the command; if the rule is detected, retrieving the source information, sensor information and command execution history from the storage; judging conditions included in the command rejection rule and/or command change rule using the information; dismissing the command or changing at least a part of the command when the conditions are satisfied; and executing the command when the conditions are not satisfied. 4. The robot program executing method as claimed in claim 1, wherein the storage further includes an area for storing command execution history, wherein the conditions may further include conditions concerning the command execution history; for executing a command in the program, the method comprising: searching for a command rejection rule and/or command change rule corresponding to the command; if the rule is detected, retrieving the source information and command execution history from the storage; judging conditions included in the command rejection rule and/or command change rule using the information; dismissing the command or changing at least a part of the command when the conditions are satisfied; and executing the command when the conditions are not satisfied. 5. An robot system comprising a command unit for issuing a command to a robot, a storage for storing information, an input unit for inputting information from the outside to the storage, a processing unit for executing a program, and an actuator that operates with a control signal from the processing unit, wherein: the processing unit include a program processing unit for executing a program inputted from the outside; the program includes a command for the actuator; the command may include one or more parameters for designating the speed, distance and/or count; the storage includes at least an area for storing the program, an area for storing command rejection rules for rejecting execution of commands and/or command change rules for changing commands, and an area for storing source information of the program; the command rejection rule includes a command to be rejected and conditions for judging whether or not to reject the command; the command change rule includes a command to be replaced or modified, conditions for judging whether or not to change the command, and an alternative command; and the conditions include conditions concerning at least one selected from the source information of the program, the command and parameters; for executing a command in the program, the robot system performing the procedural steps of: searching for a command rejection rule and/or command change rule corresponding to the command; if the rule is detected, retrieving the source information of the active program from the storage; judging conditions included in the command rejection rule and/or command change rule based on the source information; dismissing the command or executes the alternative command in the command change rule when the conditions are satisfied; and executing the command when the conditions are not satisfied. 6. A program processing unit comprising a command unit for issuing a command to a robot, a storage for storing information, an input unit for inputting information from the outside to the storage, a processing unit for executing a program, and an actuator that operates with a control signal from the processing unit, wherein the processing unit includes: a program interpreter for reading a program from the storage and extracting commands; a command rejection means for judging whether or not to reject a command and dismissing the command when the command is determined to be rejected and/or command change means for judging whether or not to change a command and replacing at least a part of the command by an alternative command when the command is determined to be changed; a command execution means for executing the command or alternative c ommand; and wherein: the command rejection means and/or command change means searches for a command rejection rule including at least conditions for judging whether or not to reject the command and/or command change rule including at least conditions for judging whether or not to change the command and the alternative command for replacing at least a part of the command corresponding to the command; if the rule is detected, retrieves source information of the active program from the storage; judges conditions included in the command rejection rule and/or command change rule using the information; dismisses the command or sends the alternative command in the command change rule to the command execution means when the conditions are satisfied; and sends the command to the command execution means when the conditions are not satisfied. 7. The program processing unit as claimed in claim 6, further comprising one or more sensors for obtaining conditions outside the program processing unit and/or conditions of the unit; wherein for executing a command in the program, the command rejection means and/or command change means searches for a command rejection rule and/or command change rule corresponding to the command, and if the rule is detected, retrieves the source information and input information from the sensor. 8. The program processing unit as claimed in claim 7, wherein the storage further includes an area for storing command execution history, and for executing a command in the program, the command rejection means and/or command change means searches for a command rejection rule and/or command change rule corresponding to the command, and if the rule is detected, retrieves the source information, sensor information and corresponding command execution history. 9. The program processing unit as claimed in claim 6, wherein the storage further includes an area for storing command execution history, and for executing a command in the program, the command rejection means and/or command change means searches for a command rejection rule and/or command change rule corresponding to the command, and if the rule is detected, retrieves the source information and corresponding command execution history. rness et al., 607/005