초록 ▼

An operational condition recording apparatus which can record vehicular operational condition information of a vehicle including at least one of running speed, rotational speed of wheels, engine revolving speed, position of a shift, handle steering angle, brake tread power, operational condition of

An operational condition recording apparatus which can record vehicular operational condition information of a vehicle including at least one of running speed, rotational speed of wheels, engine revolving speed, position of a shift, handle steering angle, brake tread power, operational condition of ABS, result of peripheral monitoring and distance between another vehicle, the operational condition recording apparatus includes: a first mode as a recording mode in which the operational condition recording apparatus always records the vehicular operational condition information; and a second mode as the recording mode in which the operation condition recording apparatus records the vehicular operational condition information in more detail compared with that in the first mode, the first and second mode can be switched, wherein the recording mode is switched from the first mode to the second mode when a predetermined determination condition is met.

대표청구항 ▼

An operational condition recording apparatus which can record vehicular operational condition information of a vehicle including at least one of running speed, rotational speed of wheels, engine revolving speed, position of a shift, handle steering angle, brake tread power, operational condition of

An operational condition recording apparatus which can record vehicular operational condition information of a vehicle including at least one of running speed, rotational speed of wheels, engine revolving speed, position of a shift, handle steering angle, brake tread power, operational condition of ABS, result of peripheral monitoring and distance between another vehicle, the operational condition recording apparatus includes: a first mode as a recording mode in which the operational condition recording apparatus always records the vehicular operational condition information; and a second mode as the recording mode in which the operation condition recording apparatus records the vehicular operational condition information in more detail compared with that in the first mode, the first and second mode can be switched, wherein the recording mode is switched from the first mode to the second mode when a predetermined determination condition is met. ster control signal and outputting the thruster control signal to said thruster modulator, wherein said 6-degree-of-freedom controller comprises a control axis selector for selecting an axial direction of said spacecraft on the basis of a deviation between an output from said position/velocity detector and an output from said target position/velocity generator and a deviation between an output from said attitude/angular velocity detector and an output from said target attitude/velocity generator and outputting a control axis deviation signal for only an axial direction that requires control, a control output calculator for determining, in units of axial directions of said spacecraft, whether thruster control is to be executed on the basis of a deviation represented by the control axis deviation signal from said control axis selector and calculating an axial control signal associated with position control and attitude control from the control axis deviation signal for only an axial direction for which it is determined that thruster control need be executed, and a control axis sequence determiner for determining a control sequence of axial directions of said spacecraft on the basis of priority set in advance for the three position axes and three attitude axes of said spacecraft and a deviation represented by the control axis deviation signal from said control axis selector, and outputting the axial control signals for the respective axes in the determined sequence as thruster control signals. 3. An apparatus according to claim 2, wherein said control axis selector comprises a calculation section for calculating the deviation between the output from said position/velocity detector and the output from said target position/velocity generator and the deviation between the output from said attitude/angular velocity detector and the output from said target attitude/angular velocity generator in units of axial directions of said spacecraft, and a comparison section for comparing each of position deviation, velocity deviation, attitude deviation, and angular velocity deviation from said calculation means with a corresponding deviation threshold value set in advance, wherein the control axis deviation signal representing the deviation is output to said control output calculator for only an axial direction of said spacecraft for which the deviation larger than the deviation threshold value is detected. 4. An apparatus according to claim 2, wherein said control output calculator comprises a determination section for determining, in units of axial directions of said spacecraft, whether a state of said spacecraft, which is represented by position deviation and velocity deviation or attitude deviation and angular velocity deviation in the control axis deviation signal, belongs to a controlled region or an uncontrolled region on a phase plane of a position deviation and velocity deviation, or attitude deviation and angular deviation in which the controlled region where thruster control must be executed and the uncontrolled region where thruster control does not have to be executed are set in advance, and a calculation section for calculating the axial control signal on the basis of the control axis deviation signal for only an axial direction in which the state of said spacecraft belongs to the controlled region. 5. An apparatus according to claim 4, wherein the uncontrolled region on the phase plane of the position deviation and velocity deviation, or attitude deviation and angular velocity deviation is set in accordance with a flexible structure of said spacecraft or thruster fuel consumption. 6. An apparatus according to claim 2, wherein said control axis sequence determiner comprises a multiplication section for multiplying a weight value representing priority set in advance for each axial direction of said spacecraft by the deviation represented by the control axis deviation signal in units of corresponding axial di rections, and a sequence determination section for determining the control sequence of the axial directions of said spacecraft on the basis of a multiplication result from said multiplication section, wherein the axial control signals for the respective axes are output to said thruster modulator in the sequence determined by said sequence determination section. 7. An apparatus according to claim 2, wherein the three position axes are an x-axis, y-axis, and z-axis, and the three attitude axes are a roll axis, pitch axis, and yaw axis. 8. An apparatus according to claim 2 wherein said 6-degree-of-freedom controller generates said control signal on the basis of a deviation between an output from said position/velocity detector and an output from said target position/velocity generator and a deviation between said attitude/angular velocity detector and an output from said attitude/angular velocity generator, wherein said 6-degree-of-freedom controller further comprises: a determination section for determining, in units of axial directions of said spacecraft, whether a state of said spacecraft, which is represented by position deviation and velocity deviation or attitude deviation and angular velocity deviation in the control axis deviation signal, belongs to a controlled region or an uncontrolled region on a phase plane of a position deviation and velocity deviation, or attitude deviation and angular deviation in which the controlled region where thruster control must be executed and the uncontrolled region where thruster control does not have to be executed are set in advance in accordance with at least the structure of the spacecraft; and a calculation section for calculating the axial control signal on the basis of the control axis deviation signal for only an axial direction in which the state of the spacecraft belongs in the controlled region, wherein the thruster control signal is generated on the basis of the control axis deviation signal from said control axis selector and the axial control signal from said control output calculator. 9. An apparatus according to claim 8 wherein the uncontrolled region is set in accordance with the structure of the spacecraft and thruster fuel consumption.