KR101576391B1 - System and method for controlling car using road information - Google Patents

System and method for controlling car using road information Download PDF

Info

Publication number
KR101576391B1
KR101576391B1 KR1020140121718A KR20140121718A KR101576391B1 KR 101576391 B1 KR101576391 B1 KR 101576391B1 KR 1020140121718 A KR1020140121718 A KR 1020140121718A KR 20140121718 A KR20140121718 A KR 20140121718A KR 101576391 B1 KR101576391 B1 KR 101576391B1
Authority
KR
South Korea
Prior art keywords
road
suspension
control signal
wheel
control
Prior art date
Application number
KR1020140121718A
Other languages
Korean (ko)
Inventor
박찬식
서보석
김태호
Original Assignee
충북대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 충북대학교 산학협력단 filed Critical 충북대학교 산학협력단
Priority to KR1020140121718A priority Critical patent/KR101576391B1/en
Application granted granted Critical
Publication of KR101576391B1 publication Critical patent/KR101576391B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

A vehicle control system of the present invention includes a GPS receiver for receiving a Global Positioning System (GPS) signal, a steering angle, an axle acceleration, a vehicle speed, and the like provided through a GPS signal of the GPS receiver and a CAN (Car Area Network) A storage device for storing acceleration and velocity data, a GPS signal stored in the storage device, a road surface state of the road on which the vehicle travels, a degree of bend, and a slope of the road using a steering angle, an axle acceleration, A suspension in which the drive is controlled under the control of the control device, a control device that updates the road information of the control device, A warning light device for outputting light in accordance with the control of the control device and an alarm for outputting a warning sound under the control of the control device Includes a device, the control system controls the suspension system, the warning device and the alarm device according to the road information. According to the present invention, it is possible to know the road information such as the road surface condition, the degree of bend, the inclination of the road, etc. of the road that has already been operated, thereby automatically controlling the suspension device of the vehicle and improving the ride comfort and safety It is effective.

Description

Technical Field [0001] The present invention relates to a vehicle control system and method using road information,

The present invention stores information related to a road surface condition, a degree of curvature (curvature), a slope of a road, and the like of a road on which a vehicle is traveling, and controls the suspension device of the vehicle, , And a safe driving indication are automatically performed to improve the ride comfort and safety of the driver.

Recently, due to the rapid increase in the number of vehicles, road traffic has become increasingly crowded day by day. The increasing speed of these vehicles is problematic in that they are much faster than the expansion or the speed of the road.

One of the solutions to such traffic congestion is the navigation system. 2. Description of the Related Art Generally, a navigation system includes a navigation message transmitted by a plurality of GPS satellites belonging to a global positioning system (GPS), a detection signal of a plurality of sensors installed on a moving object such as a gyroscope and a speed sensor, Detects the current position of the moving object, maps the current position of the detected moving object to the map data, and displays it on the screen.

Such a navigation system provides a navigation route search and guidance function for navigating the travel route from the departure point to the destination of the moving object through the map data and guiding the moving object to the destination accurately along the travel route.

When the navigation system is used, the present location of the moving object and the shortest path from the current location to the destination can be confirmed, so that the given road network can be efficiently used.

The current navigation only displays information on the position of the vehicle and the shape of the road, and does not display road surface information such as road surface condition, degree of bend, back and forth of the road, and slope of the road. For these roads, it is necessary to raise or prepare warning in advance before reaching the point.

Further, although the suspension device is controlled using data acquired from various sensors provided through a CAN (Car Area Network), which is a data communication network of the present vehicle, the control speed is dependent on the point where the state of the road suddenly changes, There is a problem that it can not do.

Korean Patent Publication No. 10-2011-0071043

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a GPS receiver, a GPS receiver and a plurality of acceleration sensors, steering angle sensors, Data related to road information is collected and stored separately. When driving on the road, this information is used to automatically control the suspension system of the vehicle in advance and improve the ride comfort and safety of the driver by guiding the appropriate speed The present invention provides a vehicle control system and a control method therefor.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a vehicle control system of the present invention comprises a GPS receiver for receiving GPS (Global Positioning System) signals, a GPS signal of the GPS receiver, and a CAN (Car Area Network) A road surface state of the road on which the vehicle is traveling using the GPS signal stored in the storage device, a steering angle, an axle acceleration, a body acceleration and a speed data, A control device for updating the road information including the inclination of the road, a device for absorbing an impact such that the impact of the road surface is not transmitted to the vehicle body or the occupant, a warning light device for outputting light in accordance with the control of the control device, A warning sound device for outputting a warning sound, and the control device controls the suspension device, the warning light device and the warning sound device in accordance with road information.

The control device collects and stores data about the point when the stored road information is not stored at any point on the road, and if there is the stored road information, the control device controls the suspension device, The warning light device and the warning sound device can be controlled.

The control device controls the suspension device of four wheels according to the ruggedness of the road condition of the corresponding point when there is road information stored in advance at a certain point on the road, To generate a suspension control signal.

Figure 112014086882696-pat00001
(1)

Here, C k is the suspension control signal of the wheel k, k = fl (front wheel left wheel), fr (front wheel right wheel), bl (rear wheel left wheel), br , and a za is the average of the vertical (z-axis) acceleration of the axle acceleration.

The control device controls the suspension devices of the left and right wheels according to the degree of curvature of the road at the corresponding point if there is road information stored in advance at a certain point on the road, Thereby generating a device control signal.

Figure 112014086882696-pat00002
(2)

Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xa is the left and right (x axis) acceleration mean of the axle acceleration, θ is the steering angle, K is the proportional constant , And the left side is + and the right side is - with respect to the front surface.

The control device controls the suspension devices of the left and right wheels according to the degree of tilting of the road at the corresponding point on the basis of the stored road information at any point on the road, To generate a suspension control signal.

Figure 112014086882696-pat00003
(3)

Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xla is the x axis acceleration average of the left axle acceleration sensor, and a xra is the x axis of the right axle acceleration sensor It is an acceleration average.

The control device controls the suspension device of the front and rear wheels according to the degree of tilting back and forth of the road at the corresponding point when there is road information stored in advance at a certain point on the road, Lt; RTI ID = 0.0 > control < / RTI >

Figure 112014086882696-pat00004
(4)

Where C fk is the suspension control signal of the front wheel, C bk is the suspension control signal of the rear wheel, a xfa is the z axis acceleration average of the front axle acceleration sensor, a xba is the z axis acceleration of the rear axle acceleration sensor It is average.

The control device controls the warning light device or the alarm sound device to be driven according to the degree of curvature of the road using the steering angle information of the corresponding point if the stored road information is stored at a certain point on the road, A warning signal for controlling the warning light device or the alarm sound device to be driven may be generated.

Figure 112014086882696-pat00005
(5)

Where Cw is the magnitude of the warning signal,? Is the curvature magnitude, and v is the velocity.

A vehicle control method in a vehicle control system for controlling a vehicle using road information including a storage device, a control device, a suspension device, a warning light device, and a beep sound device of the present invention, Collecting and updating road information including a road surface state, a degree of bend, and a slope of a road on which a vehicle travels using a signal, a steering angle, an axle acceleration, a body acceleration and a speed data, Collecting data on the corresponding point and storing the collected road information in the storage device as road information for the corresponding point if the stored road information is not stored in the point, If there is the information, the suspension device, the warning lamp device, And a step of controlling the sound device.

The control device controls the suspension device of four wheels according to the ruggedness of the road condition of the corresponding point when there is road information stored in advance at a certain point on the road, To generate a suspension control signal.

Figure 112014086882696-pat00006
(1)

Here, C k is the suspension control signal of the wheel k, k = fl (front wheel left wheel), fr (front wheel right wheel), bl (rear wheel left wheel), br , and a za is the average of the vertical (z-axis) acceleration of the axle acceleration.

The control device controls the suspension devices of the left and right wheels according to the degree of curvature of the road at the corresponding point if there is road information stored in advance at a certain point on the road, Thereby generating a device control signal.

Figure 112014086882696-pat00007
(2)

Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xa is the left and right (x axis) acceleration mean of the axle acceleration, θ is the steering angle, K is the proportional constant , And the left side is + and the right side is - with respect to the front surface.

The control device controls the suspension devices of the left and right wheels according to the degree of tilting of the road at the corresponding point on the basis of the stored road information at any point on the road, To generate a suspension control signal.

Figure 112014086882696-pat00008
(3)

Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xla is the x axis acceleration average of the left axle acceleration sensor, and a xra is the x axis of the right axle acceleration sensor It is an acceleration average.

The control device controls the suspension device of the front and rear wheels according to the degree of tilting back and forth of the road at the corresponding point when there is road information stored in advance at a certain point on the road, Lt; RTI ID = 0.0 > control < / RTI >

Figure 112014086882696-pat00009
(4)

Where C fk is the suspension control signal of the front wheel, C bk is the suspension control signal of the rear wheel, a xfa is the z axis acceleration average of the front axle acceleration sensor, a xba is the z axis acceleration of the rear axle acceleration sensor It is average.

The control device controls the warning light device or the alarm sound device to be driven according to the degree of curvature of the road using the steering angle information of the corresponding point if the stored road information is stored at a certain point on the road, A warning signal for controlling the warning light device or the alarm sound device to be driven may be generated.

Figure 112014086882696-pat00010
(5)

Where C w is the magnitude of the warning signal, θ is the curvature magnitude, and v is the velocity.

According to the present invention, it is possible to know the road information such as the road surface condition, the degree of bend, the inclination of the road, etc. of the road that has already been operated, thereby automatically controlling the suspension device of the vehicle and improving the ride comfort and safety It is effective.

1 is a block diagram showing a configuration of a vehicle control system using road information according to an embodiment of the present invention.
2 is a flowchart illustrating a vehicle control method using road information according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted in an ideal or overly formal sense unless expressly defined in the present application Do not.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 is a block diagram showing a configuration of a vehicle control system using road information according to an embodiment of the present invention.

1, the vehicle control system of the present invention includes a GPS receiver 110, a storage device 120, a control device 130, a suspension device 140, a warning light device 150, and a warning sound device 160 .

The GPS receiver 110 receives GPS (Global Positioning System) signals.

The storage device 120 stores the GPS signal of the GPS receiver 110 and the steering angle, the axle acceleration, the body acceleration, and the speed data provided through the CAN (Car Area Network), which is an in-vehicle data communication network.

The control device 130 uses the GPS signal stored in the storage device 120 and the road information including the road surface state of the road on which the vehicle travels, the degree of bend, and the slope of the road using the steering angle, the axle acceleration, . ≪ / RTI >

In the present invention, the control instrument handler 130 controls the suspension device 140, the warning light device 150, and the warning sound device 160 according to the road information.

The suspension 140 is a device for absorbing shocks so that the impact of the road surface is not transmitted to the vehicle body or the occupant, and the drive is controlled under the control of the control device 130.

The warning light device 150 serves to output light according to the control of the control device 130.

The beep sound device 160 serves to output a beep sound under the control of the control device 130.

In the present invention, data related to the road surface state, bending degree, slope of the road, etc. of the road on which the vehicle travels are stored, and when the vehicle is traveling on the same road in the future, And the like are automatically performed in advance, thereby improving the riding comfort and safety of the driver.

In the present invention, the road information is updated or added every time the road is run, and is always updated with the latest information.

In one embodiment of the present invention, road information on roads that travel regularly, such as commuting routes, may be stored, and road information previously stored may be used. For example, when there is no stored road information for a road that has traveled three times or more, the vehicle control system of the present invention can be driven to store road information, and control of driving of a suspension device, a warning lamp, .

In another embodiment of the present invention, in the case of a road having real-time construction information through navigation or the like, the road information is stored by driving the vehicle control system of the present invention on the road, and the vehicle suspension device, warning lamp, Can be controlled.

The information on the road surface condition is indicative of the roughness of the road surface, and can be extracted by using a three-axis axle and a car body acceleration sensor currently mounted on most advanced vehicles. That is, the magnitude of the output of the acceleration sensor can be regarded as indicating the roughness of the road surface. Also, the degree of bend of the road can be obtained from the steering angle sensor, and the inclination of the road can be extracted from the 3-axis axle and the vehicle acceleration sensor. Accordingly, these pieces of information are stored in the storage device 120 together with the corresponding road positions.

In one embodiment of the present invention, the storage device 120 may be stored in a separate device with GPS functionality or may be added to the navigation device. The stored information can be used for suspension control, speed warning display, safe driving indication, etc. to improve the ride comfort and safety of the driver when the corresponding road is operated. For example, if the road surface is uneven, the suspension may be set to a soft mode in advance to absorb the impact. If the road surface is flat, the suspension may be set to a hard mode, Can be controlled to be larger. In addition, when the road speed is high and the road inclination is not appropriate, the information about the road may be displayed in advance (indicating safe driving) or a speed warning sound may be generated to assist in safe driving.

In the present invention, in addition to the positional information received from the GPS receiver 110 at a specific point, the vehicle control system transmits data such as the steering angle, the body acceleration, the axle acceleration, and the speed extracted from the CAN, which is the data communication network of the vehicle, Record. It is assumed that the vehicle acceleration and the axle acceleration are obtained from four left / right and front / rear three-axis (xyz) acceleration sensors, respectively. It is also assumed that the greater the suspension control signal, the harder the suspension becomes.

When the vehicle passes a certain point, the suspension device 140 is controlled according to the road conditions using the stored data, and a warning lamp or a warning sound is generated for the speed.

In the present invention, when there is no road information stored for the point at a predetermined distance before reaching the point from the GPS position information when passing the point on the road, the vehicle runs while storing collected data.

On the other hand, when there is road information already stored at a predetermined distance before reaching the point from the GPS position information when the vehicle passes through any point on the road, the following operation is performed. After performing the following operation, when passing through the point, the control device 130 updates the information of the storage device 120 with the currently acquired data and stores it.

① Four-wheel suspension control according to road condition (ruggedness)

And controls the four-wheel suspension device 140 according to the state of the road (ruggedness).

The control device 130 generates a suspension control signal such that it is inversely proportional to the average of the vertical acceleration values of the axle acceleration stored in the storage device 120 and proportional to the speed. That is, as the absolute value of the vertical acceleration is large (meaning that the road is rugged), the smaller the speed, the smaller the suspension control signal is generated, the vertical acceleration value is small The larger the suspension control signal is generated. Where the small suspension control signal is a signal that causes the suspension 140 to be soft and the large suspension control signal is a signal that causes the suspension 140 to be highly elastic.

In the present invention, the magnitude of the suspension control signal for four wheels is determined by the following equation.

Figure 112014086882696-pat00011

Here, C k is the suspension control signal of the wheel k, k = fl (front wheel left wheel), fr (front wheel right wheel), bl (rear wheel left wheel), br , and a za is the average of the vertical (z-axis) acceleration of the axle acceleration.

② Suspension control of the left and right wheels according to the degree of bending of the road

In the present invention, the suspension devices of the left and right wheels are controlled according to the degree of curvature (curvature) of the road.

In the present invention, the suspension of the right wheel is made highly elastic when the road is curved to the left, and the suspension of the left wheel is made highly elastic when the road is curved to the right. That is, when the lateral acceleration value is in the right direction, the suspension device is made to be highly elastic relative to the left suspension device, and the suspension device control signal is generated so as to be opposite in the leftward direction. Here, it is assumed that the right direction of the right and left (x axis) accelerations of the axle acceleration is +, and the left direction is -.

Since the pure left and right acceleration excludes the centrifugal force due to the rotation of the vehicle at the output of the sensor, the suspension control signal magnitudes of the left and right wheels are determined according to the following equation.

Figure 112014086882696-pat00012

Where C kr is the suspension control signal for the right wheel and C kl is the suspension control signal for the left wheel. And, a xa is the lateral acceleration (x axis) acceleration average of the axle acceleration ,? Is the steering angle, and K is the proportional constant. θ is + on the left and - on the right with respect to the front.

③ Control of suspension of left and right wheels according to right and left tilt of road

In the present invention, the left and right suspension devices are controlled in accordance with the degree of tilting of the shape of the road. That is, if leftward, the left suspension is relatively more elastic than the right suspension, and when the vehicle is leaning to the right, the suspension control signal is generated.

In the present invention, the degree of aberration of the road is calculated by the difference between the left and right x-axis axes of acceleration.

In the present invention, the suspension control signal magnitudes of left and right wheels are determined according to the following equation.

Figure 112014086882696-pat00013

Where C kr is the suspension control signal for the right wheel and C kl is the suspension control signal for the left wheel. And a xla is the x-axis acceleration average of the left axle acceleration sensor, and a xra is the x-axis acceleration average of the right axle acceleration sensor.

④ Control of front and rear wheel suspension by front and rear inclination of road

In the present invention, the front-and-rear suspension device is controlled according to the degree that the shape is inclined back and forth. That is, in the forward direction, the front suspension device is made to be highly elastic relative to the rear suspension device, and the suspension device control signal is generated so as to be reversed in the backward direction. In the present invention, the degree of aberration of the road is calculated by the difference between the front and rear z-axis axes of acceleration.

In the present invention, the suspension control signal magnitude of the front and rear wheels is determined according to the following equation.

Figure 112014086882696-pat00014

Where C fk is the suspension control signal of the front wheels and C bk is the suspension control signal of the rear wheels. And a xfa is the z-axis acceleration average of the front axle acceleration sensor, and a xba is the z-axis acceleration average of the rear axle acceleration sensor.

In the present invention, it is preferable that the magnitude of the control signal for the four-wheel suspensions is determined so as to satisfy all of the expressions (1) to (4).

⑤ Warning signal according to degree of bend of road

In the present invention, when the steering angle is greater than a specific value by using the steering angle information, it is a severe curve, thus generating a safe driving warning signal. At this time, the magnitude of the warning signal is generated in proportion to the square of the velocity and the magnitude of the curvature according to the following equation.

Figure 112014086882696-pat00015

Where C w is the magnitude of the warning signal, θ is the curvature magnitude, and v is the velocity.

2 is a flowchart illustrating a vehicle control method using road information according to an embodiment of the present invention.

2, the controller 130 includes a road surface state, a degree of bend, and a slope of a road on which a vehicle travels using a GPS signal collected at the time of vehicle travel, a steering angle, an axle acceleration, And updates the road information (S201).

If there is no stored road information at any point on the road, the control device 130 collects data on the corresponding point and stores the collected road information in the storage device 120 as road information for the corresponding point (S203).

The control device 130 controls the suspension device 140, the warning light device 150 and the warning sound device 160 according to the road information (S203) S205, S207)

While the present invention has been described with reference to several preferred embodiments, these embodiments are illustrative and not restrictive. It will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit of the invention and the scope of the appended claims.

110 GPS receiver 120 storage device
130 Control device 140 Suspension
150 Warning light device 160 Warning sound device

Claims (13)

A GPS receiver for receiving GPS (Global Positioning System) signals;
A storage device for storing a GPS signal of the GPS receiver and a steering angle, an axle acceleration, a body acceleration and a speed data provided through a CAN (Car Area Network) which is an in-vehicle data communication network;
A controller for updating the road information including the road surface state of the road on which the vehicle travels, the degree of bend, and the slope of the road using the GPS signal stored in the storage device and the steering angle, the axle acceleration, ;
An apparatus for absorbing an impact such that an impact of a road surface is not transmitted to a vehicle body or a passenger, the suspension being controlled in accordance with a control of the control apparatus;
A warning light device for outputting light under the control of the control device; And
And a warning sound device for outputting a warning sound under the control of the control device,
The control device controls the suspension device, the warning light device, and the warning sound device in accordance with road information,
The control device collects and stores data about the point when the stored road information is not stored at any point on the road, and if there is the stored road information, the control device controls the suspension device, A warning light device and the warning sound device,
The control device controls the suspension devices of the left and right wheels according to the degree of curvature of the road at the corresponding point if there is road information stored in advance at a certain point on the road, And generates a device control signal.
Figure 112015094663479-pat00028
(2)
Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xa is the left and right (x axis) acceleration mean of the axle acceleration, θ is the steering angle, K is the proportional constant And the left side is + and the right side is - with respect to the front surface.
delete The method according to claim 1,
The control device controls the suspension device of four wheels according to the ruggedness of the road condition of the corresponding point when there is road information stored in advance at a certain point on the road, And a suspension device control signal for controlling the suspension device.
Figure 112015094663479-pat00016
(1)
Here, C k is the suspension control signal of the wheel k, k = fl (front wheel left wheel), fr (front wheel right wheel), bl (rear wheel left wheel), br , and a za is the average of the vertical (z-axis) acceleration of the axle acceleration.
delete The method according to claim 1,
The control device controls the suspension devices of the left and right wheels according to the degree of tilting of the road at the corresponding point on the basis of the stored road information at any point on the road, And a suspension device control signal for controlling the suspension device.
Figure 112015094663479-pat00018
(3)
Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xla is the x axis acceleration average of the left axle acceleration sensor, and a xra is the x axis of the right axle acceleration sensor Acceleration average.
The method according to claim 1,
The control device controls the suspension device of the front and rear wheels according to the degree of tilting back and forth of the road at the corresponding point when there is road information stored in advance at a certain point on the road, And a suspension control signal for the vehicle.
Figure 112015094663479-pat00019
(4)
Where C fk is the suspension control signal of the front wheel, C bk is the suspension control signal of the rear wheel, a xfa is the z axis acceleration average of the front axle acceleration sensor, a xba is the z axis acceleration of the rear axle acceleration sensor Average.
The method according to claim 1,
The controller controls the warning light device or the warning sound device to be driven according to the degree of curvature of the road using the steering angle information of the corresponding point if there is road information stored in advance at a certain point on the road, To generate a warning signal for controlling the warning light device or the warning sound device to be driven.
Figure 112015094663479-pat00020
(5)
Where C w is the magnitude of the warning signal, θ is the curvature magnitude, and v is the velocity.
A vehicle control method in a vehicle control system for controlling a vehicle using road information including a storage device, a control device, a suspension device, a warning light device, and a warning sound device,
The controller collects and updates the road information including the road surface state of the road on which the vehicle travels, the degree of bend, and the slope of the road using the GPS signal collected at the time of vehicle driving and the steering angle, the axle acceleration, step;
If the road information is not stored at any point on the road, the control device collects data for the point and stores the collected road information in the storage device as road information for the corresponding point;
The control device includes a step of controlling the suspension device, the warning light device, and the warning sound device in accordance with the road information stored in advance at any point on the road,
The control device controls the suspension devices of the left and right wheels according to the degree of curvature of the road at the corresponding point if there is road information stored in advance at a certain point on the road, And generates a device control signal.
Figure 112015094663479-pat00029
(2)
Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xa is the left and right (x axis) acceleration mean of the axle acceleration, θ is the steering angle, K is the proportional constant And the left side is + and the right side is - with respect to the front surface.
The method of claim 8,
The control device controls the suspension device of four wheels according to the ruggedness of the road condition of the corresponding point when there is road information stored in advance at a certain point on the road, And a suspension device control signal for controlling the suspension device.
Figure 112014086882696-pat00021
(1)
Here, C k is the suspension control signal of the wheel k, k = fl (front wheel left wheel), fr (front wheel right wheel), bl (rear wheel left wheel), br , and a za is the average of the vertical (z-axis) acceleration of the axle acceleration.
delete The method of claim 8,
The control device controls the suspension devices of the left and right wheels according to the degree of tilting of the road at the corresponding point on the basis of the stored road information at any point on the road, And a suspension device control signal for controlling the suspension device.
Figure 112014086882696-pat00023
(3)
Where C kr is the suspension control signal of the right wheel, C kl is the suspension control signal of the left wheel, a xla is the x axis acceleration average of the left axle acceleration sensor, and a xra is the x axis of the right axle acceleration sensor Acceleration average.
The method of claim 8,
The control device controls the suspension device of the front and rear wheels according to the degree of tilting back and forth of the road at the corresponding point when there is road information stored in advance at a certain point on the road, And a suspension control signal for the vehicle.
Figure 112014086882696-pat00024
(4)
Where C fk is the suspension control signal of the front wheel, C bk is the suspension control signal of the rear wheel, a xfa is the z axis acceleration average of the front axle acceleration sensor, a xba is the z axis acceleration of the rear axle acceleration sensor Average.
The method of claim 8,
The controller controls the warning light device or the warning sound device to be driven according to the degree of curvature of the road using the steering angle information of the corresponding point if there is road information stored in advance at a certain point on the road, The warning signal for controlling the warning light device or the warning sound device to be driven is generated.
Figure 112014086882696-pat00025
(5)
Where C w is the magnitude of the warning signal, θ is the curvature magnitude, and v is the velocity.
KR1020140121718A 2014-09-15 2014-09-15 System and method for controlling car using road information KR101576391B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020140121718A KR101576391B1 (en) 2014-09-15 2014-09-15 System and method for controlling car using road information

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140121718A KR101576391B1 (en) 2014-09-15 2014-09-15 System and method for controlling car using road information

Publications (1)

Publication Number Publication Date
KR101576391B1 true KR101576391B1 (en) 2015-12-22

Family

ID=55081908

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020140121718A KR101576391B1 (en) 2014-09-15 2014-09-15 System and method for controlling car using road information

Country Status (1)

Country Link
KR (1) KR101576391B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109782325A (en) * 2019-03-06 2019-05-21 西南交通大学 Based on particle filter and train speed estimation method combined of multi-sensor information

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05345509A (en) * 1992-06-15 1993-12-27 Oki Electric Ind Co Ltd Suspension controller
JP2004161018A (en) * 2002-09-25 2004-06-10 Aisin Aw Co Ltd Suspension control device for vehicle
KR20090107334A (en) * 2008-04-08 2009-10-13 주식회사 만도 Apparatus for controlling a vehicle electronically and method therefor
KR20110071043A (en) 2009-12-20 2011-06-28 이희성 Intelligent transportation system using information-navigation
KR20140059096A (en) * 2012-11-07 2014-05-15 자동차부품연구원 Curve speed warning methord

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05345509A (en) * 1992-06-15 1993-12-27 Oki Electric Ind Co Ltd Suspension controller
JP2004161018A (en) * 2002-09-25 2004-06-10 Aisin Aw Co Ltd Suspension control device for vehicle
KR20090107334A (en) * 2008-04-08 2009-10-13 주식회사 만도 Apparatus for controlling a vehicle electronically and method therefor
KR20110071043A (en) 2009-12-20 2011-06-28 이희성 Intelligent transportation system using information-navigation
KR20140059096A (en) * 2012-11-07 2014-05-15 자동차부품연구원 Curve speed warning methord

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109782325A (en) * 2019-03-06 2019-05-21 西南交通大学 Based on particle filter and train speed estimation method combined of multi-sensor information

Similar Documents

Publication Publication Date Title
JP6344275B2 (en) Vehicle control device
EP1136792B1 (en) Dangerous area alarm system
JP4736866B2 (en) Navigation device
US20120245817A1 (en) Driver assistance system
US20020022924A1 (en) Propagation of position with multiaxis accelerometer
JP6260166B2 (en) Vehicle display processing device
EP3667639A1 (en) Determination device, determination method, and program
JP2008032542A (en) Route guiding device for vehicle
US11186287B2 (en) Cant estimating method, cant estimating apparatus, and non-transitory computer-readable storage medium storing program
WO2007066613A1 (en) Information recording device, method of recording information, information recording program and computer readable recording medium
EP3184393A1 (en) Travel instruction information generation device, vehicle, and travel instruction information generation method
CN111486860A (en) System and method for determining road inclination angle
US20220089180A1 (en) Control method for driving u-turn using high-definition map
KR101647626B1 (en) Bus Operation Guiding System
JP4425810B2 (en) Step learning system
KR101576391B1 (en) System and method for controlling car using road information
JP2007285712A (en) Vehicle-mounted navigation apparatus
US20210239485A1 (en) System and method for vehicle navigation using terrain text recognition
KR101837393B1 (en) Vehicle, and control method for the same
JP2008114666A (en) Degradation state determining device
CN111619577A (en) Server and vehicle control system
US10670403B2 (en) Method for determining a position of a single-track vehicle and device for carrying out the method
JP5118921B2 (en) Current position calculation device and vehicle
JP2006218950A (en) Corner learning system
JP6996882B2 (en) Map data structure of data for autonomous driving support system, autonomous driving support method, and autonomous driving

Legal Events

Date Code Title Description
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20191203

Year of fee payment: 5