KR100241375B1 - Lateral inclination compensation system for a vehicle - Google Patents

Lateral inclination compensation system for a vehicle Download PDF

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Publication number
KR100241375B1
KR100241375B1 KR1019970017814A KR19970017814A KR100241375B1 KR 100241375 B1 KR100241375 B1 KR 100241375B1 KR 1019970017814 A KR1019970017814 A KR 1019970017814A KR 19970017814 A KR19970017814 A KR 19970017814A KR 100241375 B1 KR100241375 B1 KR 100241375B1
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KR
South Korea
Prior art keywords
vehicle
control unit
inclination
sensor
detecting
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KR1019970017814A
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Korean (ko)
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KR19980082740A (en
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유용상
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류정열
기아자동차주식회사
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Priority to KR1019970017814A priority Critical patent/KR100241375B1/en
Publication of KR19980082740A publication Critical patent/KR19980082740A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 차량의 선회시 차속, 조향각, 도로의 측방향 기울기 및 각 바퀴에 걸리는 하중을 검출하여 그에 따른 차량의 측방향 기울기를 미리 제어함으로써 승객이 겪을 수 있는 측방의 힘을 미리 최소화 할 수 있도록 하는 차량의 좌우 쏠림 보정장치에 관한 것이다.The present invention detects the vehicle speed, steering angle, the lateral tilt of the road and the load applied to each wheel during turning of the vehicle, and in advance to control the lateral tilt of the vehicle accordingly to minimize the side force that the passenger may experience It relates to a vehicle left and right tilt correction device.

종래에는 차량의 선회시 도로의 노면이 차량의 회전에 알맞게 기울어져 있지 않는 경우에는 승객에게 측력이 작용하여 승차감이 편안하지 못한 문제점이 있었다.In the related art, when the road surface of the road is not inclined appropriately to the rotation of the vehicle when turning the vehicle, there is a problem in that the riding force is not comfortable due to the side force acting on the passenger.

본 발명은 차속을 감지하는 차속센서(10)와 조향각을 검출하는 조향각센서(12), 차체의 기울기를 검출하는 기울기센서(14) 및 차륜에 걸리는 차체의 중량을 감지하도록 각 차륜마다 설치된 하중센서(16)가 콘트롤유니트(18)의 각 입력단에 연결되고, 상기 콘트롤유니트(18)는 상기 각 센서(10)(12)(14)(16)로 부터의 정보를 입력받아 차량의 측방향 기울기를 제어할 수 있는 보정신호를 출력하도록 이루어짐과 더불어 콘트롤유니트(18)의 출력단에는 콘트롤유니트(18)에서 출력되는 보정신호에 따라 차량의 기울기를 조정할 수 있도록 된 액츄에이터(20)가 연결되어 이루어진 발명임.The present invention provides a vehicle speed sensor 10 for detecting a vehicle speed and a steering angle sensor 12 for detecting a steering angle, an inclination sensor 14 for detecting an inclination of the vehicle body, and a load sensor provided for each wheel to detect the weight of the vehicle body that is caught on the wheels. (16) is connected to each input terminal of the control unit 18, the control unit 18 receives the information from the respective sensors 10, 12, 14, 16, the lateral tilt of the vehicle In addition, the invention is made to output a correction signal capable of controlling the control unit 18 and the actuator 20 is connected to the output terminal of the control unit 18 to adjust the inclination of the vehicle according to the correction signal output from the control unit 18 being.

Description

차량의 좌우 쏠림 보정장치Vehicle tilt correction device

본 발명은 차량이 좌측이나 우측으로 선회할때 승차자가 원심력에 의해 선회중심을 향하는 횡방향으로 쏠리게 되는 힘을 상쇄하도록 하는 차량의 좌우 쏠림 보정장치에 관한 것으로, 더욱 상세하게는 차량의 속도, 조향각, 도로의 측방향 기울기 및 각 바퀴에 걸리는 하중을 검출하여 그에 따른 차량의 측방향 기울기를 미리 제어함으로써 승객이 겪을 수 있는 측방향의 힘을 미리 최소화 할 수 있도록 하는 차량의 좌우 쏠림 보정장치에 관한 것이다.The present invention relates to a left and right tilt correction device of the vehicle to allow the rider to cancel the force that is oriented in the lateral direction toward the center of rotation by the centrifugal force when turning the vehicle to the left or right, more specifically the speed, steering angle of the vehicle To detect the lateral inclination of the road and the load applied to each wheel and to control the lateral inclination of the vehicle in advance, thereby minimizing the lateral force that the passenger may experience. will be.

일반적으로 차량에는 바퀴를 통해서 자동차의 중량을 지지하는 차축과 자동차의 외면을 형성하고 있는 차체를 연결하여 주행중에 차축이 노면으로 부터 받는 진동이나 충격을 차체에 직접 전달하지 않도록 하여 차체와 화물의 손상을 방지하고 승차감을 좋게 하기 위한 현가장치가 설치되어 있다.In general, the vehicle is connected to the axle supporting the weight of the vehicle through the wheels and the body forming the outer surface of the vehicle so that the axle does not directly transmit vibrations or shocks received from the road surface to the body while driving. Suspension system is installed to prevent accidents and improve ride comfort.

이는 차체와 바퀴사이에 설치하여 주행중 노면으로부터 전달되는 충격과 바퀴의 진동을 흡수하여 차체에 전달되지 않도록 하는 섀시 스프링과 자동차의 주행중 섀시 스프링이 받는 충격에 의해 발생하는 고유진동을 흡수하여 진동을 빨리 감쇠시켜 승차감을 좋게 하는 쇽 업소버 및 자동차의 선회시 롤링을 감소시켜 차체의 평형을 유지하는 스태빌라이저 등으로 구성되어 자동차의 직진주행시나 선회시 각 구성요소가 적절한 상호 보완적인 작용을 하여 안정된 승차감을 제공하도록 되어 있다.It is installed between the vehicle body and the wheels to absorb vibrations from the road surface and the vibrations of the wheels while driving so that they are not transmitted to the body and the natural vibrations generated by the shocks received by the chassis springs while driving the car. It consists of a shock absorber that attenuates the ride quality and a stabilizer that maintains the equilibrium of the car body by reducing rolling when turning the car.It provides a stable ride with each component appropriately complementing each other when driving straight or turning the car. It is supposed to be.

제1도는 차량 회전시 도로의 측방향 경사면과 승차자에게 미치는 힘을 비교설명하기 위한 도면이다.1 is a view for comparing the force applied to the lateral inclined surface of the road and the rider when the vehicle rotates.

제1(a)도는 승차자의 무게에 의한 힘 A가 지구 중심방향으로 작용하고, 그에 따른 시트의 반력 R이 발생하여 상하 방향의 힘은 상쇄되지만 선회시 발생하는 힘 B는 그대로 남아 승차자가 좌측방향으로 쏠리는 현상이 발생한다.In FIG. 1 (a), the force A due to the weight of the rider acts toward the center of the earth, and thus the reaction force R of the seat is generated to cancel the up and down force, but the force B generated during the turn remains as it is. This is caused by the phenomenon.

제1(b)도는 차량 회전시 도로가 측방향으로 기울어져 있는 경우로써, 여기서 A′는 중력에 의한 힘이며 R′는 반력, B′는 원심력이다. 도면에서 보는 바와 같이 차량의 측방향 기울기 θT를 조정하여 A′, B′의 합력이 R′에 의해 상쇄되도록 하면 승차자는 코너링시에도 측방향의 힘이 작용하지 않게 되어 편안한 승차감을 느낄 수 있게 된다.FIG. 1 (b) shows a case where the road is inclined laterally when the vehicle rotates, where A 'is a force due to gravity, R' is a reaction force, and B 'is a centrifugal force. As shown in the figure, when the lateral tilt θ T of the vehicle is adjusted so that the combined force of A ′ and B ′ is canceled by R ′, the rider cannot feel the lateral force even when cornering so that a comfortable ride can be felt. do.

이와 같이 차량의 좌측이나 우측으로 선회하는 경우, 도로의 노면이 차량의 회전에 알맞게 기울어져 있는 경우에는 차량에 승차하고 있는 승객에게 좌우로의 횡방향 힘이 거의 작용하지 않지만, 도로의 노면이 차량의 회전에 알맞게 기울어져 있지 않는 경우에는 승객에게 느껴지는 횡방향의 힘이 매우 크게 된다. 이런 경우 횡방향의 힘을 줄여 줄 수 있도록 하는 현가 제어장치가 필요로 하다.When turning to the left or right side of the vehicle as described above, when the road surface is inclined to the rotation of the vehicle, the lateral force from side to side is hardly applied to the passengers riding in the vehicle. If it is not inclined to rotate properly, the lateral force felt by the passenger is very large. In this case, suspension control is needed to reduce the lateral force.

본 발명은 상기한 필요성에 의해 발명한 것으로, 차량의 속도, 조향각, 도로의 측방향 기울기 및 각 바퀴에 걸리는 하중을 검출하여 차내의 승객에게 가해지는 측방향 힘을 최소화 할 수 있도록 된 차량의 좌우 쏠림 보정장치를 제공하고자 함에 발명의 목적이 있다.The present invention has been invented by the above-mentioned necessity, the right and left of the vehicle to minimize the lateral force applied to the passengers in the vehicle by detecting the speed of the vehicle, the steering angle, the lateral inclination of the road and the load on each wheel An object of the present invention is to provide a tilt correction device.

상기한 목적을 실현하기 위한 본 발명은 차속을 감지하는 수단과 조향각을 검출하는 수단, 도로의 측방향기울기를 검출하는 수단 그리고 각 바퀴에 걸리는 하중을 감지하는 수단, 상기한 수단들로 부터 입력되는 정보를 연산처리하여 차량의 측방향 기울기를 보정하기 위한 제어신호를 송출하는 콘트롤유니트, 각 차륜측의 현가장치에 설치되어 상기 콘트롤유니트의 보정신호에 따라 차체의 기울기를 조정하는 액츄에이터를 구비하여 이루어진 것이다.The present invention for realizing the above object is a means for detecting a vehicle speed, a means for detecting a steering angle, a means for detecting the lateral slope of the road and a means for detecting the load on each wheel, input from the above means Comprising a control unit for outputting a control signal for correcting the lateral inclination of the vehicle by processing the information, and an actuator installed on the suspension of each wheel side to adjust the inclination of the vehicle body according to the correction signal of the control unit will be.

제1도는 차량 회전시 도로의 측방향 경사면과 승차자에게 미치는 힘을 비교설명하기 위한 도면.1 is a view for comparing the force on the lateral inclined surface of the road and the rider when the vehicle rotates.

제2도는 본 발명의 구성도.2 is a block diagram of the present invention.

제3도는 본 발명의 작용을 설명하기 위한 흐름도이다.3 is a flowchart illustrating the operation of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 차속센서 12 : 조향각센서10: vehicle speed sensor 12: steering angle sensor

14 : 기울기센서 16 : 하중센서14: tilt sensor 16: load sensor

18 : 콘트롤유니트 20 : 액츄에이터18: control unit 20: actuator

이하 본 발명의 구성 및 작용효과를 예시도면에 의거하여 상세히 설명하면 다음과 같다.Hereinafter, the configuration and operation of the present invention will be described in detail with reference to the accompanying drawings.

본 발명은 차속을 감지하는 차속센서(10)와 조향각을 검출하는 조향각센서(12), 차체의 기울기를 검출하는 기울기센서(14) 및 차륜에 걸리는 차체의 중량을 감지하도록 각 차륜마다 설치된 하중센서(16)가 콘트롤유니트(18)의 각 입력단에 연결되고, 상기 콘트롤유니트(18)는 상기 각 센서(10)(12)(14)(16)로 부터의 정보를 입력받아 차량의 측방향 기울기를 제어할 수 있는 보정신호를 출력하도록 이루어짐과 더불어 콘트롤유니트(18)의 출력단에는 콘트롤유니트(18)에서 출력되는 보정신호에 따라 차량의 기울기를 조정할 수 있도록 된 액츄에이터(20)가 연결된 구조로 되어 있다.The present invention provides a vehicle speed sensor 10 for detecting a vehicle speed and a steering angle sensor 12 for detecting a steering angle, an inclination sensor 14 for detecting an inclination of the vehicle body, and a load sensor provided for each wheel to detect the weight of the vehicle body that is caught on the wheels. (16) is connected to each input terminal of the control unit 18, the control unit 18 receives the information from the respective sensors 10, 12, 14, 16, the lateral tilt of the vehicle In addition, the output of the control unit 18 is configured to output a correction signal that can control the control unit 18 has a structure connected to the actuator 20 to adjust the inclination of the vehicle according to the correction signal output from the control unit 18 have.

제2도는 본 발명에 따른 구성도를 도시한 것이다.2 shows a block diagram according to the present invention.

여기서 차속센서(10)는 구동축 등에 설치되어 구동축의 회전을 검출하여 차속을 검출할 수 있도록 이루어진 것이고, 조향각 센서(12)는 운전자의 조향휠 조작에 따른 조향축의 회전을 검출하여 조향각을 검출할 수 있도록 이루어진 것이며, 기울기센서(14)는 도로의 측방향 기울기에 의한 차체의 측방향 기울기를 검출할 수 있도록 이루어진 것으로서 상기 각 센서에서 검출된 신호는 콘트롤유니트(18)로 입력되도록 이루어진 것이다.Here, the vehicle speed sensor 10 is installed on the drive shaft to detect the rotation of the drive shaft to detect the vehicle speed, the steering angle sensor 12 can detect the steering angle by detecting the rotation of the steering shaft according to the steering wheel operation of the driver. The inclination sensor 14 is configured to detect the lateral inclination of the vehicle body by the lateral inclination of the road, and the signal detected by each sensor is input to the control unit 18.

하중센서(16)는 구성도상 하나만 도시되어 있으나 실제로는 전후좌우의 각 차륜에 설치되는 4개의 하중센서로 이루어진 것으로서, 각 하중센서는 각각 별도로 각 차륜에 작용하는 하중을 감지하여 각각의 하중신호를 별도로 콘트롤유니트(18)에 입력시키도록 이루어진 것이다.Although only one load sensor 16 is shown in the construction diagram, it is actually composed of four load sensors installed on each wheel in front, rear, left and right, and each load sensor separately detects the load acting on each wheel and loads each load signal. It is made to input to the control unit 18 separately.

또한 콘트롤유니트(18)의 출력단에 연결되는 액츄에이터(20)도 각 차륜의 현가에 설치되어 각 차륜측 차체의 높낮이를 조정할 수 있도록 이루어진 것으로서, 도면에서는 편의상 1개의 액츄에이터만 도시되어 있으나, 실제로는 각각 별도로 콘트롤유니트(18)에서 보정신호를 입력받아 별도로 차체의 기울기를 조정할 수 있도록 이루어진 것이다.In addition, the actuator 20 connected to the output terminal of the control unit 18 is also installed on the suspension of each wheel to adjust the height of each wheel side of the vehicle body, in the drawing, only one actuator is shown for convenience, but in reality, each Separately, the control unit 18 receives a correction signal to adjust the inclination of the vehicle body separately.

콘트롤유니트(18)는 차속센서(10)와 조향각센서(12), 기울기센서(14) 및 하중센서(16)로 부터의 입력신호에 따라 차체의 측방향 기울기를 조정할 수 있는 제어신호를 액츄에이터(20)로 출력하도록 이루어진 것이다.The control unit 18 is configured to provide a control signal for controlling the lateral inclination of the vehicle body according to input signals from the vehicle speed sensor 10, the steering angle sensor 12, the tilt sensor 14, and the load sensor 16. 20).

제3도는 본 발명에 따라 좌우 쏠림 보정을 위한 콘트롤유니트(18)의 작용을 설명하기 위한 흐름도이다.3 is a flowchart illustrating the operation of the control unit 18 for right and left tilt correction according to the present invention.

먼저 콘트롤유니트(18)는 엔진시동과 함께 차량의 주행이 이루어지게 되면 차속센서(10)와 조향각센서(12)로 부터의 감지신호인 차속 v와 조향각 α를 읽어드린다.First, the control unit 18 reads the vehicle speed v and the steering angle α which are detection signals from the vehicle speed sensor 10 and the steering angle sensor 12 when the vehicle is driven along with the engine start.

이로부터 콘트롤유니트(18)는 차속 v와 조향각 α에 대한 함수인 회전반경 r을 산출한다.From this, the control unit 18 calculates the rotation radius r which is a function of the vehicle speed v and the steering angle α.

차량이 선회시 승객이 받게 되는 원심력 B′는 회전반경 r과 차속 v에 대한 함수로써 상기 결과로 부터 산출한 회전반경 r과 차속 v를 이용하여 산출한다.The centrifugal force B 'received by the passenger when the vehicle is turning is calculated using the rotation radius r and the vehicle speed v calculated from the above results as a function of the rotation radius r and the vehicle speed v.

이에 따라 차량이 유지해야 될 목표각 θT가 결정된다.This determines the target angle θ T that the vehicle should maintain.

이와 함께 콘트롤유니트(18)는 하중센서(16)의 감지신호를 입력받아 차내에 탑승하고 있는 승객이나 화물에 의한 차체의 기울기 θW를 산출하고, 이어 기울기센서(14)를 통해 도로 측면 경사각 θS를 입력받는다.In addition, the control unit 18 receives the detection signal of the load sensor 16 and calculates the inclination θ W of the vehicle body due to passengers or cargoes in the vehicle, and then the inclination angle θ of the road side through the inclination sensor 14. Enter S

상기한 산출결과로 부터 콘트롤유니트(18)가 제어해야 될 제어각 θC는 차량이 유지해야 될 목표각 θT로부터 승객이나 화물에 의한 차체의 기울기 θW와 도로측면 경사각 θS를 뺀 값이 된다.From the above calculation result, the control angle θ C to be controlled by the control unit 18 is obtained by subtracting the inclination angle θ W of the vehicle body by the passenger or cargo from the target angle θ T to be maintained by the vehicle and subtracting the inclination angle θ S of the road side. do.

이와 같이 하여 산출된 제어각 θC는 각 차륜측에 대해 각각 산출되는 것이며, 콘트롤유니트(18)는 각 차륜측에 대해 각각 산출된 제어각 θC를 만족하도록 각 차륜측의 액츄에이터의 목표 위치값을 설정하면서 그에 따른 목표 위치값으로 액츄에이터를 구동한다.The control angle θ C calculated in this way is calculated for each wheel side, and the control unit 18 is the target position value of the actuator on each wheel side to satisfy the control angle θ C calculated for each wheel side, respectively. Drive the actuator to the target position value accordingly.

그리하여 결국 선회시 승객이 측방향으로 받는 힘을 상쇄시킴으로써 승차감을 향상시킬 수 있는 것이다.Thus, it is possible to improve the ride comfort by canceling the lateral force of the passenger during turning.

상기한 바와 같이 본 발명은 차량의 속도, 조향각, 도로의 측방향 기울기 및 각 차륜에 걸리는 하중을 고려하여 차량의 측방향 기울기를 미리 제어하므로 차내의 승객이 겪을 수 있는 측방향의 힘을 미리 최소화 할 수 있어 승객의 승차감 향상 및 안전 운행을 도모할 수 있는 효과가 있다.As described above, the present invention minimizes the lateral force that may be experienced by the passengers in the vehicle since the lateral inclination of the vehicle is controlled in advance in consideration of the speed of the vehicle, the steering angle, the lateral slope of the road, and the load on each wheel. It is possible to improve the passenger comfort and safe driving.

Claims (1)

차속을 감지하는 차속센서(10)와 조향각을 검출하는 조향각센서(12), 차체의 기울기를 검출하는 기울기센서(14) 및 차륜에 걸리는 차체의 중량을 감지하도록 각 차륜마다 설치된 하중센서(16)가 콘트롤유니트(18)의 각 입력단에 연결되어 있고, 상기 콘트롤유니트(18)는 상기 각 센서(10)(12)(14)(16)로 부터의 신호를 입력받아 차량의 측방향 기울기를 제어할 수 있는 보정신호를 출력하도록 이루어짐과 더불어 콘트롤유니트(18)의 출력단에는 콘트롤유니트(18)에서 출력되는 보정신호에 따라 차량의 기울기를 조정하는 액츄에이터(20)가 연결된 차량의 좌우 쏠림 보정장치에 있어서, 상기 콘트롤유니트(18)는 원심력에 의한 차체의 기울기에서 하중에 의한 기울기와 도로 측면 기울기를 뺀 목표 제어각을 유지하도록 액츄에이터(20)로 보정신호를 출력하도록 이루어진 것을 특징으로 하는 차량의 좌우 쏠림 보정장치.A vehicle speed sensor 10 for detecting a vehicle speed, a steering angle sensor 12 for detecting a steering angle, an inclination sensor 14 for detecting an inclination of the vehicle body, and a load sensor 16 provided for each wheel to detect the weight of the vehicle body that is caught on the wheels Is connected to each input of the control unit 18, and the control unit 18 receives signals from the sensors 10, 12, 14 and 16 to control the lateral tilt of the vehicle. In addition to the output of the correction signal to the control unit 18, the output terminal of the control unit 18, the actuator 20 for adjusting the inclination of the vehicle according to the correction signal output from the control unit 18 is connected to the left and right tilt correction device of the vehicle connected The control unit 18 is configured to output a correction signal to the actuator 20 so as to maintain a target control angle obtained by subtracting the inclination by the load from the inclination of the vehicle by the centrifugal force and the road side inclination. Left and right displacement correction apparatus for a vehicle, characterized in that.
KR1019970017814A 1997-05-09 1997-05-09 Lateral inclination compensation system for a vehicle KR100241375B1 (en)

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WO2015030425A1 (en) 2013-08-29 2015-03-05 Kim Sung Jin System for controlling rolling of vehicle and method therefor

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KR100501282B1 (en) * 2002-12-03 2005-07-18 현대자동차주식회사 Centrifugal force control device of vehicle

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JPH0840295A (en) * 1994-07-28 1996-02-13 Mazda Motor Corp Vehicle behavior sensing control device

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JPH0840295A (en) * 1994-07-28 1996-02-13 Mazda Motor Corp Vehicle behavior sensing control device

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WO2015030425A1 (en) 2013-08-29 2015-03-05 Kim Sung Jin System for controlling rolling of vehicle and method therefor
EP3025933A1 (en) * 2013-08-29 2016-06-01 Sung Jin Kim System for controlling rolling of vehicle and method therefor
EP3025933A4 (en) * 2013-08-29 2017-04-05 Sung Jin Kim System for controlling rolling of vehicle and method therefor

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