KR100274002B1 - Method for preventing accelerating in sudden steering - Google Patents

Method for preventing accelerating in sudden steering Download PDF

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KR100274002B1
KR100274002B1 KR1019970071816A KR19970071816A KR100274002B1 KR 100274002 B1 KR100274002 B1 KR 100274002B1 KR 1019970071816 A KR1019970071816 A KR 1019970071816A KR 19970071816 A KR19970071816 A KR 19970071816A KR 100274002 B1 KR100274002 B1 KR 100274002B1
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South Korea
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acceleration
steering
vehicle speed
detected
sensor
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KR1019970071816A
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Korean (ko)
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KR19990052353A (en
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조기한
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정몽규
현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters
    • 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)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

PURPOSE: A method for preventing acceleration in sudden steering is provided to automatically control speed of a vehicle in a sudden rotation by comparing vehicle speed, acceleration, and steering angle speed to prevent sudden acceleration and over steering. CONSTITUTION: A method for preventing acceleration in sudden steering includes a first step of deciding sudden steering and sudden acceleration with acceleration detected from an acceleration position sensor, steering angle speed detected from a steering wheel-sensitivity sensor, and the vehicle speed value detected from a vehicle speed sensor, and a second step of deciding sudden accelerating in the sudden steering and automatically reducing vehicle speed. The first step is composed of deciding the acceleration detected from the acceleration position sensor is over the fixed acceleration(S40) when the vehicle speed detected from the vehicle speed sensor is over the fixed critical vehicle speed(S20) and the steering angle speed detected from the steering wheel-sensitivity sensor is over the fixed critical steering angle speed(S30). The second step is accomplished by automatically controlling the extent of opening and shutting a throttle valve(S50).

Description

자동차의 급조향시 가속 방지 방법How to prevent acceleration during sudden steering of a car

본 발명은 자동차의 속도 제어에 관한 것으로서, 특히 자동차 주행중 돌발사태에 의한 운전자의 급조향과 급가속에 따른 자동차의 속도 증가를 차속, 가속도(가속 페달의 밞힘량), 조향 각속도를 비교하여 자동으로 감소하도록 함으로써 자동차의 안정성을 확보할 수 있도록 하는 자동차의 급조향시 가속 방지 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the speed control of a vehicle, and in particular, a driver's speed steering and sudden speed increase due to a sudden accident while driving a vehicle are automatically compared by comparing the vehicle speed, acceleration (amount of acceleration pedal) and steering angular speed. The present invention relates to a method of preventing acceleration during rapid steering of a vehicle to reduce the safety of the vehicle.

일반적으로 자동차의 안정성을 유지시키기 위한 장치로는 눈길, 빗길 등의 미끄러지기 쉬운 노면에서 가속성 및 선회 안정성을 향상시키는 슬립 컨트롤 기능과 일반도로에서의 주행중 선회 가속시 자동차의 조향 성능을 향상시키는 트랙컨트롤 기능을 갖고 있는 TCS(Traction Control System)장치와, 자동차의 속도에 따라 핸들의 무게(조향력)를 제어하는 것으로 저속에서는 가볍게 중·고속에서는 적당한 무게의 조향감각이 주어지도록 해서 차량을 안정하게 유지하는 ECPS(Electronic Control Power Steering)장치 등이 있다.In general, a device for maintaining vehicle stability includes a slip control function for improving acceleration and turning stability on slippery roads such as snow and rain, and a track control for improving steering performance during turning acceleration during driving on a general road. TCS (Traction Control System) device with function and steering wheel weight (steering force) according to the speed of the car. Electronic Control Power Steering (ECPS).

그러나 자동차 주행중 장애물 돌발시 이를 피하기 위해 운전자는 급조향을 하게된다. 이때, 운전자는 정속 주행시 가속 페달에 발을 올려놓은 상태에서 그대로 급조향을 하게 됨으로써 순간적으로 발에 힘을 주어 급가속이 된다.However, to avoid this in case of an accidental accident while driving, the driver has to steer. At this time, the driver is suddenly steered in a state in which the foot is placed on the accelerator pedal at constant speed, thereby giving a momentary force to the foot, thereby rapidly accelerating.

이로 인해, 자동차는 코너링 상태로 들어가 있으므로 구심력에 의해 오버 스티어링이 되어 안정성을 잃게 되는데, 상술한 장치들에 의한 차량 안정성 유지는 단지 급 출발이나 코너링시에만 적용되고 있다.As a result, the vehicle enters a cornering state and thus loses stability due to oversteering due to centripetal force. The maintenance of vehicle stability by the aforementioned devices is applied only at the time of rapid start or cornering.

따라서, 차속이 고속이면서 급조향과 함께 급가속이 이루어지는 경우엔 조정할 수 없어 사고가 일어나는 문제점이 있다.Therefore, when the vehicle speed is high speed and rapid acceleration is made with rapid steering, there is a problem in that an accident cannot be adjusted.

상술한 바와 같은 문제점을 해소하기 위한 본 발명의 목적은 자동차 주행중 장애물 돌발로 인한 운전자의 급작 조향과 함께 무의식중에 가속 페달에 올려놓은 발에 힘을 가함에 따라 발생하는 급가속 및 오버스티어링을 방지하기 위해 자동차의 차속, 가속도, 조향 각속도을 비교하여 급속 회전시 자동차의 속도를 자동으로 조절할 수 있도록 한 자동차의 급조향시 가속 방지 방법을 제공하는데 있다.SUMMARY OF THE INVENTION An object of the present invention for solving the above problems is to prevent sudden acceleration and oversteering caused by the driver's sudden steering due to an accidental obstacle while driving a vehicle and applying a force to the foot placed on the accelerator pedal unconsciously. The present invention provides a method for preventing acceleration during sudden steering of a vehicle to compare the vehicle speed, acceleration, and steering angular velocity of the vehicle to automatically adjust the speed of the vehicle during rapid rotation.

도 1은 본 발명에 따른 급조향시 가속 방지 장치를 도시한 블록도1 is a block diagram showing an acceleration prevention device during sudden steering according to the present invention;

도 2는 본 발명에 따른 급조향시 가속 방지 과정을 보인 흐름도2 is a flow chart illustrating an acceleration prevention process during sudden steering according to the present invention.

* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

10 : 조향 휠 감도 센서 20 : 차속 센서10: steering wheel sensitivity sensor 20: vehicle speed sensor

30 : 가속 위치 센서(APS) 40 : 제어부30: acceleration position sensor (APS) 40: control unit

50 : 스로틀 밸브50: Throttle Valve

상기 목적을 달성하기 위한 본 발명의 특징은 조향휠의 각속도를 출력하는 조향 휠 감도 센서와, 차속 센서와, 가속 페달에 부착되어 있으면서 가속 페달의 밞힘량(가속도)을 전압으로 변환하여 출력하는 가속 위치 센서(APS)와, 엔진에 흡입되는 공기량을 제어하는 스로틀 밸브를 구비한 자동차의 속도 제어 방법에 있어서; 가속 위치 센서로부터 검출된 가속도가 조향 휠 감도 센서로부터 검출된 조향 각속도와 차속 센서로부터 검출된 차속값에 따라 기 설정된 임계 가속도 이상인지 여부를 판단하는 제 1 과정과; 제 1 과정에서 기 설정된 임계 가속도 이상이면 급조향에 급가속중이라고 판단하여 차속을 자동으로 줄이는 제 2 과정을 포함하는데 있다.A feature of the present invention for achieving the above object is a steering wheel sensitivity sensor for outputting the angular speed of the steering wheel, vehicle speed sensor, acceleration to convert the amount of acceleration (acceleration) of the accelerator pedal to the output while being attached to the accelerator pedal A speed control method for a motor vehicle having a position sensor (APS) and a throttle valve for controlling an amount of air sucked into an engine; Determining whether the acceleration detected from the acceleration position sensor is equal to or greater than a predetermined threshold acceleration according to a steering angular velocity detected from the steering wheel sensitivity sensor and a vehicle speed value detected from the vehicle speed sensor; In the first process, if it is equal to or more than a predetermined threshold acceleration, the method includes determining a rapid acceleration to steer and includes a second process of automatically reducing the vehicle speed.

이하, 본 발명의 구체적인 실시 예를 첨부한 도면을 참조하여 설명하면 다음과 같다.Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

도 1은 본 발명에 따른 자동차의 가속 방지 장치를 도시한 블록도로서, 발광 다이오드와 포토 트랜지스터 사이에 설치된 디스크가 조향 휠과 같이 회전되어 조향휠의 각속도에 따른 신호를 발생하는 조향 휠 감도 센서(10)와, 변속기 츨력축의 회전을 전기적인 펄스 신호로 변환하여 출력하는 차속 센서(20)와, 가속 페달에 부착되어 있으면서 가속 페달의 밞힘량(가속도)을 전압으로 변환하여 출력하는 가속 위치 센서(APS)(30)와, 차속과 조향 각속도 및 가속도에 따른 임계 값들이 저장되어 있는 메모리를 갖고 있으면서 센서들로부터 검출 값을 출력 받아 출력 받은 값에 의해 속도 제어를 위한 제어신호를 출력하는 제어부(40)와, 제어부(40)의 제어신호에 의해 밸브의 개/폐 정도를 조절하여 엔진에 흡입되는 공기량을 제어하는 스로틀 밸브(50)로 구성되어진다.1 is a block diagram illustrating an apparatus for preventing acceleration of a vehicle according to the present invention, in which a disk disposed between a light emitting diode and a photo transistor rotates like a steering wheel to generate a signal according to an angular velocity of the steering wheel. 10), a vehicle speed sensor 20 that converts the rotation of the transmission output shaft into an electrical pulse signal and outputs it, and an acceleration position sensor that is attached to the accelerator pedal and converts the amount of acceleration (acceleration) of the accelerator pedal into voltage and outputs it ( APS (30) and the control unit 40 having a memory that stores the threshold values according to the vehicle speed, steering angular velocity and acceleration, and receives the detection value from the sensors and outputs a control signal for speed control based on the output value. ) And a throttle valve 50 for controlling the amount of air sucked into the engine by adjusting the opening / closing degree of the valve by the control signal of the controller 40. All.

상기와 같이 구성된 자동차에서 본 발명에 따른 가속 방지 장치의 동작 과정을 첨부한 도 3을 참조하여 설명하면 다음과 같다.Referring to Figure 3 attached to the operation of the acceleration preventing device according to the invention in the vehicle configured as described above are as follows.

우선, 제어부(40)의 메모리엔 차속 센서(20)와 조향 휠 감도 센서(10)및 가속 위치 센서(30)로부터 검출되는 값에 따른 임계 값들이 저장되어 있다.First, threshold values corresponding to values detected from the vehicle speed sensor 20, the steering wheel sensitivity sensor 10, and the acceleration position sensor 30 are stored in the memory of the controller 40.

그리고, 자동차가 주행중에는 변속기 출력축 또는 구동축에 설치되어 있는 차속센서(20)가 자동차의 속도를 검출하게 되며, 조향 휠 감도 센서(10)는 발광다이오드와 포토 트랜지스터 사이에 설치된 슬릿 원판이 조향 휠과 같이 회전하면서, 발광 다이오드의 빛이 포토 트랜지스터에 전달되는지의 여부에 따라 조향 각속도를 발생하여 제어부(40)로 출력한다.In addition, while the vehicle is driving, the vehicle speed sensor 20 installed on the transmission output shaft or the drive shaft detects the vehicle speed, and the steering wheel sensitivity sensor 10 includes a steering wheel and a slit disc provided between the light emitting diode and the photo transistor. While rotating together, a steering angular velocity is generated and output to the controller 40 according to whether light of the light emitting diode is transmitted to the photo transistor.

또한, 가속 위치 센서(APS)(30)는 가속 페달에 부착되어 있으면서 가속도(가속 페달의 밟힘량)를 검출하여 제어부(40)로 인가한다.In addition, the acceleration position sensor (APS) 30 is attached to the accelerator pedal and detects the acceleration (the amount of stepping of the accelerator pedal) and applies it to the controller 40.

상술한 바와 같이 동작하는 차속 센서(20)로부터 검출된 차속이 기 설정되 있는 임계 차속이하인 경우엔 조향 휠 감도 센서(10)로부터 검출된 조향 각속도와 가속 위치 센서(30)로부터 검출된 가속도가 제어부(40)의 메모리에 기 설정되 있는 임계 조향 각속도와 임계 가속도에 따른 급조향과 급가속을 나타낸다 하더라도 검출된 차속이 임계 차속 이하이므로 완만한 코너링을 하여 오버스티어링이 일어날 수 없다.When the vehicle speed detected by the vehicle speed sensor 20 operating as described above is less than or equal to a predetermined threshold vehicle speed, the steering angular velocity detected by the steering wheel sensitivity sensor 10 and the acceleration detected by the acceleration position sensor 30 are controlled. Even if the steering and the rapid acceleration according to the threshold steering angular velocity and the threshold acceleration preset in the memory of 40 are detected, since the detected vehicle speed is less than or equal to the threshold vehicle speed, oversteering cannot occur due to smooth cornering.

따라서, 차속 센서(20)로부터 검출된 차속과, 조향 휠 감도 센서(10)로부터 검출된 조향 각속도와, 가속 위치 센서(30)로부터 검출된 가속도 값이 제어부(40)로 인가(S10)되면, 제어부(40)는 차속 센서(20)로부터 검출된 자동차의 속도 즉, 차속이 제어부(40)의 메모리에 기 설정되 있는 임계 차속이상인지를 판단(S20)하여, 기 설정된 임계 차속이하인 경우엔 급조향이나 급가속중이라도 차량 안정 장치인 TCS와 ECPS에 의해 조정 가능하게 되어 안정 주행을 하게된다.Therefore, when the vehicle speed detected by the vehicle speed sensor 20, the steering angular velocity detected by the steering wheel sensitivity sensor 10, and the acceleration value detected by the acceleration position sensor 30 are applied to the controller 40 (S10), The controller 40 determines whether or not the speed of the vehicle detected by the vehicle speed sensor 20, that is, the vehicle speed is greater than or equal to a threshold vehicle speed preset in the memory of the controller 40 (S20). Even during steering or rapid acceleration, the vehicle can be adjusted by TCS and ECPS, which are the vehicle stabilization devices, to ensure stable driving.

그러나, 검출된 차속이 기 설정된 임계 차속 이상이라고 판단되면, 제어부(40)는 다음으로 조향 휠 감도 센서(10)로부터 검출된 조향 각속도 값이 제어부(40)의 메모리에 기 설정되 있는 임계 조향 각속도 이상인지를 판단(S30)하게 된다.However, if it is determined that the detected vehicle speed is equal to or more than the preset threshold vehicle speed, the controller 40 next determines the threshold steering angle speed at which the steering angular velocity value detected from the steering wheel sensitivity sensor 10 is preset in the memory of the controller 40. It is determined whether or not it is abnormal (S30).

검출된 조향 각속도가 기 설정된 임계 조향 각속도 이하면 정상 주행상태로 이동하게 되지만, 기 설정된 임계 조향 각속도 이상이면, 제어부(40)는 다시 검출된 가속도 값이 메모리에 기 설정되 있는 임계 가속도이상인지를 판단(S40)하게 된다.If the detected steering angular velocity is less than or equal to the preset threshold steering angular velocity, the vehicle moves to a normal driving state. However, if the detected steering angular velocity is less than or equal to the preset threshold steering angular velocity, the controller 40 again determines whether the detected acceleration value is greater than or equal to the threshold acceleration preset in the memory. It is determined (S40).

검출된 가속도가 기 설정되 있는 임계 가속도 이하이면 마찬가지로 정상 주행을 하게되고, 기 설정되 있는 임계 가속도 이상이면 제어부(40)는 급조향에 급가속중이라고 판단하여 스로틀 밸브(50)로 제어신호를 출력하여 스로틀 밸브(50)의 개/폐 정도를 조절하여 속도를 조정한다(S50).If the detected acceleration is equal to or less than the preset threshold acceleration, the vehicle is normally driven. If the detected acceleration is equal to or greater than the preset threshold acceleration, the controller 40 determines that it is rapidly accelerating to the steer, and outputs a control signal to the throttle valve 50. By adjusting the opening / closing degree of the throttle valve 50 to adjust the speed (S50).

이상에서 설명한 바와 같이 본 발명은 자동차 주행중 장애물 돌발로 인한 운전자의 급작 조향과 함께 무의식중에 가속 페달에 올려놓은 발에 힘을 가함에 따라 발생하는 급가속 및 오버스티어링을 자동차의 차속, 가속도, 조향 각속도을 비교하여 가속정도를 조절하므로, 자동차의 급조향시 급가속을 방지함으로써 자동차의 안전성을 유지시키는 효과가 있다.As described above, the present invention provides the vehicle's speed, acceleration, steering angular velocity of the vehicle with sudden acceleration and oversteering, which are caused by the driver's sudden steering due to an accidental obstacle while driving the vehicle and the force applied to the foot placed on the accelerator pedal unconsciously. By adjusting the degree of acceleration in comparison, there is an effect of maintaining the safety of the car by preventing sudden acceleration during steep steering of the car.

Claims (3)

조향휠의 각속도를 출력하는 조향 휠 감도 센서(10)와, 차속 센서(20)와, 가속 페달에 부착되어 있으면서 가속 페달의 밞힘량(가속도)을 전압으로 변환하여 출력하는 가속 위치 센서(APS)(30)와, 엔진에 흡입되는 공기량을 제어하는 스로틀 밸브(50)를 구비한 자동차의 속도 제어 방법에 있어서,A steering wheel sensitivity sensor 10 for outputting the angular velocity of the steering wheel, a vehicle speed sensor 20, and an acceleration position sensor (APS) which is attached to the accelerator pedal and converts the amount of acceleration (acceleration) of the accelerator pedal into voltage and outputs it. In the speed control method of the vehicle provided with 30 and the throttle valve 50 which controls the amount of air sucked into an engine, 상기 가속 위치 센서(30)로부터 검출된 가속도와 상기 조향 휠 감도 센서(10)로부터 검출된 조향 각속도와 상기 차속 센서(20)로부터 검출된 차속값에 기초하여 급조향, 급가속 상태인지를 판단하는 제 1 과정과;Determining whether it is in a steep steering or rapid acceleration state based on the acceleration detected by the acceleration position sensor 30 and the steering angular velocity detected by the steering wheel sensitivity sensor 10 and the vehicle speed value detected by the vehicle speed sensor 20. A first process; 상기 급조향에 급가속중이라고 판단하여 차속을 자동으로 줄이는 제 2 과정을 포함하는 것을 특징으로 하는 자동차의 급조향시 가속 방지 방법.And a second process of automatically reducing a vehicle speed by determining that the rapid steering is under rapid acceleration. 제 1 항에 있어서, 상기 제 1 과정은 상기 차속 센서(20)로부터 검출된 차속이 기 설정되 있는 임계 차속이상이고, 상기 조향 휠 감도 센서(10)로부터 검출된 조향 각속도가 기 설정된 임계 조향 각속도 이상일 경우에 상기 가속 위치 센서(30)로부터 검출된 가속도가 기 설정된 임계 가속도 이상인지를 판단하게 되는 단계로 이루어지는 것을 특징으로 하는 자동차의 급조향시 가속 방지 방법.According to claim 1, wherein the first process is the vehicle speed detected from the vehicle speed sensor 20 is more than a predetermined threshold vehicle speed, the steering angular velocity detected from the steering wheel sensitivity sensor 10 is a predetermined threshold steering angular velocity And if it is abnormal, determining whether the acceleration detected from the acceleration position sensor 30 is equal to or greater than a predetermined threshold acceleration. 제 1 항에 있어서, 상기 제 2 과정은 자동으로 상기 스로틀 밸브(50)의 개/폐 정도를 조절하는 것에 의해 이루어지는 것을 특징으로 하는 자동차의 급조향시 가속 방지 방법.The method of claim 1, wherein the second process is performed by automatically adjusting the opening / closing degree of the throttle valve (50).
KR1019970071816A 1997-12-22 1997-12-22 Method for preventing accelerating in sudden steering KR100274002B1 (en)

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