KR100308970B1 - Method for controlling auto cruise system of vehicles - Google Patents
Method for controlling auto cruise system of vehicles Download PDFInfo
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- KR100308970B1 KR100308970B1 KR1019990028173A KR19990028173A KR100308970B1 KR 100308970 B1 KR100308970 B1 KR 100308970B1 KR 1019990028173 A KR1019990028173 A KR 1019990028173A KR 19990028173 A KR19990028173 A KR 19990028173A KR 100308970 B1 KR100308970 B1 KR 100308970B1
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- vehicle
- constant speed
- speed
- driving
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- 238000000034 method Methods 0.000 title description 3
- 239000000446 fuel Substances 0.000 claims abstract description 15
- 238000002347 injection Methods 0.000 claims abstract description 10
- 239000007924 injection Substances 0.000 claims abstract description 10
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000002485 combustion reaction Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003292 diminished effect Effects 0.000 description 1
Classifications
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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
- B60K31/02—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 including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
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- 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
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- 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
- B60W40/105—Speed
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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
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/20—Operator actuated switches or levers for cruise control or speed limiting systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/143—Speed control
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- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
자동차 정속 주행 시스템에서 오르막길 또는 내리막길과 같은 언덕길에서 자동차의 주행성을 향상시키기 위하여, 자동차의 운행정보에 따라 자동차 정속 주행 시스템의 동작 조건일 경우, 정속 주행 시스템을 동작하기 위한 인에이블 신호와 정속 주행 차속을 설정하기 위한 신호가 있는지를 판단하여, 인에이블 신호 후, 정속 주행 차속 설정 신호가 있으면, 연료분사 제어를 통해 엔진 출력을 제어하여 정속 주행 차속 설정 신호에 의해 설정된 차속으로 자동차가 정속 주행하도록 한다. 그리고, 자동차의 정속 주행중, 자동차의 주행 차속과 정속 주행 차속 설정 신호에 의해 설정된 차속의 차가 정속 주행 해제를 위한 설정값 이상이 되면, 자동차의 정속 주행을 해제함과 동시에 이를 운전자가 알 수 있도록 표시하여 주는 것으로, 정속 주행 상태에서 자동차가 언덕길을 주행하여 차속이 설정 차속보다 과다하게 변동될 경우 정속 주행을 해제함으로써, 자동차의 등판 능력 및 타행 주행성을 향상시킴과 동시에 언덕길 주행에서의 연비를 향상시키고, 과다한 연료 공급에 따른 불완전 연소를 방지하여 배기가스를 저감시킨다.In order to improve the driving performance of a car on a hill, such as an uphill road or a downhill road, the enable signal and the constant speed drive for operating the constant speed drive system under operating conditions of the vehicle according to the driving information of the vehicle. It is determined whether there is a signal for setting the vehicle speed, and after the enable signal, if there is a constant speed vehicle speed setting signal, the engine output is controlled by fuel injection control so that the vehicle runs at a constant speed at the vehicle speed set by the constant speed vehicle speed setting signal. do. If the vehicle at the vehicle speed set by the vehicle's driving vehicle speed and the vehicle's constant speed vehicle speed setting signal is equal to or greater than the set value for the constant speed driving release, the vehicle is released so that the driver knows it. If the vehicle travels on the hill road in the constant speed driving state and the vehicle speed fluctuates excessively than the set speed, the vehicle stops the constant speed drive, thereby improving the climbing ability and other driving ability of the car, and improving fuel efficiency in the hill road driving. Exhaust gas is reduced by preventing incomplete combustion due to excessive fuel supply.
Description
본 발명은 자동차의 정속 주행 시스템에 관한 것으로, 더욱 상세하게는 자동차 주행을 위한 운전자의 조작이 없어도 항상 설정한 차속으로 차량이 주행할 수 있도록 하는 정속 주행 시스템에 관한 것이다.The present invention relates to a constant speed traveling system of a vehicle, and more particularly, to a constant speed traveling system that allows a vehicle to travel at a set vehicle speed at all times without a driver's operation for driving a vehicle.
일반적으로 자동차의 정속 주행 시스템은 운전자의 운행 편의성을 도모하기 위한 것으로, 자동차의 운행중 운전자의 가감속 동작이 없어도 엔진제어장치가 자동차의 운행 상태에 따라 연료분사제어를 하여 운전자가 설정한 일정 차속으로 주행되도록 하는 것이다.In general, the constant speed driving system of a vehicle is for the convenience of the driver. The engine control unit performs fuel injection control according to the driving state of the vehicle at a constant vehicle speed set by the driver even without the driver's acceleration / deceleration during driving. It is to drive.
그러면, 종래 자동차 정속 주행 시스템의 정속 주행 동작을 간략히 설명한다.Then, the constant speed traveling operation of the conventional vehicle constant speed traveling system will be briefly described.
자동차의 운행중 운전자가 정속 주행을 하기 위하여 인에이블 스위치를 '온'시키고, 차속 설정 스위치를 통해 정속 주행을 하기 위한 차속을 설정하면, 엔진제어장치는 차속이 설정값(30KPH) 이상이며, 변속단이 주행단에 위치하며, 클러치 및 브레이크의 동작이 없을 경우, 연료분사장치(30)를 제어하여 엔진 출력을 제어함으로써 자동차가 항상 설정된 차속으로 주행할 수 있도록 한다.If the driver turns the enable switch on for driving at constant speed and sets the vehicle speed for constant driving through the vehicle speed setting switch, the engine control unit has a vehicle speed of more than the set value (30KPH) Located in this driving stage, when there is no operation of the clutch and brake, the fuel injection device 30 is controlled to control the engine output so that the vehicle can always run at the set vehicle speed.
그리고, 정속 주행중 운전자에 의한 클러치 또는 브레이크 동작이 있으면, 정속 주행을 해제하게 된다.If there is a clutch or brake operation by the driver during the constant speed driving, the constant speed driving is released.
그러나, 이러한 종래 자동차의 정속 주행 시스템에서는 오르막길 주행시 엔진에 전부하(full load)가 걸린 상태에서 차속이 계속 감소하나, 엔진제어장치는 연료분사장치를 제어하여 자동차가 설정 차속으로 정속 주행을 하도록 하므로 자동차의 등판 능력은 떨어지고, 연료 소비만 증가하게 된다.However, in such a constant speed driving system of a conventional vehicle, the vehicle speed continues to decrease while the engine is in full load while driving uphill, but the engine controller controls the fuel injection value so that the vehicle runs at a constant speed at the set vehicle speed. The vehicle's ability to climb is diminished and only fuel consumption is increased.
또한, 내리막길 주행시에는 관성에 의해 차속이 계속 증가하나, 엔진제어장치는 연료분사장치를 제어하여 자동차가 설정 차속으로 정속 주행을 하도록 차속을 감소시키게 되므로 관성에 의한 운전이 불가능하게 되어 자동차의 타행성이 감소하게 된다.In addition, while driving downhill, the vehicle speed continues to increase due to inertia, but the engine control device controls the fuel injection value to reduce the vehicle speed so that the vehicle can run at a constant speed at the set vehicle speed. The planet is reduced.
본 발명은 이와 같은 문제점을 해결하기 위한 것으로, 그 목적은 자동차 정속 주행 시스템에서 오르막길 또는 내리막길과 같은 언덕길에서 자동차의 주행성을 향상시키는 데 있다.The present invention is to solve such a problem, an object of the present invention is to improve the driving performance of a car on a hill, such as uphill or downhill in a constant speed vehicle driving system.
도 1은 본 발명에 따른 자동차의 정속 주행 시스템을 개략적으로 도시한 블록 구성도이고,1 is a block diagram schematically showing a constant speed traveling system of a vehicle according to the present invention;
도 2는 본 발명에 따른 자동차 정속 주행 시스템의 제어 방법을 도시한 동작 순서도이다.2 is an operation flowchart illustrating a control method of a vehicle constant speed traveling system according to the present invention.
상기와 같은 목적을 달성하기 위하여, 본 발명은 정속 주행 상태에서 자동차가 언덕길을 주행하게 되어 차속이 설정 차속에 비해 과다하게 변동될 경우에는 정속 주행을 해제하는 것을 특징으로 한다.In order to achieve the above object, the present invention is characterized in that the vehicle is traveling on the hill road in the constant speed driving state when the vehicle speed is excessively fluctuated compared to the set vehicle speed, characterized in that the constant speed driving is released.
이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 일 실시예를 설명한다.Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.
도 1은 본 발명에 따른 자동차의 정속 주행 시스템을 개략적으로 도시한 블록 구성도로, 운행정보 검출부(10)와 엔진제어장치(20), 연료분사장치(30), 지시등(40)으로 이루어진다.1 is a block diagram schematically illustrating a constant speed driving system of a vehicle according to the present invention, and includes a driving information detecting unit 10, an engine control device 20, a fuel injection device 30, and an indicator lamp 40.
운행정보 검출부(10)는 자동차의 정속 주행 시스템을 동작시키기 위한 운전자의 스위칭 조작에 따른 전기적인 신호를 출력하는 인에이블 스위치(11)와, 자동차 정속 주행 시스템의 주행 차속을 설정하기 위한 운전자의 스위칭 조작에 따른 전기적인 신호를 출력하는 차속설정 스위치(12), 자동차 운행중의 차속을 검출하는 차속 센서(13), 자동차 운행중 운전자의 클러치 조작에 따라 스위칭 되어 전기적인 신호를 출력하는 클러치 스위치(14), 자동차 운행중 운전자의 브레이크 조작에 따라 스위칭 되어 전기적인 신호를 출력하는 브레이크 스위치(15), 자동차 운행중 변속 레버의 위치에 따라 스위칭 되어 전기적인 신호를 출력하는 중립 스위치(16) 등으로 이루어지며, 자동차의 운행중 각종 운행정보를 검출한다.The driving information detection unit 10 includes an enable switch 11 for outputting an electrical signal according to the driver's switching operation for operating the constant speed traveling system of the vehicle, and the driver switching for setting the traveling vehicle speed of the constant speed traveling system of the vehicle. A vehicle speed setting switch 12 for outputting an electrical signal according to an operation, a vehicle speed sensor 13 for detecting a vehicle speed while driving an automobile, and a clutch switch 14 for switching in response to a clutch operation of a driver while driving an automobile and outputting an electrical signal , A brake switch 15 that is switched according to the driver's brake operation while driving the vehicle and outputs an electrical signal, and a neutral switch 16 that is switched according to the position of the shift lever while driving the vehicle and outputs an electrical signal. Detects various driving information during operation.
엔진제어장치(20)는 운행정보 검출부(10)로부터 검출된 각종 운행정보에 따라 엔진 출력 제어 등을 위한 각종 제어 신호를 출력한다.The engine control apparatus 20 outputs various control signals for controlling engine output according to various driving information detected by the driving information detecting unit 10.
연료분사장치(30)는 엔진제어장치(20)의 제어 신호에 따라 연료분사량을 제어하여 엔진 출력을 제어한다.The fuel injection device 30 controls the engine injection amount according to the control signal of the engine control device 20 to control the engine output.
지시등(40)은 엔진제어장치(40)의 제어 신호에 따라 점멸된다.The indicator light 40 blinks in accordance with a control signal of the engine control device 40.
이와 같이 구성된 자동차의 정속 주행 시스템에 따라 본 발명에 따른 자동차 정속 주행 시스템의 제어 방법을 도 2를 참조하여 상세히 설명한다.The control method of the constant speed traveling system according to the present invention according to the constant speed traveling system of the vehicle configured as described above will be described in detail with reference to FIG. 2.
자동차의 운행중 운행정보 검출부(10)에서 각종 운행정보를 검출하면(S1), 엔진제어장치(20)는 운행정보 검출부(10)로부터 수신되는 각종 운행정보를 분석하여 자동차 정속 주행 시스템의 동작 조건인지를 판단한다(S2).When the driving information detection unit 10 detects various driving information while the vehicle is running (S1), the engine control apparatus 20 analyzes various driving information received from the driving information detection unit 10 to determine whether the driving condition of the vehicle constant speed driving system. Determine (S2).
즉, 차속 센서(13)로부터 검출되는 차속이 정속 주행 시스템 동작 설정 차속, 바람직하게는 30KPH이상이며, 변속 레버의 위치가 변속단에 위치하여 중립 스위치(16)로부터 검출되는 스위칭 신호가 '오프'이며, 운전자에 의한 클러치 및 브레이크 조작이 없어 클러치 스위치(14) 및 브레이크 스위치(15)로부터 검출되는 스위칭 신호가 각각 '오프' 상태인지를 판단한다.That is, the vehicle speed detected from the vehicle speed sensor 13 is a constant speed traveling system operation setting vehicle speed, preferably 30 KPH or more, and the position of the shift lever is located at the shift stage so that the switching signal detected from the neutral switch 16 is 'off'. Since there is no clutch and brake operation by the driver, it is determined whether the switching signals detected from the clutch switch 14 and the brake switch 15 are 'off' states, respectively.
그리고, 차속이 30KPH이상이며, 클러치 스위치(14) 및 브레이크 스위치(15), 중립 스위치(16)가 모두 '오프' 상태로 자동차 정속 주행 시스템의 동작 조건이면, 엔진제어장치(20)는 정속 주행 시스템을 동작시키기 위한 인에이블 스위치(11) 및 정속 주행 차속을 설정하기 위한 차속설정 스위치(12)의 스위칭 신호가 있는지를 판단한다(S3, S4).If the vehicle speed is 30 KPH or more, and the clutch switch 14, the brake switch 15, and the neutral switch 16 are all in an 'off' state, the engine control apparatus 20 runs at a constant speed. It is determined whether there is a switching signal of the enable switch 11 for operating the system and the vehicle speed setting switch 12 for setting the constant speed vehicle speed (S3, S4).
이때, 자동차 정속 주행 시스템 동작 조건에서(S1) 운전자가 자동차의 정속 주행 시스템을 동작시키기 위해 인에이블 스위치(11)를 '온'시킨 후(S3), 차속설정스위치(12)를 통해 정속 주행 시스템의 주행 차속을 설정하면(S4), 엔진제어장치(20)는 정속 주행 모드로 진입하여(S5) 연료분사장치(30)를 제어하여 엔진 출력을 제어함으로써 차속설정 스위치(12)에 의해 설정된 차속으로 자동차가 정속 주행을 하도록 한다.At this time, in the operating condition of the constant speed drive system (S1), the driver 'turns on' the enable switch 11 to operate the constant speed drive system of the vehicle (S3), and then the constant speed drive system through the vehicle speed setting switch 12. When the driving vehicle speed of the vehicle is set (S4), the engine controller 20 enters the constant speed driving mode (S5) and controls the fuel injection device 30 to control the engine output to control the vehicle speed set by the vehicle speed setting switch 12. To let the car run at constant speed.
이와 같이 자동차가 설정된 차속으로 정속 주행을 하는 중, 자동차가 언덕길 등을 주행하게 되어 차속 센서(13)로부터 검출되는 주행 차속과 차속설정 스위치(12)에 의해 설정된 정속 주행 차속의 차가 정속 주행 해제를 위한 설정값, 바람직하게는 5KPH이상이 될 경우(S6), 엔진제어장치(20)는 정속 주행 모드를 해제하고, 지시등(40)을 점멸하여 운전자가 정속 주행 모드 해제 상황을 알 수 있도록 한다(S7).In this manner, while the vehicle is traveling at a constant speed at the set vehicle speed, the vehicle travels on a hill road or the like, and the vehicle of the constant speed traveling vehicle speed set by the vehicle speed setting switch 12 and the vehicle traveling speed detected by the vehicle speed sensor 13 cancel the constant speed traveling release. If the set value, preferably 5KPH or more (S6), the engine control device 20 releases the constant speed driving mode, and flashes the indicator 40 so that the driver can know the constant speed driving mode release situation ( S7).
즉, 정속 주행 상태에서 자동차가 오르막길을 주행하게 되어, 엔진에 전부하가 걸린 상태에서 차속 센서(13)로부터 검출되는 주행 차속이 감소되어 차속설정 스위치(12)에 의해 설정된 정속 주행 차속보다 정속 주행 해제를 위한 설정값 이하로 감소될 경우에는 엔진제어장치(20)는 정속 주행 모드를 해제하여 자동차의 등판 능력을 향상시킴과 동시에 연료 소비를 감소시키고, 지시등(40)을 점멸하여 운전자가 정속 주행 모드 해제 상황을 알 수 있도록 한다.That is, the vehicle travels uphill in the constant speed driving state, and the traveling vehicle speed detected by the vehicle speed sensor 13 is reduced while the engine is loaded at full speed, so that the vehicle travels at a constant speed than the constant speed vehicle speed set by the vehicle speed setting switch 12. When it is lowered below the set value for the release, the engine control device 20 releases the constant speed driving mode to improve the climbing ability of the vehicle and at the same time reduces fuel consumption, and flashes the indicator 40 to allow the driver to drive at constant speed. Lets you know the mode release status.
그리고, 정속 주행 상태에서 자동차가 내리막길을 주행하게 되어, 관성에 의해 차속 센서(13)로부터 검출되는 주행 차속이 증가되어 차속설정 스위치(12)에 의해 설정된 정속 주행 차속보다 정속 주행 해제를 위한 설정값 이상으로 증가될 경우에는 엔진제어장치(20)는 정속 주행 모드를 해제하여 자동차의 타행 주행성을 향상시키고, 지시등(40)을 점멸하여 운전자가 정속 주행 모드 해제 상황을 알 수 있도록 한다.Then, the vehicle travels downhill in the constant speed driving state, and the driving vehicle speed detected from the vehicle speed sensor 13 due to inertia is increased, so that the setting for releasing the constant speed traveling than the constant speed traveling vehicle speed set by the vehicle speed setting switch 12 is performed. When it is increased above the value, the engine control apparatus 20 releases the constant speed driving mode to improve the running performance of the vehicle, and blinks the indicator 40 to allow the driver to know the constant speed driving mode release situation.
이와 같이 본 발명은 정속 주행 상태에서 자동차가 언덕길을 주행하여 차속이 설정 차속보다 과다하게 변동될 경우 정속 주행을 해제함으로써, 자동차의 등판 능력 및 타행 주행성을 향상시킴과 동시에 언덕길 주행에서의 연비를 향상시키고, 과다한 연료 공급에 따른 불완전 연소를 방지하여 배기가스를 저감시킬 수 있다.As described above, the present invention releases the constant speed driving when the vehicle travels on the hill road in the constant speed driving state and the vehicle speed fluctuates excessively than the set vehicle speed, thereby improving the climbing ability and the running performance of the vehicle and at the same time improving the fuel efficiency in the hill driving. In addition, exhaust gas can be reduced by preventing incomplete combustion caused by excessive fuel supply.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101481365B1 (en) | 2014-03-03 | 2015-01-14 | 현대자동차주식회사 | Method and system for auto driving improve fuel economy of vehicle |
| US10155519B2 (en) | 2015-11-30 | 2018-12-18 | Hyundai Motor Company | Device for controlling shift of vehicle and method for controlling shift using the same |
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| KR100452259B1 (en) * | 2002-01-21 | 2004-10-08 | 현대자동차주식회사 | Speed controlling method of vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101481365B1 (en) | 2014-03-03 | 2015-01-14 | 현대자동차주식회사 | Method and system for auto driving improve fuel economy of vehicle |
| US10155519B2 (en) | 2015-11-30 | 2018-12-18 | Hyundai Motor Company | Device for controlling shift of vehicle and method for controlling shift using the same |
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