KR100391352B1 - Vehicle control device and method for changing threshold according to road condition - Google Patents

Vehicle control device and method for changing threshold according to road condition Download PDF

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Publication number
KR100391352B1
KR100391352B1 KR10-1998-0024173A KR19980024173A KR100391352B1 KR 100391352 B1 KR100391352 B1 KR 100391352B1 KR 19980024173 A KR19980024173 A KR 19980024173A KR 100391352 B1 KR100391352 B1 KR 100391352B1
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South Korea
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angular velocity
vehicle
deviation
threshold value
modeling
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KR10-1998-0024173A
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Korean (ko)
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KR20000003073A (en
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성 현 윤
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주식회사 만도
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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
    • 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
    • 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
    • B60W40/068—Road friction coefficient
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system

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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)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

본 발명은 노면상태에 따라 임계값을 가변하는 차량제어장치 및 그 방법에 관한 것으로, 차량에 마련된 각속도센서를 통해 측정각속도(Ym)를 검출하고, 상기 차량에 마련된 조향각센서 및 차륜속도센서를 통해 검출한 조향각과 차륜속도에 따라 연산각속도(Yc)를 검출하며, 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차에 따라 노면마찰계수를 추정하여 차량의 자세제어를 수행하는 차량제어방법에 있어서, 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차에 따라 노면마찰계수를 추정하고, 상기 편차가 변화하는 패턴에 따라 임계값을 가변적으로 설정하는 단계; 상기 설정단계에서 설정된 임계값에 따른 연산식을 통해 선회시의 차량의 자세제어를 위한 모델링을 수행하는 단계; 및 상기 모델링의 수행결과에 따라 차륜의 제동력과 엔진출력을 조절하여 선회시의 차량의 자세제어를 수행하는 단계를 특징적으로 구비한다. 본 발명은 측정각속도와 연산각속도의 편차에 근거하여 노면상태를 추정함과 아울러 편차의 변화패턴에 따라 임계값을 가변하여 모델링을 수행하므로 차량의 자세제어동작을 수행하기 위한 제어프로그램을 대폭 간소화할 수 있으며, 차량제어동작의 신뢰도를 증대시킬 수 있는 효과가 있다.The present invention relates to a vehicle control apparatus and a method for varying a threshold value according to a road surface state, and to detect a measured angular velocity (Ym) through an angular velocity sensor provided in a vehicle, and through a steering angle sensor and a wheel speed sensor provided in the vehicle. The vehicle control method detects the calculation angular velocity (Yc) according to the detected steering angle and the wheel speed, and estimates the road friction coefficient according to the deviation between the measured angular velocity (Ym) and the calculation angular velocity (Yc). The method of claim 1, further comprising: estimating a road friction coefficient according to a deviation between the measured angular velocity Ym and the computed angular velocity Yc, and variably setting a threshold value according to a pattern in which the deviation varies; Performing modeling for attitude control of the vehicle at the time of turning by using a calculation formula according to the threshold value set in the setting step; And adjusting the braking force and the engine output of the wheel according to the result of the modeling to perform posture control of the vehicle at the time of turning. The present invention estimates the road surface state based on the deviation between the measured angular velocity and the calculated angular velocity, and performs modeling by varying the threshold value according to the variation pattern of the deviation, thereby greatly simplifying the control program for performing the attitude control operation of the vehicle. It is possible to increase the reliability of the vehicle control operation.

Description

노면상태에 따라 임계값을 가변하는 차량제어장치 및 그 방법Vehicle control device and method for varying threshold according to road surface condition

본 발명은 노면상태에 따라 임계값을 가변하는 차량제어장치 및 그 방법에 관한 것으로, 특히 차량의 주행상태에 따른 측정각속도와 연산각속도의 편차에 근거하여 노면상태를 추정함과 아울러 추정된 노면상태에 따라 편차의 임계값을 가변하므로써 차량의 자세제어동작을 능동적으로 수행하고 모델링에 따른 제어프로그램을 간소화할 수 있도록 한 노면상태에 따라 임계값을 가변하는 차량제어장치 및 그 방법에 관한 것이다.The present invention relates to a vehicle control apparatus and a method for varying a threshold value according to a road surface condition. In particular, the road condition is estimated based on a deviation of a measured angular velocity and a calculated angular velocity according to a driving state of a vehicle. The present invention relates to a vehicle control apparatus and a method for varying a threshold value according to a road surface state to actively perform a posture control operation of a vehicle and to simplify a control program according to modeling by varying a threshold value of a deviation.

일반적으로 전자제어유니트(E.C.U)를 채택하는 차량에서는 운전자의 핸들조작과 페달조작에 따른 차량의 자세제어를 안정적이고 정확하게 수행하기 위해 차량에 마련된 각종 센서들의 검출값에 기초하여 엔진출력과 제동력을 제어하게 된다.In general, a vehicle adopting an electronic control unit (ECU) controls engine output and braking force based on detection values of various sensors provided in the vehicle in order to stably and accurately perform the vehicle attitude control according to the driver's steering wheel operation and the pedal operation. Done.

이와 같이 전자제어방식에 따른 차량에서는 노면상태를 고려하여 ABS제어 또는 트랙션제어를 병행적으로 수행하게 되는데, 이 경우 센서의 검출값에 의존하여 노면상태에 대한 노면마찰계수(μ)를 기준으로 차량의 선회동작등의 자세제어동작을 수행하였다.As described above, in the vehicle according to the electronic control method, ABS control or traction control is performed in consideration of the road surface state. In this case, the vehicle is based on the road friction coefficient (μ) for the road state depending on the detection value of the sensor. Posture control operations such as turning motions were performed.

도 1의 (A)에 도시한 바와 같이 노면마찰계수(μ)가 큰 경우 시간(t1)을 기점으로 차륜속도의 감속율이 완만하게 진행되는 반면에, 도 1의 (B)와 같이 노면마찰계수(μ)가 작은 경우 시간(t1)을 기점으로 차륜속도의 감속율이 급격하게 진행된다.As shown in FIG. 1A, when the road friction coefficient μ is large, the deceleration rate of the wheel speed progresses slowly from the time t1, while the road friction as shown in FIG. 1B is shown. When the coefficient mu is small, the deceleration rate of the wheel speed proceeds rapidly from the time t1.

더욱이 선회주행시 운전자의 가속의지를 충족시키기 위해 각속도센서와 횡가속도센서 및 조향각센서등의 검출값을 기초로 차량의 주행궤적을 추종 및 예측하여 좌우측의 차륜에 가해지는 제동력과 엔진출력을 제어하는 이른바 능동차량제어(VDC)방식하에서는 노면상태에 따라 차량의 자세제어를 수행하기 위한 모델링을 수행하게 된다. 이를 위해 노면상태 즉 노면마찰계수(μ)를 산출하는 과정이 선행된다. 즉, 차량선회시 각속도센서에 의해 검출되는 측정각속도(Ym)와, 조향각과 차륜속도에 의해 연산되는 연산각속도(Yc)의 편차(T)에 따라 노면상태를 인식하게 된다. 구체적으로, 도 2의 (A)에 도시한 바와 같이 노면마찰계수(μ)가 큰 경우에는 측정각속도(Yc)와 연산속도(Ym)의 편차(T)가 작은 반면에, 도 2의 (B)와 같이 노면마찰계수(μ)가 작은 경우에 측정각속도(Ym)와 연산각속도(Yc)의 편차(T)가 상대적으로 크게 되며, 노면상태를 고려하지 않은 이상적인 경우에는 도 3의 (C)와 같이 측정각속도(Ym)와 연산각속도(Yc)가 일치하게 되며, S는 조향각센서에 의해 검출된 조향각을 나타낸다.Furthermore, to satisfy the driver's willingness to drive while turning, the braking force and engine power applied to the left and right wheels are controlled by following and predicting the driving trajectory of the vehicle based on the detected values such as the angular velocity sensor, the lateral acceleration sensor and the steering angle sensor. Under the active vehicle control (VDC) method, modeling is performed to control the attitude of the vehicle according to the road surface condition. For this purpose, a process of calculating a road surface state, that is, a road friction coefficient (μ), is preceded. That is, the road surface state is recognized according to the measured angular velocity Ym detected by the angular velocity sensor during the vehicle turning and the deviation T of the calculated angular velocity Yc calculated by the steering angle and the wheel speed. Specifically, as shown in FIG. 2A, when the road friction coefficient μ is large, the deviation T between the measured angular velocity Yc and the calculation speed Ym is small, whereas FIG. When the road friction coefficient (μ) is small, the deviation T between the measured angular velocity Ym and the computed angular velocity Yc becomes relatively large, and in an ideal case without considering the road surface condition, FIG. As described above, the measured angular velocity Ym and the computed angular velocity Yc coincide with each other, and S represents a steering angle detected by the steering angle sensor.

종래기술에 따르면 각속도센서를 통해 검출된 측정각속도(Ym)와 조향각센서와 차륜속도센서에 의해 연산된 연산각속도(Yc)의 편차(T)가 따라 변화하더라도 그 편차에 대한 임계값을 고정시켜 차량의 자세제어를 수행하기 위한 모델링을 수행하였다. 따라서, 노면상태에 따라 편차(T)가 변화하는 경우 그 변화패턴을 추종하여 그 차이를 보상하기 위한 모델링을 개별적으로 수행하게 되고 모델링에 따른 연산식을 변경해야 하는등 제어프로그램이 복잡해짐은 물론 차량의 자세제어동작이 부정확하게 이루어지는 문제점이 있었다.According to the prior art, even if the deviation (T) of the measured angular velocity (Ym) detected by the angular velocity sensor and the calculated angular velocity (Yc) calculated by the steering angle sensor and the wheel speed sensor changes accordingly, the threshold value for the deviation is fixed to the vehicle. Modeling was performed to perform posture control. Therefore, if the deviation (T) changes according to the road condition, modeling is performed separately to compensate for the difference by following the change pattern, and the control program becomes complicated, such as changing the expression according to the modeling. There was a problem that the attitude control operation of the vehicle is incorrect.

본 발명은 차량에 마련된 센서들로부터 검출한 측정각속도와 연산각속도의 편차에 근거하여 노면상태를 추정함과 아울러 추정된 노면상태에 따라 편차의 임계값을 가변하므로써 차량의 자세제어동작을 능동적으로 수행하고 모델링에 따른 제어프로그램을 간소화할 수 있도록 한 노면상태에 따라 임계값을 가변하는 차량제어장치 및 그 방법을 제공함에 있다.The present invention estimates the road surface state based on the deviation between the measured angular velocity and the calculated angular velocity detected from the sensors provided in the vehicle, and actively performs the attitude control operation of the vehicle by varying the threshold value of the deviation according to the estimated road surface state. The present invention provides a vehicle control apparatus and a method for varying a threshold value according to a road surface state so as to simplify a control program according to modeling.

도 1은 노면상태에 따른 차륜의 감속도를 나타내는 도면,1 is a view showing a deceleration of a wheel according to a road surface state,

도 2는 노면상태에 따른 측정각속도와 연산각속도의 편차를 나타내는 도면,2 is a view showing a deviation between the measured angular velocity and the calculated angular velocity according to the road surface state,

도 3은 본 발명에 따른 노면상태에 따라 임계값을 가변하는 차량제어장치의 구성도,3 is a configuration diagram of a vehicle control apparatus for varying a threshold value according to a road surface condition according to the present invention;

도 4는 본 발명에 따른 노면상태에 따라 임계값을 가변하는 차량제어방법을 나타내는 동작흐름도.4 is an operation flowchart illustrating a vehicle control method of varying a threshold value according to a road surface condition according to the present invention.

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

11 : 각속도센서 12 : 조향각센서11: Angular Speed Sensor 12: Steering Angle Sensor

13 : 차륜속도센서 14 : 전자제어유니트13: wheel speed sensor 14: electronic control unit

15 : ABS제어부 16 : 트랙션제어부15: ABS control unit 16: Traction control unit

상기와 같은 본 발명의 목적은 차량에 마련된 각속도센서를 통해 측정각속도(Ym)를 검출하고, 상기 차량에 마련된 조향각센서 및 차륜속도센서를 통해 검출한 조향각과 차륜속도에 따라 연산각속도(Yc)를 검출하며, 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차에 따라 노면마찰계수를 추정하여 차량의 자세제어를 수행하는 차량제어방법에 있어서, 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차에 따라 노면마찰계수를 추정하고, 상기 편차가 변화하는 패턴에 따라 임계값을 가변적으로 설정하는 단계; 상기 설정단계에서 설정된 임계값에 따른 연산식을 통해 선회시의 차량의 자세제어를 위한 모델링을 수행하는 단계; 및 상기 모델링의 수행결과에 따라 차륜의 제동력과 엔진출력을 조절하여 선회시의 차량의 자세제어를 수행하는 단계에 의하여 달성된다.An object of the present invention as described above is to detect the measured angular velocity (Ym) through the angular velocity sensor provided in the vehicle, and calculate the calculated angular velocity (Yc) according to the steering angle and the wheel speed detected through the steering angle sensor and the wheel speed sensor provided in the vehicle In the vehicle control method for detecting the road surface friction coefficient according to the deviation between the measured angular velocity (Ym) and the calculated angular velocity (Yc), the vehicle attitude control, wherein the measured angular velocity (Ym) and the calculated angular velocity ( Estimating the road friction coefficient according to the deviation of Yc) and variably setting a threshold value according to a pattern in which the deviation varies; Performing modeling for attitude control of the vehicle at the time of turning by using a calculation formula according to the threshold value set in the setting step; And adjusting the braking force and the engine output of the wheel according to the result of the modeling to perform posture control of the vehicle at the time of turning.

상기와 같은 본 발명의 목적은 차량에 마련된 조향각센서와 각속도센서 및 차륜속도센서의 검출값으로부터 측정각속도(Ym)와 연산각속도(Yc)를 각각 산출하여 차량의 자세제어동작을 수행하는 차량의 제어장치에 있어서, 상기 측정각속도(Ym)와 연산각속도(Yc)의 편차(T)에 따라 임계값을 가변적으로 설정하고, 그 임계값에 따른 연산식을 통해 선회시의 차량의 자세제어를 위한 모델링을 수행하고, 그 모델링의 수행결과에 따라 ABS제어부와 연계하에 상기 차량에 가해지는 제동력을 제어함과 아울러 트랙션제어부와 연계하에 엔진출력을 제어하는 전자제어유니트에 의하여 달성된다.An object of the present invention as described above is to calculate the measured angular velocity (Ym) and the calculated angular velocity (Yc) from the detected values of the steering angle sensor, the angular velocity sensor and the wheel speed sensor provided in the vehicle to control the vehicle to perform the attitude control operation of the vehicle. In the apparatus, a threshold value is variably set according to the deviation (T) of the measured angular velocity (Ym) and the calculated angular velocity (Yc), and modeled for controlling the attitude of the vehicle at the time of turning through a calculation formula according to the threshold value. And controlling the braking force applied to the vehicle in conjunction with the ABS control unit according to the modeling result, and controlling the engine output in connection with the traction control unit.

이하, 본 발명의 바람직한 일실시예를 첨부도면을 참조하여 상세히 설명하기로 한다.Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

도 3은 본 발명에 따른 노면상태에 따라 임계값을 가변하는 차량제어장치의 구성도이다. 도시한 바와 같이, 본 발명에 따른 차량제어장치는 차량선회시 각속도를 검출하는 각속도센서(11)와 조향각을 검출하는 조향각센서(12)와, 각 차륜의 차륜속도를 검출하는 차륜속도센서(13)와, 상기 각속도센서(11)를 통해 검출한 측정각속도(Ym)와 상기 조향각센서(12) 및 상기 차륜속도검출부(13)에 의해 검출된 조향각 및 차륜속도에 따라 연산식을 통해 연산각속도(Yc)를 각각 산출하고, 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차(T)에 따라 노면마찰계수(μ)를 추정하는 한편 편차(T)의 변화패턴에 따라 편차(T)에 대한 임계값을 가변적으로 설정하여 모델링을 수행하는 전자제어유니트(14)와, 상기 전자제어유니트(14)와 연계하에 차륜에 가해지는 제동력을 조절하는 ABS제어부(15), 및 상기 전자제어유니트(14)와 연계하에 엔진출력을 제어하는 트랙션제어부(16)를 구비한다.3 is a block diagram of a vehicle control apparatus for varying a threshold value according to a road surface condition according to the present invention. As shown, the vehicle control apparatus according to the present invention includes an angular velocity sensor 11 for detecting an angular velocity during vehicle turning, a steering angle sensor 12 for detecting a steering angle, and a wheel speed sensor 13 for detecting wheel speeds of respective wheels. And an arithmetic angular velocity (Ym) through a calculation formula according to a steering angle and a wheel speed detected by the measured angular velocity Ym detected by the angular velocity sensor 11 and the steering angle sensor 12 and the wheel speed detector 13. Yc) is calculated, and the road friction coefficient μ is estimated according to the deviation T between the measured angular velocity Ym and the computed angular velocity Yc, while the deviation T is calculated according to the variation pattern of the deviation T. Electronic control unit 14 for modeling by setting a threshold value for the variable, ABS control unit 15 for adjusting the braking force applied to the wheel in conjunction with the electronic control unit 14, and the electronic control unit Traction system controlling engine power in conjunction with And a unit (16).

상기 전자제어유니트(14)는 차량이 선회하는 경우 상기 각속도센서(11)와 조향각센서(12) 및 차륜속도센서(13)를 통해 검출한 겁출값에 따라 측정각속도(Ym)와 연산각속도(Yc)를 각각 산출하고, 상기 측정각속도(Ym)와 연산각속도(Yc)의 편차(T)에 따라 노면상태를 추정한다. 상기 전자제어유니트(14)는 노면상태를 추정한 다음 상기 편차(T)의 변화패턴에 따라 상기 편차(T)에 대한 임계값을 가변적으로 설정한다. 즉, 상기 전자제어유니트(14)는 차량선회시 산출되는 편차(T)의 증감상태를 주기적으로 체크하여 추정된 노면마찰계수에 맞게 임계값을 적절하게 설정하게 된다. 이를 위해 상기 전자제어유니트(14)는 상기 편차(T)의 변화패턴에 대응하는 임계값을 테이블로 작성하여 갖추고 있다.The electronic control unit 14 measures the measured angular velocity Ym and the calculated angular velocity Yc according to the detection value detected by the angular velocity sensor 11, the steering angle sensor 12, and the wheel speed sensor 13 when the vehicle is turning. ) Are calculated, and the road surface condition is estimated according to the deviation T between the measured angular velocity Ym and the computed angular velocity Yc. The electronic control unit 14 estimates the road surface condition and then variably sets the threshold value for the deviation T according to the variation pattern of the deviation T. That is, the electronic control unit 14 periodically checks the increase / decrease state of the deviation T calculated at the time of turning the vehicle, and sets the threshold value appropriately according to the estimated road friction coefficient. To this end, the electronic control unit 14 prepares and prepares a threshold value corresponding to the variation pattern of the deviation T as a table.

상기 전자제어유니트(14)는 차량선회시 가변적으로 설정된 임계값에 따라 미리 설정된 연산식을 적용하여 차량의 자세제어를 위한 모델링을 수행하며, 모델링의 수행결과에 따라 부제어부인 ABS제어부(15) 및 트랙션제어부(16)와 연계하에 차량의 자세제어동작을 수행하게 된다.The electronic control unit 14 performs modeling for controlling the attitude of the vehicle by applying a preset equation according to a threshold value that is variably set when the vehicle is turning, and ABS control unit 15 which is a sub-control unit according to the modeling result. And the attitude control operation of the vehicle in connection with the traction control unit 16.

이하에서는 본 발명에 따른 노면상태에 따라 임계값을 가변하는 차량제어방법을 도 4의 동작흐름도에 따라 상세히 설명한다.Hereinafter, a vehicle control method of varying a threshold value according to a road surface condition according to the present invention will be described in detail with reference to the operation flowchart of FIG. 4.

먼저, 상기 전자제어유니트(14)는 차량선회시 상기 각속도센서(11)를 통해 측정각속도(Ym)를 검출한다(제 101단계). 이어, 상기 전자제어유니트(14)는 상기 조향각센서(12)를 통해 검출한 조향각과 상기 차륜속도센서(13)를 통해 각 차륜에 대응하는 차륜속도에 따라 연산각속도(Yc)를 검출한다(제 102단계). 이어, 상기 전자제어유니트(14)는 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차(T)에 따라 노면마찰계수를 추정한다(제 103단계). 이어, 상기 전자제어유니트(14)는 상기 편차(T)의 변화패턴 즉 증감상태를 주기적으로 체크하여 상기 편차(T)에 대한 임계값을 설정한다(제 104단계). 이어, 상기 전자제어유니트(14)는 설정된 임계값에 따라 소정 연산식을 적용하여 모델링을 수행한(제 105단계) 다음 모델링의 수행결과에 따라 부제어부인 ABS제어부(15) 및 트랙션제어부(16)와 연계하에 차량의 자세제어동작을 수행한다(제 106).First, the electronic control unit 14 detects the measured angular velocity Ym through the angular velocity sensor 11 when the vehicle is turning (step 101). Subsequently, the electronic control unit 14 detects the calculation angular velocity Yc according to the steering angle detected through the steering angle sensor 12 and the wheel speed corresponding to each wheel through the wheel speed sensor 13 (the second). Step 102). Subsequently, the electronic control unit 14 estimates a road friction coefficient according to the deviation T between the measured angular velocity Ym and the computed angular velocity Yc (step 103). Subsequently, the electronic control unit 14 periodically checks the variation pattern of the deviation T, that is, the increase or decrease state, and sets a threshold value for the deviation T (step 104). Subsequently, the electronic control unit 14 performs modeling by applying a predetermined equation according to a set threshold value (step 105), and then the ABS control unit 15 and the traction control unit 16, which are sub-control units, according to the modeling result. In step 106, the attitude control operation of the vehicle is performed.

상술한 바와 같이 본 발명에 따르면 상기 전자제어유니트(14)는 상기 측정각속도(Ym)와 연산각속도(Yc)의 편차(T)에 따라 노면상태를 추정하는 한편, 편차(T)의 변화패턴에 따라 임계값을 가변적으로 설정하게 된다. 따라서, 상기 전자제어유니트(14)는 노면상태에 따라 가변적으로 설정되는 임계값을 이용하여 차량의 자세제어를 위한 모델링을 수행하므로 종래에 비하여 제어프로그램을 상당히 줄일 수 있게 된다.As described above, according to the present invention, the electronic control unit 14 estimates the road surface condition according to the deviation T of the measured angular velocity Ym and the computed angular velocity Yc, and is adapted to the variation pattern of the deviation T. Accordingly, the threshold value is variably set. Therefore, the electronic control unit 14 performs modeling for attitude control of the vehicle using a threshold value that is variably set according to the road surface state, thereby significantly reducing the control program.

이상과 같이 본 발명은 측정각속도와 연산각속도의 편차에 근거하여 노면상태를 추정함과 아울러 편차의 변화패턴에 따라 임계값을 가변하여 모델링을 수행하므로 차량의 자세제어동작을 수행하기 위한 제어프로그램을 대폭 간소화할 수 있으며, 차량제어동작의 신뢰도를 증대시킬 수 있는 효과가 있다.As described above, the present invention estimates the road surface state based on the deviation between the measured angular velocity and the computed angular velocity, and performs modeling by varying the threshold value according to the variation pattern of the deviation. It can greatly simplify, and there is an effect that can increase the reliability of the vehicle control operation.

Claims (2)

차량에 마련된 각속도센서를 통해 측정각속도(Ym)를 검출하고, 상기 차량에 마련된 조향각센서 및 차륜속도센서를 통해 검출한 조향각과 차륜속도에 따라 연산각속도(Yc)를 검출하며, 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차에 따라 노면마찰계수를 추정하여 차량의 자세제어를 수행하는 차량제어방법에 있어서,Detects the measured angular velocity (Ym) through the angular velocity sensor provided in the vehicle, detects the calculated angular velocity (Yc) according to the steering angle and the wheel speed detected by the steering angle sensor and the wheel speed sensor provided in the vehicle, and the measured angular velocity (Ym) In the vehicle control method of performing the attitude control of the vehicle by estimating the road friction coefficient in accordance with the deviation of the calculated angular velocity (Yc), 상기 측정각속도(Ym)와 상기 연산각속도(Yc)의 편차에 따라 노면마찰계수를 추정하고, 상기 편차가 변화하는 패턴에 따라 임계값을 가변적으로 설정하는 단계;Estimating a road friction coefficient according to a deviation between the measured angular velocity Ym and the computed angular velocity Yc, and variably setting a threshold value according to a pattern in which the deviation varies; 상기 설정단계에서 설정된 임계값에 따른 연산식을 통해 선회시의 차량의 자세제어를 위한 모델링을 수행하는 단계; 및Performing modeling for attitude control of the vehicle at the time of turning by using a calculation formula according to the threshold value set in the setting step; And 상기 모델링의 수행결과에 따라 차륜의 제동력과 엔진출력을 조절하여 선회시의 차량의 자세제어를 수행하는 단계를 포함하는 것을 특징으로 하는 노면상태에 따라 임계값을 가변하는 차량제어방법.And adjusting the braking force and the engine output of the wheel according to a result of the modeling to perform posture control of the vehicle at the time of turning. 차량에 마련된 조향각센서와 각속도센서 및 차륜속도센서의 검출값으로부터 측정각속도(Ym)와 연산각속도(Yc)를 각각 산출하여 차량의 자세제어동작을 수행하는 차량의 제어장치에 있어서,In the control device of the vehicle for performing the attitude control operation of the vehicle by calculating the measured angular velocity (Ym) and the calculated angular velocity (Yc) from the detected values of the steering angle sensor, the angular velocity sensor and the wheel speed sensor provided in the vehicle, 상기 측정각속도(Ym)와 연산각속도(Yc)의 편차(T)에 따라 임계값을 가변적으로 설정하고, 그 임계값에 따른 연산식을 통해 선회시의 차량의 자세제어를 위한 모델링을 수행하고, 그 모델링의 수행결과에 따라 ABS제어부와 연계하에 상기 차량에 가해지는 제동력을 제어함과 아울러 트랙션제어부와 연계하에 엔진출력을 제어하는 전자제어유니트를 포함하는 것을 특징으로 하는 노면상태에 따라 임계값을 가변하는 차량제어장치.A threshold value is variably set according to the deviation T between the measured angular velocity Ym and the computed angular velocity Yc, and modeling is performed for attitude control of the vehicle at the time of turning by using an equation according to the threshold value. According to the result of the modeling, the threshold value according to the road surface condition is characterized in that it comprises an electronic control unit for controlling the braking force applied to the vehicle in conjunction with the ABS control unit and for controlling the engine output in connection with the traction control unit. Variable vehicle control device.
KR10-1998-0024173A 1998-06-25 1998-06-25 Vehicle control device and method for changing threshold according to road condition KR100391352B1 (en)

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