KR100599829B1 - Controlling Apparatus and the method of toe-angle for Automobile - Google Patents

Abstract

The rear wheel toe angle control device and method according to the present invention includes a sensor unit for detecting the turning characteristic of the vehicle, comprising a vehicle speed sensor, a steering angle sensor, a lateral acceleration sensor, a gyro sensor, and a turning characteristic according to a value detected from the sensor unit. And control the toe angle of at least one of the left and right rear wheels according to its turning characteristics, so that the toe angle of the rear wheels can be controlled by selecting a suitable control mode according to the turning characteristics of various vehicles. It has the effect of implementing control.

Turning, vehicle speed sensor, lateral acceleration sensor, steering angle sensor, gyro sensor, rear wheel, toe angle, toe-in, control

Description

Controlling Apparatus and the method of toe-angle for Automobile}             

1 is a block diagram showing the configuration of the rear wheel toe angle control apparatus of a vehicle according to the prior art,

2 is a flowchart illustrating a rear wheel toe angle control method of a vehicle according to the related art;

3 is a block diagram showing the configuration of the rear wheel toe angle control apparatus for a vehicle according to the present invention;

Figure 4 is a flow chart illustrating a rear wheel toe angle control method of a vehicle according to the present invention.

<Explanation of symbols on main parts of the drawings>

60: vehicle speed sensor 62: steering angle sensor

64: lateral acceleration sensor 66: gyro sensor

68: electronic control unit 70: left actuator

72: left rear wheel 74: right actuator

76: right rear wheel

The present invention relates to a rear wheel toe angle control device and method of the vehicle, and more particularly to a rear wheel toe angle control device and method that can selectively control the toe angle of the left and right rear wheels according to the turning characteristics of the vehicle.

In general, the suspension of the vehicle is a device that connects the vehicle body and the wheel, and is supported by springs and shock absorbers in the up and down direction, and in the other direction, by appropriately combining high rigidity and flexibility, It performs the function of mechanically appropriate harmony.

On the other hand, in order to solve the problem of poor control due to the Toe Out phenomenon during the turning of the vehicle, an optimal wheel alignment is realized by actively changing the toe angle of the rear wheel during the turning of the vehicle. The AGCS system (Active Geometry Controlled System) has been developed and applied to ensure more stable driving performance.

1 is a block diagram illustrating a configuration of a rear wheel toe angle control apparatus of a vehicle according to the prior art, and FIG. 2 is a flowchart illustrating a rear wheel toe angle control method of a vehicle according to the prior art.

As shown in FIG. 1, a rear wheel toe angle control device of a vehicle according to the related art includes a vehicle speed sensor 10 that detects a traveling speed of a vehicle, a steering angle sensor 12 that detects a steering angle of a vehicle, and a left side of a vehicle. The left and right actuators 16 connected to the right and left rear wheels 18, respectively, to change the alignment of the left and right rear wheels 18, and the signals input from the vehicle speed sensor 10 and the steering angle sensor 12. It is configured to include an electronic control unit 14 for controlling the operation of the actuator 16.

The vehicle speed sensor 10 is a sensor mounted on the front wheel (not shown) and rear wheel 18 of the vehicle to detect the vehicle speed, and the steering angle sensor 12 is mounted on the steering shaft (not shown) of the vehicle to rotate the vehicle. It is a sensor to detect the direction and rotation amount.

The left and right rear wheels 18 are laterally interconnected by crossmembers (not shown) and supported by the vehicle body, respectively, between the left and right rear wheels 18 and the crossmembers (not shown). Not shown) is connected.

The left / right actuator 16 operates the control arm (not shown) according to the signal of the electronic control unit 14 to change the toe angle of the left / right rear wheel 18. It is mounted between the cross member (not shown) and the cross member (not shown), and includes a hydraulic means (not shown) or a DC motor (not shown) to operate the control arm (not shown).

Referring to the rear wheel toe angle control method of the vehicle according to the prior art configured as described above are as follows.

First, the vehicle speed sensor 10 and the steering angle sensor 12 detect the behavior of the vehicle while driving the vehicle.

When turning the vehicle, the electronic control unit 14 determines whether to turn the vehicle according to the values measured by the vehicle speed sensor 10 and the lateral steering angle sensor 12. (S2)

In addition, the electronic control unit 14 transmits a driving signal to the left and right actuators 16 (S3).

When the left and right actuators 16 are driven, the left and right rear wheels 18 form a toe. (S4)

However, the rear wheel toe angle control apparatus and method according to the related art determine whether to turn according to the value detected from the vehicle speed sensor 10 and the steering angle sensor 12, and simultaneously the left and right actuator 16 By setting only one control mode to control, there is a problem that optimum vehicle control is not achieved because the toe angle of the vehicle cannot be controlled according to various driving conditions.

The present invention has been made to solve the above problems of the prior art, by setting various control modes to selectively control the toe angle of the rear wheel according to the driving state of the vehicle of the vehicle that can implement the optimum vehicle control It is an object of the present invention to provide a rear wheel toe angle control device and method.

The rear wheel toe angle control method of the vehicle according to the present invention for solving the above problems is to determine the turning characteristic according to the turning detection step for detecting the turning of the vehicle, and the value detected in the turning detection step, according to the turning characteristic And a control step of selectively controlling at least one toe angle among the left and right rear wheels.

In addition, the rear wheel toe angle control apparatus of the vehicle according to the present invention includes a vehicle speed sensor for detecting a driving speed of the vehicle, a steering angle sensor for detecting a steering angle of the vehicle, a lateral acceleration sensor for detecting a lateral acceleration of the vehicle, and a vehicle attitude At least one of a sensor unit including a gyro sensor for detecting a sensor, a left / right actuator connected to the left / right rear wheel of the vehicle to change the toe angle, and the left / right actuator according to a signal input from the sensor unit, respectively It characterized in that it comprises an electronic control unit for controlling to operate selectively.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a block diagram showing the configuration of the rear wheel toe angle control apparatus of the vehicle according to the present invention, Figure 4 is a flow chart showing a method of controlling the rear wheel toe angle of the vehicle according to the present invention.

The rear wheel toe angle control device of the vehicle according to the present invention, as shown in Figures 3 and 4, connected to the sensor unit for detecting the running and turning of the vehicle, and the left and right rear wheels of the vehicle, respectively, to change the toe angle An electronic control unit 68 for controlling at least one of the left and right actuators 70 and 74 and the left and right actuators 70 and 74 according to signals input from the sensor unit, respectively. It is configured to include.

The sensor unit includes a vehicle speed sensor 60 for detecting a speed of the vehicle, a steering angle sensor 62 for detecting a steering angle of the vehicle, a lateral acceleration sensor 64 for detecting a lateral acceleration of the vehicle, and a posture of the vehicle. It consists of a gyro sensor 66.

Here, the vehicle speed sensor 60 is a sensor mounted on the front wheel (not shown) and rear wheels 72, 76 of the vehicle to detect the vehicle speed, the steering angle sensor 62 is on the steering shaft (not shown) of the vehicle It is a sensor that detects the rotation direction and amount of rotation of the vehicle.

In addition, the lateral acceleration sensor 64 is a sensor mounted on the vehicle body to measure the lateral acceleration during the rotation of the vehicle, the gyro sensor 66 detects the change in the front and rear and left and right directions of the vehicle to measure the attitude of the vehicle. It is a sensor.

The left and right rear wheels 72 and 76 are connected to each other by a cross member (not shown) and are supported by the vehicle body, respectively, between the left and right rear wheels 72 and 76 and the cross member (not shown). A control arm (not shown) is connected.

The left and right actuators 70 and 74 operate the control arm (not shown) according to the signal of the electronic control unit 68 to change the toe angle of the left and right rear wheels 72 and 76. It is mounted between the control arm (not shown) and the cross member (not shown) so that the hydraulic arm (not shown) or DC motor (not shown) is configured to operate the control arm (not shown). do.

When the signal is input from the sensor unit, the electronic control unit 68 determines a turning characteristic by comparing with a preset value, and performs a different control mode according to each turning characteristic.

The rear wheel toe angle control method of the vehicle according to the present invention configured as described above will be described with reference to FIG. 4.

First, the vehicle speed sensor 60, the steering angle sensor 62, the lateral acceleration sensor 64, the gyro sensor 66 detects the behavior of the vehicle while driving the vehicle (S10).

In the turning detection step, it is detected whether the vehicle is turning from the value measured by the sensor unit (S12).

Thereafter, in the control step, the turning characteristic of the vehicle is determined according to the value detected in the turning detecting step.

The electronic control unit 68 compares the value measured from the sensor unit with a preset value to determine whether the vehicle continuously rotates in the left / right directions. (S14)

In this case, when the vehicle rotates in the left / right direction while continuously changing the rotation direction, the electronic control unit 68 outputs an operation signal so that the left / right actuators 70 and 74 are all operated. .

When both the left and right actuators 70 and 74 are operated (S20), all of the left and right rear wheels 72 and 76 are controlled by toin. (S21)

In addition, even when the vehicle is suddenly turned, by setting the control mode to output the same operation signal as in the case of continuously rotating in the left / right direction, both the left and right actuators 70 and 74 are operated to make the vehicle turn suddenly. It can improve driving stability.

On the other hand, if it is determined that the vehicle does not rotate continuously in the left / right direction and the vehicle is turning in the left direction, the electronic control unit 68 moves the right actuator 74 out of the left / right actuators 70 and 74. Outputs the operation signal so that only the operation is performed.

When the right actuator 74 is operated, the right rear wheel 76 is towed. (S19)

Here, since the rear wheels located outside the turning direction tend to tow out, the right rear wheel 76 is controlled to toe-in when the vehicle turns to the left direction.

On the other hand, if it is determined that the vehicle is rotated in the right direction, the electronic control unit 68 outputs an operation signal such that the left actuator 70 is operated among the left and right actuators 70 and 74 (S22).

When the left actuator 70 is operated, the left rear wheel 72 is towed. (S23)

 The rear wheel toe angle control apparatus and method for a vehicle according to the present invention configured as described above includes a sensor unit for detecting a turning characteristic of the vehicle, and includes a vehicle speed sensor, a steering angle sensor, a horizontal acceleration sensor, and a gyro sensor. By determining the turning characteristic according to the value and controlling at least one toe angle among the left and right rear wheels according to the turning characteristic, it is possible to control the toe angle of the rear wheel by selecting a suitable control mode according to the turning characteristic of various vehicles. Because of this, there is an effect that can implement the optimum control of the vehicle.

Claims (4)

A turning detection step of detecting turning of the vehicle; And And determining a turning characteristic according to the value detected in the turning detecting step, and selectively controlling at least one towing angle among the left and right rear wheels according to the turning characteristic. Each control method. The method of claim 1, In the control step, if it is determined that the vehicle is turning only in one side direction, the rear wheel toe angle control method of the vehicle, characterized in that for controlling only the toe angle of the rear wheel located on the opposite side of the turning direction of the left / right rear wheels. The method according to claim 1 or 2, The control step of the rear wheel toe angle control method of the vehicle, if it is determined that the vehicle is continuously turning in the left / right direction, the toe angle of the left / right rear wheel. A sensor unit including a vehicle speed sensor for detecting a driving speed of the vehicle, a steering angle sensor for detecting a steering angle of the vehicle, a lateral acceleration sensor for detecting lateral acceleration of the vehicle, and a gyro sensor for detecting the attitude of the vehicle; Left and right actuators connected to the left and right rear wheels of the vehicle to change the toe angle; And And an electronic control unit for controlling at least one of the left and right actuators to be selectively operated according to signals input from the sensor unit, respectively.

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