KR100656084B1 - Method for controlling damper to prevent rollover of car - Google Patents

Abstract

The present invention is to softly control the damping force of the compression stroke of the vehicle, and to hardly control the damping force of the rebound stroke to reduce the roll moment, to control the damper in the direction of lowering the garage to prevent the vehicle overturning. The first step is to detect the acceleration corresponding to the three-point part of the vehicle body, the second process to apply the geometric law to the detected acceleration to obtain the acceleration of the remaining one-point part, and DC to the acceleration of the body. A third process of calculating the vehicle body vertical velocity by filtering and integrating the offset and a fourth process of detecting the front wheel left / right acceleration of the vehicle, and filtering the DC offset by the detected front wheel left / right acceleration A fifth process of calculating the wheel vertical speed by integrating the vertical accelerations; and the calculated vehicle body vertical speed and wheel vertical room. By using the velocity using the sixth step and the calculated damper speed calculating a damper speed of the soft the damping force of the compression stroke of the vehicle, and a seventh step of controlling the hard to damper the damping force of the rebound stroke. Therefore, the damper is controlled in a direction in which the garage is lowered, thereby preventing an overturning phenomenon generated when the vehicle rotates the curve.

Description

Damper control method to prevent vehicle overturning {METHOD FOR CONTROLLING DAMPER TO PREVENT ROLLOVER OF CAR}

1 is a view showing that the roll of the vehicle instantaneously occurs so that the inner Xk2 is higher than the height of the outer sprung mass Xk1,

Figure 2 is a detailed block diagram for a damper control method for preventing the vehicle overturning in accordance with an aspect of the present invention,

3 is a detailed flowchart illustrating a damper control method for preventing the vehicle from rolling over according to an aspect of the present invention;

4 is a detailed block diagram illustrating a damper control method for preventing a vehicle from rolling over according to another aspect of the present invention;

5 is a detailed flowchart illustrating a damper control method for preventing the vehicle from rolling over according to another aspect of the present invention.

Figure 6 is a detailed block diagram for a damper control method for preventing the vehicle overturning in accordance with another aspect of the present invention,

7 is a detailed flowchart illustrating a damper control method for preventing the vehicle from rolling over according to another aspect of the present invention.

<Description of the symbols for the main parts of the drawings>

10: body sensor part 11, 31: FR G sensor

13, 33: FL G sensor 15: RR G sensor

20: vehicle body vertical speed calculation unit 21: the adder

23: HPF 25: Integrator

30: wheel sensor unit 40: wheel vertical direction speed calculation unit

41: HPF 43: Integrator

50: damper speed calculation unit

The present invention relates to a damper control method for preventing overturning of a vehicle. More specifically, the damper is softened in the compression stroke and hardened in the rebound stroke to reduce the height of the vehicle. It relates to a method that can be controlled to prevent overturning of the vehicle.

As is well known, when a vehicle traveling at high speed rotates a curved road rapidly, the centrifugal force acts in the direction opposite to the rotation direction of the vehicle and the vehicle is inclined in the direction opposite to the rotation direction by the centrifugal force.

At this time, when the centrifugal force of the vehicle exceeds a certain limit, the vehicle is overturned off the road, which is closely related to the road surface condition, the speed of the vehicle traveling, and the angle of rotation of the curved road. . In addition, other variables to be rolled over include vehicle tire wear rate, road left and right slopes, and cross wind strength that strikes the side of the vehicle. Acts as.

Here, the process of generating the rollover of the vehicle according to each factor is as follows.

First, the wear rate of the vehicle tire and the state of the road surface are described. When the tread, which is a part in contact with the road surface of the tire of the vehicle, is worn, frictional force between the tire and the road is reduced and the vehicle slips when the vehicle is braked. This will occur.

Next, as a road surface condition, one of the biggest factors of overturning due to the side slip of the vehicle is that it becomes vulnerable to side slip when the road is wet, snowy, or there is sand on the road. Overturning will occur.

Lastly, as a side wind struck the side of the vehicle, a van (RV vehicle) having a large side area is overturned due to the side wind while rotating a sharp curve when traveling on a windy beach or the like.

In particular, the main cause of the vehicle overturning, as shown in Figure 1, when the roll of the vehicle is suddenly in a hurry, the tire of the inner ring is lifted over, that is, the height of the sprung mass outside the vehicle Xk1 (S2) Inner Xk2 (S1) becomes higher and overturns. To prevent this, the roll ratio of the vehicle should be lowered. In order to reduce the roll ratio, the steering angle and the vehicle speed are input to control the damper when the roll is generated, thereby reducing the roll ratio.

However, the more fundamental cause of the roll phenomenon is the longitudinal moment of rotation due to the force generated on the tire side and the inertia and force of the sprung mass during handling. This does not only mean the roll motion of the body, but also the rotation of the unsprung mass.

Accordingly, the rollover phenomenon of the vehicle, when handling, rollover occurs and the rollover phenomenon occurs as the center of gravity of the body inertia, which is the center of the body's inertia force, rises. To make the ascent low.

However, the conventional continuous damping control system (CDC) damper hardens the inner ring side damper on which the rebound stroke is performed, and also the outer ring side damper on which the compression stroke is performed, thereby suppressing the roll of the vehicle body. . However, this can reduce the roll of the vehicle body only when there is no risk of overturning, while the compression stroke of the outer ring side damper becomes hard, so that the contraction of the outer ring spring is reduced and the garage cannot be lowered to prevent the vehicle from overturning. There is a problem that cannot be done.

Accordingly, the present invention has been made to solve the above problems, the object is to softly control the damping force of the compression stroke of the vehicle, and to control the damping force of the rebound stroke hard to reduce the roll moment, thereby reducing the height of the garage The present invention provides a damper control method for preventing the vehicle from overturning by controlling the damper in the direction thereof.

In one aspect of the present invention for achieving the above object, a damper control method for preventing overturning of a vehicle includes a first process of detecting an acceleration corresponding to a three-point portion of a vehicle body, and applying a geometric law to the sensed acceleration. A second process of obtaining acceleration of the remaining one point portion, a third process of filtering and integrating DC offset removal with respect to the acceleration of the vehicle body to calculate a vertical velocity of the vehicle body, and a front wheel left / right acceleration of the vehicle; A fourth process of sensing the wheel vertical speed by integrating the vertical acceleration filtered to remove the DC offset with respect to the detected front wheel left / right acceleration, and the calculated vehicle body vertical speed and A sixth process of calculating the damper speed using the wheel vertical speed and attenuation according to the stroke state of the damper using the calculated damper speed; And a seventh step of determining the force, softening the damping force of the compression stroke of the vehicle according to the determined damping force, and controlling the damper to harden the damping force of the rebound stroke. The corresponding acceleration is the FR acceleration detected by the FR G sensor, the FL acceleration detected by the FL G sensor, and the RR acceleration detected by the RR G sensor, which corresponds to the remaining one point portion in the second process. The acceleration is characterized in that the RL acceleration.

In addition, in another aspect of the present invention for achieving the above object, a damper control method for preventing overturning of a vehicle includes a first process of detecting a vehicle speed and a steering angle of the vehicle and a side acceleration using the detected vehicle speed and the steering angle. A second process of calculating, a third process of calculating a roll rate using the calculated lateral acceleration, and a damping force according to a stroke state of a damper using the calculated roll rate, and determining the damping force according to the determined damping force. And a fourth step of softening the damping force of the compression stroke of the vehicle and controlling the damper to harden the damping force of the rebound stroke.

In addition, in another aspect of the present invention for achieving the above object, a damper control method for preventing overturning of a vehicle includes a first process of detecting a side acceleration of the vehicle and calculating a roll rate using the sensed side acceleration. And a damping force according to the stroke state of the damper using the calculated roll rate, and softens the damping force of the compression stroke of the vehicle and hardens the damping force of the rebound stroke according to the determined damping force. It characterized in that it comprises a third step of controlling.

Hereinafter, a plurality of embodiments of the present invention may exist, and a preferred embodiment will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate the objects, features and advantages of the present invention through this embodiment.

FIG. 2 is a detailed block diagram illustrating a damper control method for preventing a vehicle overturning according to an aspect of the present invention, wherein the vehicle body sensor unit 10, the vehicle body vertical speed calculator 20, and the wheel sensor unit 30 are shown in FIG. ), A wheel vertical direction speed calculator 40, a damper speed calculator 50, and a damper controller 60.

The body sensor unit 10 outputs 0V to 5V and outputs 2.5V when the vehicle is in a stopped state. In this case, it is expressed as vertical gravity acceleration 1G at the surface, and is attached to the entire right side and is vertically accelerated. FR G sensor 11 for detecting the sensor, FL G sensor 13 for detecting the vertical acceleration attached to the entire left side, and RR G sensor 15 for detecting the vertical acceleration attached to the rear body. While providing, respectively, the sensed FR acceleration, FL acceleration, and RR acceleration are provided to the adder 21 in the vehicle body vertical speed calculator 20.

The vehicle body vertical speed calculator 20 includes an adder 21, a high pass filter (HPF) 23, and an integrator 25, and the adder 21 includes a body sensor unit 10. ) FR acceleration detected by the FR G sensor 11, FL acceleration detected by the FL G sensor 13, and RR acceleration detected by the RR G sensor 15 are respectively provided. The RL acceleration of the left side of the rear body, which is the other one, is estimated and provided to the HPF 23 in accordance with the geometric law of four points.

The HPF 23 receives the vertical acceleration from the adder 21, that is, the FR acceleration, the FL acceleration, the RR acceleration, and the RL acceleration, and then removes the DC offset for each and provides it to the integrator 25.

The integrator 25 supplies the damper speed calculation unit 50 with the vehicle body vertical speed integrated to the vertical acceleration, in which the DC offset is removed by the HPF 23, that is, FR acceleration, FL acceleration, RR acceleration, and RL acceleration, respectively. to provide.

The wheel sensor unit 30 has a FR G sensor 31 attached to the right side of the front wheel for sensing vertical acceleration and an FL G sensor 33 attached to the left side of the front wheel for sensing vertical acceleration, respectively. The detected FR acceleration and FL acceleration are provided to the HPF 41 in the wheel vertical speed calculator 40.

The wheel vertical speed calculator 40 has an HPF 41 and an integrator 43 internally, and the HPF 41 provides vertical acceleration, that is, FR acceleration and FL acceleration from the wheel sensor unit 30. After receiving, the DC offset is removed for each and provided to the integrator 43.

The integrator 43 provides the damper speed calculation unit 50 with the wheel vertical speed integrated for each of the FR acceleration and the FL acceleration, which are the vertical accelerations HP filtered by the HPF 41.

The damper speed calculator 50 is integrated by the vehicle body vertical speed integrated by the integrator 25 in the vehicle body vertical speed calculator 20 and the integrator 43 in the wheel vertical speed calculator 40. After receiving the wheel vertical speed, the damper speed is calculated through Equation 1 and provided to the damper controller 60.

Damper Speed = Body Vertical Speed-Wheel Vertical Speed

The damper control unit 60 softens the damping force of the compression stroke of the vehicle by using the damper speed calculated by the damper speed calculating unit 50, and reduces the roll moment by reducing the roll moment by hardening the damping force of the rebound stroke. Control the damper so that it can turn in the direction.

Referring to the flowchart of FIG. 3, the damper control method for preventing the vehicle from rolling over according to an aspect of the present invention will be described in more detail based on the above-described configuration.

First, the FR G sensor 11 in the vehicle body sensor unit 10 is attached to the entire right side of the vehicle to detect the FR acceleration in the vertical direction and provide it to the adder 21 in the vehicle body vertical speed calculator 20 (step 301). ), The FL G sensor 13 is attached to the entire left side of the vehicle to detect the FL acceleration in the vertical direction and provides it to the adder 21 (step 302), and the RR G sensor 15 is attached to the right side of the rear of the vehicle to the vertical direction. RR acceleration is detected and provided to the adder 21 (step 303).

The adder 21 receives the FR acceleration detected by the FR G sensor 11, the FL acceleration detected by the FL G sensor 13, and the RR acceleration detected by the RR G sensor 15, respectively. According to the geometric law that the plane consists of three points, the RL acceleration of the left side of the body, which is the other one, is estimated and provided to the HPF 23 (step 304).

The HPF 23 receives the vertical acceleration from the adder 21, i.e., FR acceleration, FL acceleration, RR acceleration, RL acceleration, and then removes the DC offset for each and provides it to the integrator 25 (step 305). . In this case, the reason for removing the DC offset is that the vehicle body sensor unit 10 should be fixed to the vehicle body in a vertical direction. Acceleration value based on "0" should be subtracted 2.5V from sensor output value, but even if subtracting 2.5V from sensor output value, "0" does not come out of default state, so the default state is "0". Form, that is, removing all DC offsets. In addition, since the DC offset is very close to a constant value and is composed of very small sums of low frequency components, the DC offset may be removed by applying an HPF having a 0.1 Hz cutoff frequency to remove components below the cutoff frequency.

The integrator 25 supplies the damper speed calculation unit 50 with the vehicle body vertical speed integrated to the vertical acceleration, in which the DC offset is removed by the HPF 23, that is, FR acceleration, FL acceleration, RR acceleration, and RL acceleration, respectively. Provide (step 306).

The FR G sensor 31 in the wheel sensor unit 30 is attached to the right side of the front wheel of the vehicle to detect the FR acceleration in the vertical direction and provide it to the HPF 41 in the wheel vertical speed calculation unit 40 (step 307). The FL G sensor 33 is attached to the left side of the front wheel of the vehicle to detect the FL acceleration in the vertical direction and provide it to the HPF 41 (step 308).

The HPF 41 receives the vertical acceleration, that is, the FR acceleration and the FL acceleration from the FR G sensor 31 and the FL G sensor 33, and then removes the DC offset for each and provides it to the integrator 43 ( Step 309).

The integrator 43 provides the damper speed calculation unit 50 with wheel vertical speeds integrated for each of the FR acceleration and the FL acceleration, which are the vertical accelerations HP filtered by the HPF 41 (step 310).

The damper speed calculator 50 is integrated by the vehicle body vertical speed integrated by the integrator 25 in the vehicle body vertical speed calculator 20 and the integrator 43 in the wheel vertical speed calculator 40. After receiving the wheel vertical speed, the damper speed is calculated and provided to the damper controller 60 (step 311).

The damper control unit 60 softens the damping force of the compression stroke of the vehicle by using the damper speed calculated by the damper speed calculating unit 50, and reduces the roll moment by reducing the roll moment by hardening the damping force of the rebound stroke. The damper is controlled to allow the direction (step 312).

4 is a detailed block diagram illustrating a damper control method for preventing the vehicle from rolling over according to another aspect of the present invention. The speed sensor unit detects a vehicle speed of the vehicle and provides the vehicle to the lateral acceleration calculation unit 102. 100, a steering angle sensor unit 101 which senses a steering angle of the vehicle and provides the side acceleration calculation unit 102 to the vehicle speed and the steering angle sensor unit 101 detected by the speed sensor unit 100. The lateral acceleration is calculated using the sensed steering angle and the lateral acceleration calculated by the lateral acceleration calculator 102 and the lateral acceleration calculator 102 is provided to the roll rate calculator 103. Using the roll rate calculator 103 and the roll rate calculated by the roll rate calculator 103 to softly control the damping force of the compression stroke of the vehicle, Make it hard Air and includes a damper control unit 104 under the control of the damper in the direction in which the lower garage to reduce the roll moment.

With reference to the flowchart of FIG. 5, the damper control method for preventing the vehicle overturning according to another aspect of the present invention will be described in more detail based on the above-described configuration.

First, the speed sensor unit 100 detects a vehicle speed of a traveling vehicle and provides it to the lateral acceleration calculation unit 102 (step 501). At the same time, the steering angle sensor 101 detects the steering angle of the vehicle and provides the steering angle to the side acceleration calculator 102 (step 502).

The lateral acceleration calculation unit 102 calculates the lateral acceleration using the vehicle speed detected by the speed sensor unit 100 and the steering angle detected by the steering angle sensor unit 101 and provides it to the roll rate calculation unit 103 ( Step 503).

The roll rate calculator 103 calculates the roll rate using the lateral acceleration calculated by the lateral acceleration calculator 102 and provides it to the damper controller 104 (step 504).

The damper control unit 104 uses the roll rate calculated by the roll rate calculation unit 103 to soften the damping force of the compression stroke of the vehicle, harden the damping force of the rebound stroke, and decrease the roll moment to lower the garage. The damper is controlled to be in the direction (step 505).

FIG. 6 is a detailed block diagram illustrating a damper control method for preventing a vehicle overturning according to another aspect of the present invention. The side surface of the vehicle detects the lateral acceleration and provides the roll rate calculator 202. A roll rate calculation unit 202 for calculating the roll rate using the G sensor unit 201 and the lateral acceleration sensed by the side G sensor unit 201 and providing the damper control unit 203 to the roll rate calculation unit. The damper control unit softly controls the damping force of the compression stroke of the vehicle by using the roll rate calculated by 202, and controls the damper in the direction of lowering the garage by reducing the roll moment by hardly controlling the damping force of the rebound stroke. 203.

Referring to the flowchart of FIG. 7, the damper control method for preventing the vehicle from rolling over according to another aspect of the present invention will be described in more detail based on the above-described configuration.

First, the side G sensor unit 201 senses the side acceleration of the vehicle that is traveling and provides it to the roll rate calculator 202 (step 701).

The roll rate calculation unit 202 calculates the roll rate using the side acceleration calculated by the side G sensor unit 201 and provides it to the damper control unit 203 (step 702).

The damper control unit 203 uses the roll rate calculated by the roll rate calculation unit 202 to soften the damping force of the compression stroke of the vehicle, and to reduce the roll moment by reducing the damping force of the rebound stroke to lower the garage height. The damper is controlled to be in the losing direction (step 703).

Therefore, by softly controlling the damping force of the compression stroke of the vehicle and by hardly controlling the damping force of the rebound stroke, the damper is controlled in the direction of lowering the garage by controlling the damper in the direction of lowering the garage. Overturning phenomenon can be prevented.

In addition, since the present invention is disclosed as a right within the spirit and claims of the present invention, the present invention may include any modification, use and / or adaptation using general principles, and the present invention as a matter deviating from the description of the present specification. It includes all matter falling within the scope of known or customary practice in the art to which it belongs and falling within the scope of the appended claims.

As described above, the present invention softly controls the damping force of the compression stroke of the vehicle, and hardly controls the damping force of the rebound stroke, thereby reducing the roll moment, thereby controlling the damper in the direction of lowering the garage so that the vehicle curves. There is an effect that can prevent the rollover phenomenon that occurs when rotating.

Claims (7)

As a damper control method to prevent the vehicle from tipping over, A first process of sensing acceleration corresponding to three point portions of the vehicle body; Applying a geometrical law to the sensed acceleration to obtain an acceleration of the remaining one point portion; A third process of calculating the vehicle body vertical velocity by filtering and integrating the DC body with respect to the acceleration of the vehicle body; A fourth process of sensing front wheel left / right acceleration of the vehicle; A fifth process of calculating wheel vertical direction by integrating the vertical acceleration filtered to remove the DC offset with respect to the detected front wheel left / right acceleration; A sixth process of calculating a damper speed using the calculated vehicle body vertical speed and wheel vertical speed; Determining a damping force according to the stroke state of the damper using the calculated damper speed, softening the damping force of the compression stroke of the vehicle according to the determined damping force, and controlling the damper to harden the damping force of the rebound stroke. Including, The acceleration corresponding to the three point portion in the first process is FR acceleration detected by the FR G sensor, FL acceleration detected by the FL G sensor, RR acceleration detected by the RR G sensor, Acceleration corresponding to the remaining one point portion in the second process Damper control method for preventing the vehicle overturning, characterized in that the RL acceleration. The method of claim 1, The damper speed in the seventh process is calculated by using the acceleration values detected by the FR G sensor and the FL G sensor and the RR G sensor of the vehicle body, and the FR G sensor and the FL G sensor of the vehicle wheel. A damper control method for preventing the vehicle from rolling over. delete delete Damper control method to prevent the vehicle overturning, A first process of detecting a vehicle speed and a steering angle of the vehicle; A second process of calculating a lateral acceleration using the detected vehicle speed and steering angle; A third process of calculating a roll rate using the calculated lateral acceleration; A fourth process of determining the damping force according to the stroke state of the damper using the calculated roll rate, softening the damping force of the compression stroke of the vehicle according to the determined damping force, and controlling the damper to harden the damping force of the rebound stroke Damper control method for preventing the rollover of a vehicle comprising a. Damper control method to prevent the vehicle overturning, A first process of sensing side acceleration of the vehicle; Calculating a roll rate by using the sensed side acceleration; A third process of determining the damping force according to the stroke state of the damper using the calculated roll rate, softening the damping force of the compression stroke of the vehicle according to the determined damping force, and controlling the damper to harden the damping force of the rebound stroke Damper control method for preventing the rollover of a vehicle comprising a. delete

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