KR100667440B1 - A control method for protecting slipping of hybrid vehicle on slope road - Google Patents

A control method for protecting slipping of hybrid vehicle on slope road Download PDF

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KR100667440B1
KR100667440B1 KR1020050122727A KR20050122727A KR100667440B1 KR 100667440 B1 KR100667440 B1 KR 100667440B1 KR 1020050122727 A KR1020050122727 A KR 1020050122727A KR 20050122727 A KR20050122727 A KR 20050122727A KR 100667440 B1 KR100667440 B1 KR 100667440B1
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South Korea
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vehicle
driving
cas
control method
idle stop
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KR1020050122727A
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Korean (ko)
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이재왕
박지열
김태우
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/20—Road shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A control method for preventing slipping of a hybrid vehicle on a slope road is provided to effectively prevent the hybrid vehicle from slipping backward upon restarting after an idle stop mode on the slope road. A control method for preventing slipping of a hybrid vehicle on a slope road comprises the steps of inputting various signals according to an operational state of the vehicle(S10), calculating a slope angle of the vehicle using a signal from a slope angle sensor(S20), comparing the calculated slope angle to a preset reference value(S30), determining whether conditions for driving a CAS is satisfied if the calculated slope angle is equal to or greater than the preset reference value(S40), determining whether to enter an idle stop mode when the CAS driving conditions are satisfied(S50), turning on driving of the CAS when the idle stop mode begins(S60), and maintaining the vacuum pressure of the brake for a preset time. The CAS driving is turned off(S70) if the calculated value is less than the preset reference value, if the CAS driving conditions are not satisfied, or if the idle stop mode has not begun.

Description

하이브리드차량의 경사로 주행시 밀림방지 제어 방법 {A control method for protecting slipping of hybrid vehicle on slope road}A control method for protecting slipping of hybrid vehicle on slope road}

도 1은 본 발명에 따른 차량의 경사로 주행시 밀림방지 제어 방법 흐름도. 1 is a flow chart of the anti-rolling control method for driving a vehicle in accordance with the present invention.

본 발명은 하이브리드차량의 경사로 주행시 밀림방지 제어 방법에 관한 것으로서, 보다 구체적으로는 경사로(등판로)에서 하이브리드차량의 주행상태가 아이들 스톱(idle stop) 후 재출발시 후방으로 밀리는 것을 방지하기 위한 하이브리드차량의 경사로 주행시 밀림방지 제어 방법에 관한 것이다. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for preventing slipping when driving on a slope of a hybrid vehicle. More specifically, the hybrid vehicle for preventing the driving state of the hybrid vehicle from being pushed backward when restarting after an idle stop is performed on a slope (ridge). It relates to a control method for preventing skids when driving on a slope.

종래 하이브리드차량은 연비 향상을 위해 차량의 정차시 엔진 시동을 오프시키는 아이들 스톱(idle stop) 기능을 구비하고 있는데, 이러한 아이들 스톱 모드는 경사로에서 주행중 정차시에도 동작하고 운전자의 재출발의지 즉, 브레이크 오프에 의해 차량의 출발이 이루어지며 엔진 시동 완료시간과 CVT(무단변속기) 클러치 체결을 위해 엔진RPM이 상승하는데 소요되는 시간이 약 1~2초 정도로 소요되는데, 이때 차량이 후방으로 밀리게 되는 현상이 발생하는 문제점을 갖고 있다. Conventional hybrid vehicles have an idle stop function that turns off the engine when the vehicle is stopped to improve fuel efficiency. The idle stop mode is operated even when the vehicle is stopped while driving on a slope and the driver's intention to restart, namely, brake off The start of the vehicle is started by the engine, and the time required for the engine RPM to rise for the engine start completion time and the CVT clutch is about 1 to 2 seconds. There is a problem that occurs.

본 발명은 상기 종래기술의 문제점을 해결하기 위해 안출된 것으로서, 본 발명의 목적은 경사로(등판로)에서 하이브리드차량의 주행상태가 아이들 스톱(idle stop) 후 재출발시 후방으로 밀리는 것을 방지하기 위한 하이브리드차량의 경사로 주행시 밀림방지 제어 방법을 제공하는 것이다. The present invention has been made to solve the problems of the prior art, an object of the present invention is a hybrid for preventing the driving state of the hybrid vehicle to be pushed back when restarting after the idle stop (idle stop) It is to provide an anti-rolling control method when driving a slope of a vehicle.

상기 목적을 이루기 위한, 본 발명에 따른 후방 밀림방지 제어 방법은, In order to achieve the above object, the rear anti-roll control method according to the present invention,

차량의 동작상태에 따른 각종 신호 입력 단계; Various signal input steps according to an operation state of the vehicle;

경사각센서 신호를 이용하여 차량의 경사도 산출 단계; Calculating an inclination of the vehicle using the inclination angle sensor signal;

산출된 경사도를 기설정된 기준치와 비교 단계; Comparing the calculated gradient with a predetermined reference value;

산출된 경사도가 기준치 이상인 경우 카스(CAS) 구동조건 만족여부 판단 단계; Determining whether the CAS driving condition is satisfied when the calculated slope is equal to or greater than a reference value;

카스(CAS) 구동조건을 만족하는 경우 아이들 스톱 모드 진입여부 판단 단계; Determining whether to enter the idle stop mode when the CAS driving condition is satisfied;

아이들 스톱 모드로 진입한 경우 카스(CAS) 구동 온 단계; 및 Cas driving on when entering the idle stop mode; And

차량의 브레이크 부압을 기설정된 시간만큼 유지시키는 단계로 이루어지는 것을 특징으로 한다. And maintaining the brake negative pressure of the vehicle for a predetermined time.

이하, 도면을 참조하여 본 발명에 따른 바람직한 실시예를 설명한다. Hereinafter, with reference to the drawings will be described a preferred embodiment according to the present invention.

본 실시예에 따른 하이브리드차량의 경사로 주행시 후방 밀림방지 제어 방법을 흐름도인 도 1을 참조하여 설명한다. A method of controlling the rear push when driving the slope of the hybrid vehicle according to the present embodiment will be described with reference to FIG. 1.

먼저, 본 실시예에서는 차량에 경사각센서를 구비한 후 차량의 주행상태가 아이들 스톱시 차량의 경사도와 현 차량의 주행 동작상태(차속 및 브레이크 조작신호 등)를 입력받은 후 경사로에서 재출발시 본 제어로직의 적용을 통해 차량이 후방으로 밀리는 것을 방지토록 한 것이다. 즉, 경사로에서 차량의 주행상태가 아이들 스톱 모드로 진입시 차량의 ABS에 장착된 CAS(Creep Aid System) 밸브를 동작시켜 운전자의 브레이크 신호와는 별개로 브레이크 부압을 일정시간 유지되도록 제어함으로써 차량의 재출발시 후방 밀림현상을 방지토록 한 것이다. First, in the present embodiment, after the vehicle is provided with the inclination angle sensor, the driving state of the vehicle receives the inclination of the vehicle at the idle stop and the driving operation state of the current vehicle (vehicle speed and brake operation signal, etc.), and then restarts from the slope. The application of logic prevents the vehicle from being pushed backwards. That is, when the driving state of the vehicle enters the idle stop mode on the slope, the CAS (Creep Aid System) valve mounted on the ABS of the vehicle is operated to control the brake negative pressure to be maintained for a certain time independently of the driver's brake signal to restart the vehicle. This is to prevent rearward backlash.

이는, 도 1에서 보는 바와 같이, 차량의 동작상태에 따른 각종 신호 즉, 차속, 엔진RPM, 변속 조작신호, 브레이크 조작신호 및 경사각 센서신호 등을 입력받는 후[S10], 상기 경사각센서 신호를 이용하여 차량의 경사도를 산출한다[S20]. 이때, 통상적으로 차량의 경사도 판단시 차량의 감/가속도 성분이 포함되므로 본 실시예에서는 순수한 차량의 경사도만을 산출하기 위해 차량의 경사도 산출시 경사각센서를 통해 검출된 경사각신호에서 차량의 감/가속도 신호성분을 제거한 후 디지털 로우패스 필터를 통해 노이즈성분이 제거되도록 하였다. 1, after receiving various signals according to the operation state of the vehicle, that is, vehicle speed, engine RPM, shift operation signal, brake operation signal and inclination angle sensor signal, etc. [S10], the inclination angle sensor signal is used. To calculate the inclination of the vehicle [S20]. At this time, since the deceleration / acceleration component of the vehicle is typically included in determining the inclination of the vehicle, in the present embodiment, the deceleration / acceleration signal of the vehicle is detected from the inclination angle signal detected by the inclination angle sensor when calculating the inclination of the vehicle to calculate only the inclination of the vehicle. After removing the components, noise was removed through a digital lowpass filter.

상기 S20 단계에서 산출된 경사도를 기설정된 기준치와 비교한다[S30]. The inclination calculated in step S20 is compared with a predetermined reference value [S30].

상기 S30 단계의 비교결과, 산출된 경사도가 기준치 이상인 경우 카스(CAS) 구동조건 만족여부를 판단한 후[S40], 카스(CAS) 구동조건을 만족하는 경우에 아이들 스톱 모드 진입여부를 판단한다[S50]. As a result of the comparison in step S30, if the calculated slope is equal to or greater than the reference value, it is determined whether the cas driving condition is satisfied [S40], and when the cas driving condition is satisfied, it is determined whether to enter the idle stop mode [S50]. ].

상기에서, 카스(CAS) 구동 진입조건은 브레이크 신호가 온이고, 차속이 설정속도 이하이고 엔진RPM이 설정값 이하인 차량의 정차상태이고, 변속레버가 P단 또는 N단 상태가 아니고, 카스 동작상태가 정상인 상태에서 카스 밸브 구동 온 허용 시간을 초과하지 않는 상태 즉, 카스(CAS) 밸브를 동작시키기 위한 코일의 연속 동작시간에는 한계가 있으므로 이 한계범위 내에서만 동작이 이루어지도록 하기 위함이다. In the above casing driving condition, the brake signal is on, the vehicle speed is lower than the set speed and the engine RPM is lower than the set value, and the shift lever is not in the P stage or the N stage, and the cas operating state. In the normal state, the casing valve driving on allowable time does not exceed, that is, the continuous operation time of the coil for operating the casing (CAS) is limited so that the operation is performed only within this limit range.

다시 도 1의 흐름도로 돌아가서, 상기 S30, S40 및 S50 각 단계에서 카스 구동조건을 만족하는 상태에서 현 경사도가 기준치 이상이고 아이들 스톱 모드로 진입한 상태인 경우 카스(CAS) 구동을 온시켜 운전자의 브레이크 조작신호와는 별개로 브레이크 부압을 기설정된 시간만큼 유지시켜 차량의 재출발시 후방으로 밀리는 것이 방지되도록 한 것이다[S60]. Returning to the flowchart of FIG. 1, when the current driving slope is higher than the reference value and the vehicle enters the idle stop mode while the cas driving conditions are satisfied in each of the steps S30, S40, and S50, the CAS driving is turned on. Apart from the brake operation signal, the brake negative pressure is maintained for a predetermined time to prevent the vehicle from being pushed rearward when the vehicle restarts [S60].

한편, 상기 S30, S40 및 S50 각 단계에서 산출된 경사도가 기설정된 기준치보다 작거나 카스(CAS) 구동조건을 만족하지 않거나 아이들 스톱 모드로 진입하지 않은 상태인 경우에는 카스(CAS) 구동 오프 단계가 수행된다[S70]. On the other hand, if the inclination calculated in each of the steps S30, S40 and S50 is less than the predetermined reference value or does not satisfy the cas driving conditions or does not enter the idle stop mode, the cas driving off step is performed. Is performed [S70].

이와 같이, 본 발명에서는 하이브리드차량의 경사로 주행상태에서 아이들 스톱 모드 진입시 카스(CAS) 구동을 통해 일정 시간동안 브레이크 부압이 유지되도록 함으로써 차량의 재출발시 후방으로 밀리는 현상을 방지토록 한 것이다. As described above, in the present invention, the brake negative pressure is maintained for a predetermined time by driving the CAS when the vehicle enters the idle stop mode in the inclined driving state of the hybrid vehicle, thereby preventing the phenomenon of being pushed backward when the vehicle restarts.

본 발명의 기술적 범위를 해석함에 있어서는, 상기에서 설명된 실시예에 한정하여 해석되어서는 아니 되며, 본 발명의 기술적 범위는 특허청구범위에 기재된 사항의 합리적 해석에 의해 결정되어져야 한다. In interpreting the technical scope of the present invention, it should not be construed as being limited to the embodiments described above, and the technical scope of the present invention should be determined by reasonable interpretation of the matters described in the claims.

본 발명의 하이브리드차량의 경사로 주행시 밀림방지 제어 방법에 따르면, 차량의 경사로 주행상태에서 정차 후 재출발시 후방으로 밀리는 현상을 방지할 수 있는 효과를 갖는다. According to the anti-rolling control method of driving the hybrid vehicle of the present invention, it is possible to prevent the phenomenon of being pushed backward when the vehicle is restarted after stopping in the driving state of the vehicle.

Claims (6)

하이브리드차량의 경사로 주행시 후방 밀림방지 제어 방법에 있어서, In the rear rolling prevention control method when driving on a slope of a hybrid vehicle, 차량의 동작상태에 따른 각종 신호 입력 단계; Various signal input steps according to an operation state of the vehicle; 경사각센서 신호를 이용하여 차량의 경사도 산출 단계; Calculating an inclination of the vehicle using the inclination angle sensor signal; 산출된 경사도를 기설정된 기준치와 비교 단계; Comparing the calculated gradient with a predetermined reference value; 산출된 경사도가 기준치 이상인 경우 카스(CAS) 구동조건 만족여부 판단 단계; Determining whether the CAS driving condition is satisfied when the calculated slope is equal to or greater than a reference value; 카스(CAS) 구동조건을 만족하는 경우 아이들 스톱 모드 진입여부 판단 단계; Determining whether to enter the idle stop mode when the CAS driving condition is satisfied; 아이들 스톱 모드로 진입한 경우 카스(CAS) 구동 온 단계; 및 Cas driving on when entering the idle stop mode; And 차량의 브레이크 부압을 기설정된 시간만큼 유지시키는 단계로 이루어지는 것을 특징으로 하는 하이브리드차량의 경사로 주행시 밀림방지 제어 방법. And a step of maintaining the brake negative pressure of the vehicle for a predetermined time. 제 1항에 있어서, The method of claim 1, 상기 차량의 동작상태에 따른 입력신호로는 차속, 엔진RPM, 변속 조작신호, 브레이크 조작신호 및 경사각 센서신호인 것을 특징으로 하는 하이브리드차량의 경사로 주행시 밀림방지 제어 방법. The input signal according to the operation state of the vehicle is a vehicle speed, engine RPM, shift operation signal, brake operation signal and inclination angle sensor signal characterized in that the anti-rolling control method of driving a hybrid vehicle. 제 1항에 있어서, The method of claim 1, 상기 차량의 경사도 산출시 경사각센서를 통해 검출된 경사각신호에서 차량 의 감/가속도 신호성분을 제거하는 것을 특징으로 하는 하이브리드차량의 경사로 주행시 밀림방지 제어 방법. And a method of preventing slipping when driving a ramp of a hybrid vehicle, wherein the deceleration / acceleration signal component of the vehicle is removed from the inclination angle signal detected by the inclination angle sensor when the inclination of the vehicle is calculated. 제 3항에 있어서, The method of claim 3, wherein 상기 경사각신호에서 차량의 감/가속도 신호성분을 제거한 후 디지털 로우패스 필터를 통해 노이즈성분을 제거하는 것을 특징으로 하는 하이브리드차량의 경사로 주행시 밀림방지 제어 방법. And removing the noise component through the digital low pass filter after removing the deceleration / acceleration signal component of the vehicle from the inclination angle signal. 제 1항에 있어서, The method of claim 1, 상기 카스(CAS) 구동 진입조건은 브레이크 온이고, 차속이 설정속도 이하이고 엔진RPM이 설정값 이하인 차량의 정차상태이고, 변속레버가 P단 또는 N단 상태가 아니고, 카스 동작상태가 정상상태에서 카스 밸브 구동 온 허용시간을 초과하지 않는 상태인 것을 특징으로 하는 하이브리드차량의 경사로 주행시 밀림방지 제어 방법. The casing driving entry condition is brake on, the vehicle speed is lower than the set speed and the engine RPM is lower than the set value, and the shift lever is not in the P or N stage, and the cas operating state is normal. The anti-rolling control method for driving a slope of a hybrid vehicle, characterized in that the state does not exceed the CAS valve driving on allowable time. 제 1항에 있어서, The method of claim 1, 상기 산출된 경사도가 기설정된 기준치보다 작거나 카스(CAS) 구동조건을 만족하지 않거나 아이들 스톱 모드로 진입하지 않은 상태인 경우에는 카스(CAS) 구동 오프 단계를 추가로 포함하는 것을 특징으로 하는 하이브리드차량의 경사로 주행시 밀림방지 제어 방법. And a casing driving off step when the calculated inclination is less than a predetermined reference value or does not satisfy the cas driving condition or does not enter the idle stop mode. Control method of skid prevention when driving on slopes.
KR1020050122727A 2005-12-13 2005-12-13 A control method for protecting slipping of hybrid vehicle on slope road KR100667440B1 (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101305127B1 (en) * 2011-11-18 2013-09-12 현대자동차주식회사 Control method for preventing backward slipping of hybrid electric vehicles on slope road
WO2016150364A1 (en) * 2015-03-25 2016-09-29 Byd Company Limited Hybrid electric vehicle, drive control method and device of the same
KR101821168B1 (en) 2011-07-29 2018-01-24 콘티넨탈 오토모티브 시스템 주식회사 Method for releasing sports mode of vehicle
CN111434541A (en) * 2019-01-11 2020-07-21 丰田自动车株式会社 Driving support system
CN112009264A (en) * 2020-08-13 2020-12-01 吉利汽车研究院（宁波）有限公司 Control method and device for preventing vehicle from sliding down slope and vehicle

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101821168B1 (en) 2011-07-29 2018-01-24 콘티넨탈 오토모티브 시스템 주식회사 Method for releasing sports mode of vehicle
KR101305127B1 (en) * 2011-11-18 2013-09-12 현대자동차주식회사 Control method for preventing backward slipping of hybrid electric vehicles on slope road
WO2016150364A1 (en) * 2015-03-25 2016-09-29 Byd Company Limited Hybrid electric vehicle, drive control method and device of the same
CN111434541A (en) * 2019-01-11 2020-07-21 丰田自动车株式会社 Driving support system
CN112009264A (en) * 2020-08-13 2020-12-01 吉利汽车研究院（宁波）有限公司 Control method and device for preventing vehicle from sliding down slope and vehicle

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