KR100768864B1 - Electronically controlled suspension system and its anti dive control method - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronically controlled suspension and an anti-dive control method thereof, wherein the anti-dive is performed at the initial stage of braking in which vehicle deceleration is not substantially achieved or less occurs using braking pressure information of a braking device shared by data communication. It is an object of the present invention to provide an electronically controlled suspension device capable of performing control.

To this end, the present invention provides an electronically controlled suspension device capable of data communication with a braking device, and the electronically controlled suspension device according to the present invention includes: a damping force variable damper respectively installed at the front wheel side and the rear wheel side; A suspension control unit which obtains the deceleration of the vehicle by using the braking pressure information of the braking device and performs the anti-dive control by adjusting the damping force of the damping force variable damper when the obtained deceleration is greater than a predetermined reference deceleration. ; Include.

Braking Pressure, Wheel Pressure, Deceleration, Dive, Suspension Control Unit, Braking System

Description

ELECTRONICALLY CONTROLLED SUSPENSION SYSTEM AND ITS ANTI DIVE CONTROL METHOD}

1 is a block diagram showing an anti-dive electronically controlled suspension device according to an embodiment of the present invention.

Figure 2 is a block diagram showing in more detail the suspension control unit shown in FIG.

Figure 3 is a block diagram showing an electronic control suspension capable of anti-dive control according to another embodiment of the present invention.

Figure 4 is a block diagram showing in more detail the suspension control unit shown in FIG.

5 is a flowchart for explaining an example of the anti-dive control method using the electronic control suspension according to the present invention.

<Code Description of Main Parts of Drawing>

120: suspension control unit 122: deceleration acquisition block

124a, 124b: comparison block 126: damper control block

212: pressure sensor 214: wheel speed sensor

210: wheel pressure sensor 220: braking control unit

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic control suspension that performs anti-dive control by adjusting the damping force of a damping force variable damper during vehicle braking. An electronic control suspension and an anti-dive control method thereof for sharing pressure information and performing anti-dive control of a vehicle using the braking pressure information.

The electronically controlled suspension refers to a device that detects the movement of the vehicle from various sensors mounted on the vehicle, and adjusts the damping force of the damper to optimize the driving characteristics of the vehicle.

Currently, the electronically controlled suspension is used for various attitude control of a vehicle such as anti roll control, anti squat control, anti dive control, as well as general suspension control for ride comfort and steering stability. In particular, the anti-dive control means to control the dive phenomenon in which the vehicle body is inclined forward by the moving during the celebration of the vehicle according to the deceleration during the braking of the vehicle. When this dive occurs, the load on the front wheels increases and the load on the rear wheels decreases as such, causing locking (locking) on the rear wheels, leading to severe driving instability of the vehicle.

Conventional electronically controlled suspension uses anti-dive control by adjusting the damping force of the front and rear dampers when the vehicle is in the braking state and the deceleration of the vehicle is above a certain level by using the braking signal of the brake switch and the vehicle speed information. Performing. Such an anti-dive control of the electronically controlled suspension is disclosed in Korean Patent Publication No. 2003-90472 filed by the present applicant.

However, the conventional electronically controlled suspension device has a limit in preventing the phenomenon that the front wheel side of the vehicle dive at the beginning of braking in that vehicle speed information, which is already decelerated by braking, is used for anti-dive control. That is, the conventional anti-dive control is performed after the dive phenomenon of the vehicle for a predetermined time, there is a problem that the effectiveness is greatly reduced.

Accordingly, an object of the present invention is to provide an electronically controlled suspension device capable of performing anti-dive control in the early stage of braking, in which vehicle deceleration is substantially or is less likely, using braking pressure information of a braking device shared by data communication. It is to provide an anti-dive control method.

In addition, another object of the present invention is to perform an anti-dive control in the initial braking, the vehicle deceleration substantially does not occur or less, where the anti-dive control can be achieved in consideration of the road surface condition and its anti-dive It is to provide a control method.

In order to achieve the above object, the present invention discloses an electronically controlled suspension capable of data communication with a braking device. According to the present invention, there is provided an electronically controlled suspension device comprising: a damping force variable damper respectively provided at a front wheel side and a rear wheel side; A suspension control unit which obtains the deceleration of the vehicle by using the braking pressure information of the braking device and performs the anti-dive control by adjusting the damping force of the damping force variable damper when the obtained deceleration is greater than a predetermined reference deceleration. ; Include.

According to one embodiment of the invention, the suspension control unit, a deceleration acquisition block for obtaining a deceleration of the vehicle using the brake wheel pressure of the wheel obtained by using the braking pressure measured in the master cylinder of the braking device; It is preferable to include a comparison block for determining whether the anti-dive control by comparing the deceleration obtained in the deceleration acquisition block with a predetermined reference deceleration.

According to another embodiment of the present invention, the suspension control unit, the deceleration acquisition block for receiving the brake wheel pressure measured by the wheel pressure sensor of the wheel from the braking device, and using the braking wheel pressure to obtain the deceleration of the vehicle; And comparing the deceleration obtained from the deceleration obtaining block with a preset reference deceleration to determine whether to control anti-dive.

In this case, the comparison blocks are preferably composed of at least two comparison blocks for performing a deceleration comparison with respect to the deceleration obtained from the deceleration acquisition block using different reference decelerations reflecting the road surface condition.

The present invention provides an anti-dive control method of an electronically controlled suspension device capable of data communication with a braking device. An anti-dive control method according to the present invention includes: a deceleration obtaining step of obtaining a deceleration of a vehicle by using braking pressure information of the braking device; A comparison step of comparing the deceleration obtained in the deceleration obtaining step with a reference deceleration; The anti-dive control step of performing the anti-dive control by adjusting the damping force of the damping force variable damper when the obtained deceleration is greater than the reference deceleration.

According to an embodiment of the present invention, in the deceleration obtaining step, the braking wheel pressure calculated in advance is used, and the braking wheel pressure is calculated using braking pressure information including the braking pressure measured in the master cylinder of the braking device. It is desirable to be.

According to another embodiment of the present invention, in the deceleration obtaining step, it is preferable to directly receive the wheel pressure measured by the braking device and calculate the deceleration of the vehicle using the wheel pressure.

 Here, the comparing step includes a preceding comparison process of comparing the deceleration obtained from the braking pressure information with a first reference deceleration, and a subsequent comparison process of comparing the obtained deceleration with the second reference deceleration with another reference deceleration. The anti-dive control step may include a preceding control process for performing anti-dive control by adjusting the damping force of the damping force variable damper according to the preceding comparison process, and the damping force different from the preceding control process according to the following comparison process. It includes a post-control process for performing anti-dive control by adjusting the damping force of the variable damper.

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

<Example>

1 is a schematic block diagram illustrating an electronically controlled suspension device according to an embodiment of the present invention. Referring to FIG. 1, the electronically controlled suspension device 100 according to the present embodiment includes a suspension control unit 120 referred to as a 'suspension ECU', various sensors 112, 114, 116, and 118. , Damping force variable damper 140, and the like.

For example, the suspension control unit 120 may include various vehicles for suspension control from the vehicle body acceleration sensor 112, the wheel acceleration sensor 114, the steering angle sensor 116, the lateral acceleration sensor 118, and / or other sensors. By collecting the information, the damping force of the damping force variable dampers 140 (hereinafter referred to as 'dampers') installed in each of the wheels is controlled to control the ride comfort, the stability of the vehicle (ie, steering stability), and various vehicle control of the vehicle. Perform.

In addition, the electronically controlled suspension device 100 is configured to enable data communication with the braking device 200, the steering device 300, the vehicle driving device 400, and the like to form a chassis integrated control system. However, the main idea of the present invention is to implement the anti-dive control of the vehicle by sharing the braking pressure information of the electronic control suspension 100 and the braking device 200, the electronic control suspension 100 and steering device 300 ) And / or without considering data communication between the vehicle driving device 400, the present invention may be implemented in consideration of only data communication between the electronic control suspension 100 and the braking device 200.

In order to share the above-mentioned braking pressure information, the electronically controlled suspension device 100 has its own suspension control unit 120 data to each other through the brake control unit 220 and the CAN (Controller Area Network) of the brake device 200. It is configured to be able to communicate. In the present embodiment, the braking control unit 220 CAN communication braking pressure information including the braking pressure measured from the pressure sensor 212 of the master cylinder and further, the wheel speed measured from the wheel speed sensor 214. Through the suspension control unit 120 is provided. At this time, the technology for obtaining the braking pressure information reflecting the road surface state by using the braking pressure measured by the pressure sensor 212 of the master cylinder, for example, registered under the name of "a road vehicle determination method of the ABS vehicle using the pressure sensor". Korean Patent No. 0422652, which is incorporated herein by reference in its entirety.

Meanwhile, the suspension control unit 120 calculates or estimates a vehicle deceleration Vd necessary for anti-dive control using the provided braking pressure information, and adjusts the damping force of the damper 140 based on the deceleration Vd. Anti-dive control can be performed through. In particular, the above-described braking pressure information is the first braking information obtained from the pressure sensor 212 and the wheel speed sensor 214 at the initial braking of the vehicle, and thus can be used very well for initial anti-dive control of the vehicle.

FIG. 2 is a block diagram illustrating the suspension control unit 120 shown in FIG. 1 in more detail. 2, the suspension control unit 120 according to the present embodiment includes a deceleration obtaining block 122, comparison blocks 124a and 124b, and a damper control block 126.

In the present embodiment, the deceleration obtaining block 122 serves to estimate or calculate the deceleration of the vehicle using the braking pressure information obtained from the braking device 200, in particular, the braking control unit 220. To this end, the deceleration obtaining block 122 includes a wheel pressure calculation unit 122a and a deceleration obtaining unit 122b. The wheel pressure calculation unit 122a uses the braking pressure information, more preferably, the braking pressure information reflecting the road surface condition including the braking pressure and the wheel speed of the master cylinder, and the wheel pressure Wp of the front wheel having the largest braking force. Calculate Since the wheel pressure Wp is approximately proportional to the deceleration of the initial braking of the vehicle, the deceleration obtaining unit 122b uses the wheel pressure Wp of the front wheel calculated by the wheel pressure calculating unit 122a to determine the deceleration of the vehicle ( Vd) can be estimated or calculated.

On the other hand, the comparison block serves to compare the deceleration Vd obtained by the deceleration obtaining unit 122 with the reference decelerations Vr1 and Vr2 set in advance. In this embodiment, the comparison block is composed of a first comparison block 124a which performs the deceleration comparison first and a second comparison block 124b which performs the deceleration comparison following the first comparison block 124a. In the present specification, for convenience of description, only two comparison blocks are described, but anti-dive control may be performed by reflecting more various road surface conditions and / or various vehicle driving environments according to the number of comparison blocks.

The first comparison block 124a compares the deceleration Vd (hereinafter, referred to as “acquisition deceleration”) obtained by the deceleration obtaining unit 122 with the first reference deceleration Vr1 preset. In addition, when the acquisition deceleration Vd is greater than the first reference deceleration Vr1, the first comparison block 124a determines the first anti-dive control, and according to the determination of the first comparison block 124a. The damper control block 126 performs the first anti-dive control of the vehicle by adjusting the damping force of the damper 140 (see FIG. 1), in particular, the damping force of the front wheel side damper.

Meanwhile, the second comparison block 124b has a function of comparing the acquired deceleration Vd with the second reference deceleration Vr2 when the acquired deceleration Vd is smaller than the first reference deceleration Vr1. Do this. For example, when the first reference deceleration Vr1 is determined as a reference deceleration considering high speed driving and a flat road surface, the second reference deceleration Vr2 may be determined as a reference deceleration considering a snowy road surface or an ice road surface.

Therefore, when the acquired deceleration Vd is smaller than the first reference deceleration Vr1 in the comparison process, it is assumed that braking may be performed under snowy road or ice road surface, and the second reference deceleration Vr2 is obtained. The decelerations Vd are compared with each other. And, if the acquisition deceleration (Vd) is greater than the second reference deceleration (Vr2), the second comparison block 124b determines the second anti-dive control. According to the determination of the second comparison block 124b as described above, the damper control block 126 performs the second anti-dive control of the vehicle by adjusting the damping force of the damper, in particular, the damping force of the front wheel damper.

If the acquired deceleration Vd is smaller than the second reference deceleration Vr2, it is considered that the dive of the vehicle does not largely occur. In this case, the suspension control unit 120 performs the damping force control of the general damper. Done. As mentioned above, the number of reference decelerations of the comparison blocks and each of the comparison blocks may be variously changed in consideration of the driving situation and the road surface situation of the vehicle, which is also within the scope of the present invention.

3 is a block diagram showing the electronic control suspension 100 according to another embodiment of the present invention, Figure 4 is a block diagram showing in more detail the suspension control unit 120 shown in FIG. In the description of the present embodiment, the description of the same components and functions as those of the previous embodiment has been omitted, and the description of the present embodiment will be made mainly on matters distinguished from the previous embodiment.

As shown in Figs. 3 and 4, in this embodiment, the braking pressure information shared by the suspension control unit and the brake control unit by data communication is the brake wheel pressure Wp. The braking wheel pressure Wp is measured from the wheel pressure sensors 210 of the wheels, and is information on which the road surface state and the like are already reflected. Therefore, the electronically controlled suspension device 100 according to the present embodiment does not need to separately calculate the brake wheel pressure 210 unlike the previous embodiment.

Accordingly, the suspension control unit 120 according to the present embodiment may omit the process of calculating the wheel pressure of the vehicle in the deceleration obtaining block 122, and the wheel pressure Wp provided by the braking control unit 220. You can calculate or estimate the deceleration using. The acquired deceleration Vd obtained in the deceleration obtaining block 122 is used as comparison data with the first and second reference decelerations Vr1 and Vr2 in the first and second comparison blocks 124a and 124b, respectively. Ultimately, it is used for anti dive control of the vehicle.

FIG. 5 is a flowchart for explaining an anti-dive control method of a vehicle using the above-described electronically controlled suspension device. Hereinafter, the anti-dive control of the electronically controlled suspension device will be described with reference to FIGS. 1 to 5, in particular, FIG. 5. The method will be described.

First, the suspension control unit 120 receives the braking pressure information of the braking device 200 using data communication, in particular, CAN communication (S102). The braking pressure information may be the braking pressure information including the braking pressure measured at the master cylinder and the wheel speed obtained at the wheel speed sensor, or may be the wheel pressure of the wheel measured directly at the wheel pressure sensor of the braking device.

Thereafter, the suspension control unit 120 estimates or calculates the deceleration Vd of the vehicle using the braking pressure information (S104). At this time, when the braking pressure information is not the wheel pressure, a process of calculating the wheel pressure of the vehicle using the braking pressure information before the deceleration is obtained is first required.

Thereafter, the obtained deceleration Vd is compared with the first reference deceleration Vr1 (S112). Here, the first reference deceleration Vr1 is defined as a deceleration corresponding to the flat road surface. If the obtained deceleration Vd is greater than the first reference deceleration Vr1, it is determined that anti-dive control is required under the flat road surface, and the first anti-dive control is performed (S122).

Unlike the above, when the obtained deceleration Vd is smaller than the first reference deceleration Vr1, a comparison between the obtained deceleration Vd and the second reference deceleration Vr2 is performed (S114). At this time, the second reference deceleration Vr2 is defined as a deceleration corresponding to the snow road surface. If the obtained deceleration Vd is greater than the second reference deceleration Vr2, that is, the obtained deceleration Vd is between the first reference deceleration Vr1 and the second reference deceleration Vr2. If present, it is determined that anti-dive control is required under the road surface, and a second anti-dive control is performed (124).

On the other hand, if the obtained deceleration Vd is smaller than the second reference deceleration Vr2, it is regarded as a braking situation in which anti-dive control is not required, and anti-dive control is not performed. In addition, another subsequent comparison process may be added following the comparison process of the deceleration, which enables the electronically controlled suspension device to perform dive control in response to more various road conditions and driving environments.

 While the invention has been described above with reference to specific embodiments, various modifications, changes or modifications may be made in the art within the spirit of the invention and the appended claims, and thus, the foregoing description and drawings It should be construed as illustrating the present invention rather than limiting the technical spirit of the present invention.

The present invention, unlike the prior art that performs the anti-dive control using the speed information of the vehicle decelerated by the braking, anti-dive control using the braking pressure information of the initial braking of the vehicle by data communication with the braking device Therefore, there is an advantage that can perform the anti-dive control fast response.

In addition, the present invention has the advantage that it is possible to quickly perform a variety of anti-dive control according to the road surface state, etc. using the deceleration obtained from the braking pressure information reflecting the road surface state and the like.

Claims (8)

delete When the deceleration of the vehicle is obtained by using the damping force variable dampers provided on the front wheel side and the rear wheel side, respectively, and the braking pressure information of the braking device, and the obtained deceleration is greater than the preset reference deceleration, the damping force variable damper A suspension control unit that performs anti-dive control by adjusting the damping force, and includes an electronically controlled suspension capable of data communication with the braking device, the suspension control unit, A deceleration acquiring block for acquiring a deceleration of the vehicle using the braking wheel pressure of the wheel obtained using the braking pressure measured in the master cylinder of the braking device; A comparison block comparing the deceleration obtained in the deceleration obtaining block with a preset reference deceleration to determine whether to control the anti-dive; Electronically controlled suspension device comprising a. When the deceleration of the vehicle is obtained by using the damping force variable dampers provided on the front wheel side and the rear wheel side, respectively, and the braking pressure information of the braking device, and the obtained deceleration is greater than the preset reference deceleration, the damping force variable damper A suspension control unit that performs anti-dive control by adjusting the damping force, and includes an electronically controlled suspension capable of data communication with the braking device, the suspension control unit, A deceleration obtaining block that receives the braking wheel pressure measured by the wheel pressure sensor of the wheel from the braking device and obtains the deceleration of the vehicle using the braking wheel pressure; A comparison block comparing the deceleration obtained in the deceleration obtaining block with a preset reference deceleration to determine whether to control an anti-dive; Electronically controlled suspension device comprising a. The method according to claim 2 or 3, And the comparison blocks comprise at least two comparison blocks for performing a deceleration comparison with respect to the deceleration obtained from the deceleration obtaining block using different reference decelerations reflecting road conditions. delete An anti-dive control method of an electronically controlled suspension device capable of data communication with a braking device, A deceleration obtaining step of obtaining a deceleration of the vehicle using the braking pressure information of the braking device; A comparison step of comparing the deceleration obtained in the deceleration obtaining step with a reference deceleration; If the obtained deceleration is greater than the reference deceleration includes an anti-dive control step of performing the anti-dive control by adjusting the damping force of the damping force variable damper, In the deceleration obtaining step, a pre-calculated braking wheel pressure is used, and the braking wheel pressure is calculated using braking pressure information including a braking pressure measured in a master cylinder of the braking device. Anti dive control method. An anti-dive control method of an electronically controlled suspension device capable of data communication with a braking device, A deceleration obtaining step of obtaining a deceleration of the vehicle using the braking pressure information of the braking device; A comparison step of comparing the deceleration obtained in the deceleration obtaining step with a reference deceleration; If the obtained deceleration is greater than the reference deceleration includes an anti-dive control step of performing the anti-dive control by adjusting the damping force of the damping force variable damper, In the deceleration obtaining step, the anti-dive control method of the electronically controlled suspension device, characterized in that directly receiving the wheel pressure measured by the braking device to calculate the deceleration of the vehicle using the wheel pressure. The method according to claim 6 or 7, The comparing step includes a preceding comparison process for comparing the deceleration obtained from the braking pressure information with a first reference deceleration, and a subsequent comparison process for comparing the obtained deceleration with the second reference deceleration different from the first reference deceleration, The anti-dive control step may include a pre-control process for performing anti-dive control by adjusting the damping force of the variable damping force damper according to the preceding comparison process, and the damping force variable damper different from the preceding control process according to the subsequent comparison process. An anti-dive control method for an electronically controlled suspension device comprising a trailing control process for performing anti-dive control by adjusting damping force.

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