KR100792918B1 - Method for calculating stability-ratio of cross-wind and method for controlling steering angle of vehicle - Google Patents

Abstract

A method for calculating a stability-ratio of a cross-wind and a method for controlling a steering angle of a vehicle are provided to adjust the steering angle according to the size and the direction of a cross-wind, thereby allowing a vehicle to drive more safely. The final speed, which is the actual progressing speed of a vehicle, is calculated by measuring the speeds and the directions of the vehicle and the cross-wind(S13). The yaw angle of a vehicle is calculated(S14). A force applied to the side surface of the vehicle is calculated by using the final speed and the yaw angle. The angular speed and steering angular speed through user manipulation are calculated, thereby calculating the angular speed caused by the cross-wind. The stability-ratio of the cross-wind is calculated by driving the angular speed resulting from the cross-wind by the force applied to the side surface of the vehicle(S30).

Description

Method for calculating stability-ratio of cross-wind and method for controlling steering angle of vehicle

1 is a schematic diagram showing the configuration of a conventional steering apparatus.

2 is a flowchart illustrating a method of calculating the transverse wind stability ratio according to the present invention and a method of adjusting a vehicle steering angle using the same.

3 is a perspective view of the transverse wind measurement means used in the transverse wind stability calculation method and the vehicle steering angle adjustment method using the same.

4 shows the speed at which the vehicle actually travels when transverse wind is applied to the vehicle.

5 illustrates a shape in which the front wheel steering angle is automatically adjusted as the transverse wind is applied to the vehicle.

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

100: transverse wind measuring means 200: front wheel

300: steering wheel 400: steering motor

The present invention relates to a method for calculating the stabilization wind ratio and a steering angle adjustment method using the same. More particularly, the transverse stabilization ratio is calculated by measuring the direction and intensity of the cross wind applied to the side of the vehicle and calculating the angular velocity due to the cross wind. The present invention relates to a method of automatically adjusting a steering angle of a vehicle according to the direction and intensity of a transverse wind so that the vehicle can be stably operated in a place where the wind is blowing.

In general, a vehicle is provided with a steering device that can change the direction of movement of the vehicle body at the driver's discretion while driving, and such steering device converts the rotational motion applied to the steering wheel into a linear motion to the steering wheel side and transmits it. It is made up.

Hereinafter, a conventional steering apparatus will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram showing the configuration of a conventional steering apparatus.

As shown in FIG. 1, a conventional steering apparatus includes a steering wheel 10 gripped by a driver during steering, a steering shaft 12 installed to interlock with the steering wheel 10, and the steering shaft 12. A gear box 14 installed at a lower portion to convert the rotational movement of the steering wheel 10 into a linear movement, and a drag link 16 connected to the gearbox 14 to perform a linear movement in the front-rear direction during steering; And a knuckle arm 18 connected to the knuckle 20 to which one end is connected to the drag link 16 and the other end installs a wheel (not shown), and the steering wheel is steered between the left and right knuckles 20 of the wheel. Tie rod 22 is installed to be rotated in the same direction at the time.

In the steering apparatus configured as described above, when the driver rotates the steering wheel 10 to change the driving direction, the steering rotation movement applied on the steering wheel 10 is transmitted through the steering shaft 12 to the lower gearbox ( 14), the gearbox 14 converts the rotational motion into a linear motion to start the drag link 16 in the front-rear direction, and the knuckle arm 18 by the linear motion of the drag link 16. And the tie rod 22 is rotated to steer the wheel.

However, the conventional steering device configured as described above has only the wheels operated only by the user's operation, and there is no function to automatically compensate for the distorted steering angle when the vehicle becomes unstable as the steering angle is changed due to the transverse wind is applied. There is a problem that the handle 10 becomes very difficult at the time.

In addition, when the steering wheel 10 becomes difficult to operate as described above, it is difficult to properly adjust the vehicle traveling direction when a strong transverse wind blows, which may cause an accident.

The present invention has been proposed to solve the above problems, calculates the angular velocity ratio that is to be compensated according to the direction and intensity of transverse wind when transverse wind is applied to the vehicle and the steering angle is changed, A method of automatically adjusting the steering angle is provided.

Horizontal wind stabilization calculation method according to the present invention for achieving the above object,

Calculating a speed at which the vehicle actually travels, i.e., a final speed, by measuring speeds and directions of the vehicle and the cross wind, respectively;

Measuring the yaw angle of the vehicle;

Calculating a force applied to the side of the vehicle, that is, a side force, by using the final speed and the yaw angle;

Measuring the angular velocity at which the vehicle actually rotates, that is, the angular velocity at which the vehicle is operated and the steering angular velocity by the user's operation, and then calculating the angular velocity generated by the transverse wind; And

Calculating a transverse wind stability ratio by dividing the angular velocity of the transverse fan by the side force;

It includes.

The speed of the transverse wind is,

After measuring the pressure P _A and P _B of two points parallel to a wind direction, it is computed by following [Equation 1] and [Equation 2].

[Equation 1]

ΔP = (P _A -P _B )

[Equation 2]

V _W =

V _W : wind speed, ρ: air density

The direction of the transverse wind is,

A rotating part having a brush that protrudes laterally,

A fixing part coupled to the rotating part in a rotatable structure according to a transverse wind direction, and having a resistance wire in contact with the brush and formed along a moving path of the brush according to the rotation of the rotating part;

A power supply unit applying power to one side of the brush and the resistance wire;

Rotating portion to rotate as the brush moves,

It is measured by the transverse wind measuring means including a voltage measuring unit for measuring the voltage displacement value changes according to the position of the brush.

The side force is,

It is calculated by the following [Equation 3].

[Equation 3]

F _LY = C _y (τ) A (1/2) ρV _r ²

F _LY : side force, C _y (τ): side force correction factor according to yaw angle,

A: Vehicle side area where wind direction is applied, ρ: Air density, V _r : Final speed

Vehicle steering angle adjustment method according to the present invention,

Calculating a speed at which the vehicle actually travels, i.e., a final speed, by measuring speeds and directions of the vehicle and the cross wind, respectively;

Measuring the yaw angle of the vehicle;

Calculating a force applied to the side of the vehicle, that is, a side force, by using the final speed and the yaw angle;

Measuring the angular velocity at which the vehicle actually rotates, that is, the angular velocity at which the vehicle is operated and the steering angular velocity by the user's operation, and then calculating the angular velocity generated by the transverse wind;

Calculating a transverse wind stability ratio by dividing the angular velocity of the transverse fan by the side force; And

Changing a steering angle of a wheel in proportion to the magnitude of the transverse stability;

It includes.

The speed of the transverse wind is,

After measuring the pressure P _A and P _B of two points parallel to a wind direction, it is computed by following [Equation 1] and [Equation 2].

[Equation 1]

ΔP = (P _A -P _B )

[Equation 2]

V _W =

V _W : wind speed, ρ: air density

The direction of the transverse wind is,

A rotating part having a brush that protrudes laterally,

A fixing part coupled to the rotating part in a rotatable structure according to a transverse wind direction, and having a resistance wire in contact with the brush and formed along a moving path of the brush according to the rotation of the rotating part;

A power supply unit applying power to one side of the brush and the resistance wire;

Rotating portion to rotate as the brush moves,

It is measured by the transverse wind measuring means including a voltage measuring unit for measuring the voltage displacement value changes according to the position of the brush.

The side force is,

It is calculated by the following [Equation 3].

[Equation 3]

F _LY = C _y (τ) A (1/2) ρV _r ²

F _LY : side force, C _y (τ): side force correction factor according to yaw angle,

A: Vehicle side area where wind direction is applied, ρ: Air density, V _r : Final speed

Hereinafter, an embodiment of a transverse wind stability ratio calculation method and a vehicle steering angle adjustment method using the same will be described in detail with reference to the accompanying drawings.

2 is a flow chart of the method for calculating the horizontal wind stability ratio according to the present invention and a vehicle steering angle adjustment method using the same, and FIG. 3 is a perspective view of the horizontal wind measuring means used in the method for calculating the horizontal wind stability ratio according to the present invention and a method for adjusting the vehicle steering angle using the same. 4 shows the speed at which the vehicle actually progresses when a transverse wind is applied to the vehicle.

As shown in FIG. 2, the method of calculating the transverse wind stability ratio according to the present invention includes measuring the vehicle speed (S11), measuring the wind speed, that is, the velocity and direction of the transverse wind (S12), and the vehicle actually proceeding. Calculating a speed, that is, a final speed (S13), measuring a yaw angle of the vehicle (S14), and calculating a force applied to the side of the vehicle, that is, a side force using the final speed and the yaw angle. (S15), the step (21) of measuring the steering angular velocity generated by the user operating the steering wheel, the step of measuring the angular velocity at which the actual vehicle rotates, that is, the vehicle angular velocity (S22), and the steering angular velocity at the vehicle angular velocity Calculating the angular velocity generated by the transverse wind, i.e., the angular velocity which is a transverse fan, by dividing (S23), and dividing the angular velocity of the transverse fan by the side force (S30).

At this time, the vehicle steering angle adjustment method according to the present invention is configured to further include the step (S40) of adjusting the steering angle of the wheel by using the lateral wind stability ratio calculated by the above-mentioned transverse wind stability ratio calculation method.

The speed and direction of the transverse wind is measured by the transverse wind measuring means 100 shown in FIG.

The horizontal wind measuring means 100 is largely divided, the rotating part 110 having a brush 113 protruding laterally, and the rotating part 110 is coupled in a structure rotatable about a vertical axis of rotation in accordance with the change in the cross wind direction It is composed of a fixing part (120).

The rotating part 110 is configured to be rotatable so that the width direction thereof is parallel to the horizontal wind direction when the horizontal wind is applied, and the first pressure sensor 111 and the second pressure which are arranged along the horizontal wind direction at the side ends to which the horizontal wind is applied. The sensor 112 is provided. Therefore, the rotating unit 110 is configured to measure the pressure (P _A , P _B ) of two points arranged in parallel with the transverse direction when the transverse wind is applied. At this time, the transverse wind measuring means 100 is further provided with a differential pressure gauge 130 for detecting the difference between the two pressures received two different pressure, the pressure (P _A ) sensed by the first pressure sensor 111 And the difference between the pressure P _B sensed by the second pressure sensor 112 is calculated by the following [Equation 1].

[Equation 1]

ΔP = (P _A -P _B )

As such, when the pressure difference ΔP between the two points is sensed, the wind speed may be calculated by the following Equation 2.

[Equation 2]

V _W =

V _W : wind speed, ρ: air density

The fixing part 120 is coupled to the upper end of the lower end of the rotating part 110, the resistance line 121 to form an arc shape around the vertical rotation axis at a point spaced apart from the vertical rotation axis of the rotating part 110 by a predetermined distance. Equipped. In addition, the rotating unit 110 includes a brush 113 that extends laterally such that one end is in contact with the resistance line 121, and one end of the brush 113 is rotated about a vertical central axis so that the resistance line 121 is rotated. Sliding along, so that the resistance value is variable.

In this case, the transverse wind measuring means 100 includes a power supply unit 140 in which + and − terminals are connected to one end of the brush 113 and the resistance line 121, and the resistance values of the resistance line 121 are changed. It further includes a voltage measuring unit 150 for detecting the generated voltage difference. Therefore, the transverse wind measuring means 100 can calculate the direction of the cross wind using the voltage difference sensed by the voltage measuring unit 150.

When the direction of the transverse wind is calculated in this way, as shown in FIG. 4, the speed at which the vehicle actually moves, that is, the final speed (V _W ) and the driving speed V _V of the transverse wind applied to the vehicle. V _r ) can be calculated.

When the speed V _{W of the} transverse wind, the driving speed V _V and the final speed V _{r of the} vehicle are calculated, the angle formed by the center line of the vehicle and the driving speed V _V of the vehicle, that is, the attitude angle β (Attitude angle), the angle formed by the center line of the vehicle and the final speed (V _r ) line, that is, the angle of attack (τ) can be calculated.

When the yaw angle τ is calculated as described above, the force applied to the side surface of the vehicle, that is, the side force, can be calculated through the following [Equation 3].

[Equation 3]

F _LY = C _y (τ) A (1/2) ρV _r ²

F _LY : side force, C _y (τ): side force correction factor according to yaw angle,

A: Vehicle side area where wind direction is applied, ρ: Air density, V _r : Final speed

In this case, C _y (τ) is the final velocity (V _r ) is divided into a component parallel to the center line of the vehicle and a component perpendicular to the center line of the vehicle, that is, a component applied perpendicularly to the side of the vehicle. As a correction factor for calculating the size of the component applied vertically, the yaw angle τ increases and increases as the yaw angle τ decreases.

Also, when the side force F _LY is calculated, the actual angular velocity of the vehicle can be calculated by multiplying the distance between the aerodynamic center to which the side force F _LY is applied and the center of gravity of the vehicle. When the actual angular velocity of the vehicle is calculated as described above, the angular velocity generated by the transverse wind, that is, the angular velocity that is the transverse fan, can be calculated by subtracting the angular velocity caused by the driver's steering.

The lateral wind stability ratio can be calculated by dividing the angular velocity which is the transverse fan calculated as mentioned above by the side force F _LY . The use of the transverse stabilization ratio has an advantage of more accurately calculating how much the rotational angular velocity increases or decreases according to the magnitude and direction of the transverse wind.

5 illustrates a shape in which the front wheel steering angle is automatically adjusted as the transverse wind is applied to the vehicle.

As mentioned above, when the transverse stability is calculated, the proper steering angle for each size of the transverse stability can be quantified, and the steering angle of the front wheel 200 can be appropriately adjusted according to the magnitude and direction of the lateral wind by data of the steering angle. Will be.

In addition, when a separate steering motor 400 is provided to adjust the steering angle of the front wheel 200, the steering angle adjustment may be automated according to the size and direction of the cross wind, even if the user does not directly operate the handle 300. There is an advantage that stable operation is possible.

As mentioned above, although this invention was demonstrated in detail using the preferable embodiment, the scope of the present invention is not limited to a specific embodiment, Comprising: It should be interpreted by the attached Claim. In addition, those skilled in the art should understand that many modifications and variations are possible without departing from the scope of the present invention.

Using the method of calculating the transverse wind stability ratio according to the present invention has an advantage of accurately calculating the angular velocity ratio, that is, the transverse wind stability, to be compensated according to the direction and strength of the transverse wind when the traverse angle is applied to the vehicle. .

In addition, by using the vehicle steering angle adjustment method according to the present invention, since the steering angle adjustment can be automated according to the magnitude and direction of the cross wind, there is an advantage that more stable driving is possible.

Claims (8)

Calculating a speed at which the vehicle actually travels, i.e., a final speed, by measuring speeds and directions of the vehicle and the cross wind, respectively; Measuring the yaw angle of the vehicle; Calculating a force applied to the side of the vehicle, that is, a side force, by using the final speed and the yaw angle; Measuring the angular velocity at which the vehicle actually rotates, that is, the angular velocity at which the vehicle is operated and the steering angular velocity by the user's operation, and then calculating the angular velocity generated by the transverse wind; And Calculating a transverse wind stability ratio by dividing the angular velocity of the transverse fan by the side force; Horizontal wind stabilization calculation method comprising a. The method of claim 1, The speed of the transverse wind is, After measuring the pressure P _A and P _B at two points parallel to the wind direction, the horizontal wind stability calculation method characterized in that it is calculated by the following [Equation 1] and [Equation 2]. [Equation 1] ΔP = (P _A -P _B ) [Equation 2] V _W =

V _W : wind speed, ρ: air density The method of claim 1, The direction of the transverse wind is, A rotating part having a brush that protrudes laterally, A fixing part coupled to the rotating part in a rotatable structure according to a transverse wind direction, and having a resistance wire in contact with the brush and formed along a moving path of the brush according to the rotation of the rotating part; A power supply unit applying power to one side of the brush and the resistance wire; Rotating portion to rotate as the brush moves, Lateral wind stabilization calculation method characterized in that it is measured by the transverse wind measuring means including a voltage measuring unit for measuring the voltage displacement value changed according to the position of the brush. The method of claim 1, The side force is, Horizontal wind stability maintenance calculation method characterized by the following [Equation 3]. [Equation 3] F _LY = C _y (τ) A (1/2) ρV _r ² F _LY : side force, C _y (τ): side force correction factor according to yaw angle, A: Vehicle side area where wind direction is applied, ρ: Air density, V _r : Final speed Calculating a speed at which the vehicle actually travels, i.e., a final speed, by measuring speeds and directions of the vehicle and the cross wind, respectively; Measuring the yaw angle of the vehicle; Calculating a force applied to the side of the vehicle, that is, a side force, by using the final speed and the yaw angle; Measuring the angular velocity at which the vehicle actually rotates, that is, the angular velocity at which the vehicle is operated and the steering angular velocity by the user's operation, and then calculating the angular velocity generated by the transverse wind; Calculating a transverse wind stability ratio by dividing the angular velocity of the transverse fan by the side force; And Changing a steering angle of a wheel in proportion to the magnitude of the transverse stability; Vehicle steering angle adjustment method comprising a. The method of claim 5, The speed of the transverse wind is, And measuring pressures P _A and P _B at two points parallel to the wind direction, and then calculating the steering angles according to the following [Equation 1] and [Equation 2]. [Equation 1] ΔP = (P _A -P _B ) [Equation 2] V _W =

V _W : wind speed, ρ: air density The method of claim 5, The direction of the transverse wind is, A rotating part having a brush that protrudes laterally, A fixing part coupled to the rotating part in a rotatable structure according to a transverse wind direction, and having a resistance wire in contact with the brush and formed along a moving path of the brush according to the rotation of the rotating part; A power supply unit applying power to one side of the brush and the resistance wire; Rotating portion to rotate as the brush moves, Vehicle steering angle adjustment method characterized in that it is measured by the transverse wind measuring means including a voltage measuring unit for measuring the voltage displacement value changes according to the position of the brush. The method of claim 5, The side force is, Vehicle steering angle adjustment method characterized in that calculated by the following [Equation 3]. [Equation 3] F _LY = C _y (τ) A (1/2) ρV _r ² F _LY : side force, C _y (τ): side force correction factor according to yaw angle, A: Vehicle side area where wind direction is applied, ρ: Air density, V _r : Final speed

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