KR100839121B1 - Vehicle stability control device and method - Google Patents

Abstract

A vehicle stability control device and a method are provided to maintain conditions for securing stability of a vehicle by restraining a stabilizer bar at the constricting timing satisfying reference conditions that the left and right sides of a vehicle body are parallel to each other, in a roll motion. A vehicle stability control device is composed of: a vehicle speed sensor(11) sensing the speed of a vehicle; a steering angle sensor(12) sensing the steering angle of the vehicle; plural vehicle height sensors(13) sensing the height of the vehicle; an actuator(30) constricting a stabilizer bar(35) installed at the vehicle; and an ECU(Electronic Control Unit,20) judging whether the vehicle turns or not, if the detected speed of the vehicle is over the predetermined speed level and constraining the stabilizer bar by controlling the actuator at the constricting timing satisfying pre-set reference conditions if the vehicle turns. The ECU comprises a receiving unit receiving the speed, steering angle, and height of the height from the vehicle speed sensor, the steering angle sensor, and the vehicle height sensor; a first judging unit judging whether the received speed of the vehicle is over the predetermined speed level; a calculating unit computing a roll value by using the received speed and steering angle of the vehicle if the received speed of the vehicle is over the predetermined speed level; a second judging unit judging whether the vehicle turns or not, by comparing the calculated roll value with a pre-set critical value; and a driving unit constraining the stabilizer bar by driving the actuator at the constricting timing that the left and right sides of the vehicle are parallel to each other, if the vehicle turns.

Description

Vehicle attitude control device and its attitude control method {vehicle stability control device and method}

1 is a block diagram illustrating a vehicle attitude control device according to an embodiment of the present invention.

FIG. 2 is a block diagram for explaining the ECU shown in FIG. 1; FIG.

3 is a flowchart illustrating an attitude control method of a vehicle attitude control device according to an embodiment of the present invention.

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

11: vehicle speed sensor 12: steering angle sensor

13: multiple garage sensors 20: ECU

21: receiver 22: first determination unit

23: calculation unit 24: second determination unit

25 drive unit 26 counter

30: actuator 35: stabilizer bar

40: memory

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle posture control device and a posture control method thereof, and more particularly, to a vehicle for securing stability and riding comfort of a vehicle by driving an actuator to separate or restrain the stabilizer bar when rolling motion of the vehicle and road surface occurs. A posture control device and a posture control method.

Rolling phenomenon that occurs when the vehicle is turning is a factor that hinders the stability of the vehicle and, in severe cases, causes the vehicle to overturn.

In order to prevent such a roll phenomenon of the vehicle, the roll phenomenon may be reduced by applying rigidity to the vehicle body when the vehicle height difference occurs between the left and right sides of the vehicle using a stabilizer bar.

However, the difference between the left and right garage height of the vehicle can be generated not only at the time of turning but also by the irregular road surface input. In this case, the rigidity of the entire suspension is increased and applied as a deterrent to the riding comfort.

In order to solve this problem, an active type control device and an ON / OFF type control market value for controlling the stabilizer bar according to the vehicle driving conditions are applied.

Here, the active type control device separates the stabilizer bars at the left and right ends under the driving conditions to minimize the rigidity of the stabilizer bar when the vehicle roll is generated by the road surface, thereby improving the riding comfort and separately installing a pump or motor when the roll is generated by the turning motion. By actively applying a moment (moment) to reduce the roll generation by controlling the vehicle attitude. This type of active control device requires excessive output for body motion control, which is a disadvantage in increasing prices and vehicle fuel economy.

The on / off type control device controls the vehicle attitude by separating the left and right stabilizers when the roll motion occurs on the road surface and restraining the left and right stabilizers using a clutch mechanism or the like in the roll generation condition by turning.

On / off type control device installs a separate switch to secure the vehicle stability by restraining left / right when driving on the road and improves ride comfort and vehicle motion by separating left / right by the driver's choice when driving on bad roads. Was used.

The on / off type control device is advantageous in terms of cost compared to the active type control device. However, since the stabilizer bar is detached and the stabilizer bar is constrained when the roll motion occurs due to the road surface, the roll motion due to the road surface and the turn is simultaneously performed. Under the conditions that arise, it is difficult to control the separation or restraint of the stabilizer bar.

An object of the present invention is to ensure the stability and ride comfort of the vehicle by driving the actuator to separate or restrain the stabilizer bar when the rolling motion of the vehicle and the road surface.

Vehicle attitude control apparatus according to an embodiment of the present invention for achieving the above object is a vehicle speed sensor for sensing the speed of the vehicle; A steering angle sensor for detecting a steering angle of the vehicle; A plurality of garage sensors for detecting a garage of the vehicle; An actuator for controlling a stabilizer bar mounted to the vehicle; And an ECU that determines whether the vehicle is turning when the detected speed of the vehicle is greater than or equal to the predetermined vehicle speed, and controls the actuator to restrain the stabilizer bar at a restraint time that satisfies a preset reference condition when the vehicle is turning. Characterized in that.

Preferably, the reference condition is a condition in which the vehicle body is parallel to the left and right according to the garage signal sensed by the garage sensor.

More preferably, the ECU includes a receiver for receiving the speed, the steering angle and the height of the vehicle from the vehicle speed sensor, the steering angle sensor and the garage sensor; A first determination unit determining whether the received vehicle speed exceeds a predetermined vehicle speed; A calculator configured to calculate a roll value by using the received vehicle speed and steering angle when the received vehicle speed exceeds a predetermined vehicle speed; A second determination unit comparing the calculated roll value with a preset threshold value and determining whether the vehicle is turning; And a driving unit configured to restrict the stabilizer bar by driving the actuator at a restraint time in which the vehicle body is parallel to the left and right when the vehicle is turning.

Still more preferably, the ECU further includes a counter for counting the time from the time when the vehicle is turning and the reference condition is not satisfied, and the driving unit satisfies the reference condition again when a predetermined time is counted by the counter. It is determined whether it is the restraint time point, and in the restraint time point, the actuator is driven to restrain the stabilizer bar.

In addition, the attitude control method of the vehicle attitude control apparatus according to an embodiment of the present invention comprises the steps of receiving the speed, steering angle and the height of the vehicle from the vehicle speed sensor, the steering angle sensor and the garage sensor; Determining whether a speed of the received vehicle exceeds a predetermined vehicle speed; Calculating a roll value by using the received vehicle speed and steering angle when the vehicle speed exceeds a predetermined vehicle speed as a result of the determination; Comparing the calculated roll value with a preset threshold to determine whether the vehicle is turning; As a result of the determination, when the vehicle is turning, driving the actuator at a restraint time when the vehicle body satisfies the reference condition parallel to the left and right, and restraining the stabilizer bar.

Preferably, the attitude control method of the vehicle attitude control apparatus according to the present invention, after the step of determining whether the vehicle is turning, counting the time from the restraint time when the vehicle is turning and does not satisfy the constraint condition; Determining whether it is a restraint time that satisfies a reference condition again when the counted time reaches a predetermined time; And as a result of the determination, driving the actuator to restrain the stabilizer bar at the restraint time point.

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

1 is a block diagram illustrating a vehicle attitude control apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle attitude control device according to an exemplary embodiment of the present invention includes a vehicle speed sensor 11, a steering angle sensor 12, a plurality of garage sensors 13, and stabilizer bars installed on front and rear wheels, respectively. Determines whether the vehicle is turning by using the actuator 30 to control (35) and the speed, steering angle and garage of the vehicle, and stabilizes the bar at the time of restraint while the vehicle is turning and satisfies a preset reference condition. It is configured to include the ECU 20 for controlling the driving of the actuator 30 so that the restraint. Here, the reference condition is a condition in which the vehicle body left and right are parallel according to the garage signal received by the garage sensor 13 provided on the front wheel and the rear wheel left and right, respectively.

This embodiment is an embodiment to which the on / off type control device is applied, switching to separate the stabilizer bar 35 when driving on the road, and to stabilize the stabilizer bar 35 in the turning condition, the stabilizer bar 35 at the time of roll generation ) To improve stability.

The vehicle speed sensor 11 is called a wheel speed sensor that can sense the speed of the vehicle, and detects the speed of the vehicle to provide the detected speed signal to the ECU 20.

The steering angle sensor 12 detects a steering angle of the vehicle and provides the detected steering angle signal to the ECU 20. The steering angle sensor 12 is installed on a steering shaft (not shown) of the steering wheel, and detects the steering angle according to the driver's steering wheel manipulation.

The plurality of garage sensors 13 detect a garage of the vehicle and provide the detected garage signal to the ECU 20. The plurality of garage sensors 13 are for detecting a relative distance (that is, a garage) between the vehicle body and the axle, and two levers that rotate in rotation are mounted on the vehicle body and the axle, respectively, to determine the relative angles of the two levers with respect to the linear displacement. The most common way of detecting and detecting distance was used.

The stabilizer bar 35 is installed along the vehicle body in the transverse direction. The stabilizer bar 35 functions as an auxiliary spring for supporting the left and right wheels generated when the vehicle body is rolled, and when the left and right wheels move in phase, they do not receive force, and when they move in reverse phase, they are left and right by torsional elastic force. Constrain the movement of the wheels to reduce the roll behavior of the body.

Actuator 30 is a means for separating or restraining such stabilizer bar 35.

The ECU 20 controls the stabilizer bars 40 installed on the front and rear wheels using the speed, the steering angle, and the garage of the vehicle received from the vehicle speed sensor 11, the steering angle sensor 12, and the garage sensor 13. To control the operation of the actuator (30).

Here, the ECU 20 automatically controls to separate or restrain the stabilizer bar 35 connected to the actuator 30 to optimally control the driving state of the vehicle, that is, the attitude and stability of the vehicle.

In addition, the ECU 20 controls the actuator 30 by controlling and outputting the current value in various ways such as PWM (Pulse Width Modulation).

The actuator 30 is installed on each of the stabilizer bar 35 provided on the front and rear wheels, and separates or restrains the stabilizer bar 35 according to a control signal applied from the ECU 20.

In further detail, the ECU 20 uses the speed, the steering angle and the garage of the vehicle received from the vehicle speed sensor 11, the steering angle sensor 12, and the garage sensor 13 to satisfy the preset reference condition. The actuator 30 is driven to restrain the stabilizer bar 35 at the time of restraint, and the actuator 30 is driven to separate the stabilizer bar 35 when the vehicle is not turning. In addition, the ECU 20 controls the driving of the actuator 30 to detach the stabilizer bar 35 when the speed of the vehicle is less than a predetermined vehicle speed or when the vehicle is turning and does not satisfy the reference condition.

Referring to FIG. 2, the ECU 20 includes a receiver 21, a first determiner 22, a calculator 23, a second determiner 24, a driver 25, and a counter 24. .

The receiver 21 receives the speed, the steering angle, and the height of the vehicle detected from the vehicle speed sensor 11, the steering angle sensor 12, and the garage sensor 13.

The first determination unit 22 determines whether or not the speed of the vehicle received by the reception unit 21 is equal to or higher than a predetermined vehicle speed (for example, 40 Kph). Here, as a result of the determination by the first judging section 22, the stabilizer bar 35 is separated when the actual vehicle speed is lower than the constant vehicle speed.

The calculator 23 calculates the roll value of the vehicle using the speed and the steering angle of the vehicle received by the receiver 21.

The second determination unit 24 compares the roll value of the vehicle calculated by the calculation unit 23 with a preset threshold value to determine whether the vehicle is turning. In this case, the preset threshold value is a state previously stored in the memory 40.

When the driver 25 determines that the vehicle is turning by the second determiner 24, the actuator 25 may be configured to actuate the actuator at a restraint time that satisfies a reference condition in which the left and right sides of the vehicle body are parallel according to the garage signal received by the receiver 21. 30 is driven to restrain the stabilizer bar 35. Here, the degree of restraint of the stabilizer bar 35 is a moment for reducing roll generation, and is preferably proportional to the degree of turning of the vehicle.

In addition, if it is determined by the second determination unit 24 that the vehicle is not turning, the driving unit 25 drives the actuator 30 to separate the stabilizer bar 35.

In addition, when the speed of the vehicle is less than the predetermined vehicle speed, or the vehicle is turning and the vehicle 25 is not a restraint point in which the left and right sides of the vehicle are parallel, the driving unit 25 drives the actuator 30 to determine the stabilizer. Remove the bar 35.

In the present exemplary embodiment, the stabilizer bar 35 is restrained at a restraint time when the vehicle satisfies the reference condition parallel to the left and right of the vehicle body when the roll is generated by the road surface input after the turning. However, the present invention is not limited thereto. The stabilizer bar 35 may be restrained at the restraint time when the vehicle body satisfies the reference condition parallel to the left and right of the vehicle body when turning after the roll generation by the road surface input.

The counter 26 counts time from the time when the vehicle is turning and the vehicle body does not satisfy the parallel condition. At this time, when the time counted by the counter 26 reaches a predetermined time, it is again determined whether the left and right sides of the vehicle body are a restraint time that satisfies parallel conditions, and when the restraint time is driven, the actuator 30 is driven to stabilize the stabilizer bar 35. To bind.

The attitude control method of the vehicle attitude control device having such a configuration will be described below with reference to FIG. 3.

The receiver 21 of the ECU 20 receives the speed, the steering angle, and the height of the vehicle detected from the vehicle speed sensor 11, the steering angle sensor 12, and the garage sensor 13 (S101).

Next, the first determination unit 22 of the ECU 20 determines whether or not the speed of the vehicle received by the reception unit 21 is equal to or higher than a predetermined vehicle speed (S103).

As a result of the determination in step S103, when the speed of the vehicle received by the receiving unit 21 is less than a certain vehicle speed, the drive unit 25 of the ECU 20 in the transverse direction to the vehicle body through the drive of the actuator 30, the front wheel, the rear wheel Separate the left and right stabilizer bars 35 installed in each (S104). Here, the actuator 30 is installed at the center of the stabilizer bar 35, and the left and right stabilizer bar 35 is based on the center of the stabilizer bar 35 as the actuator 30 is driven by the driving unit 25. To be separated.

As a result of the determination in step S103, when the speed of the vehicle received by the receiver 21 is equal to or greater than a predetermined vehicle speed, the calculator 23 of the ECU 20 uses the speed and the steering angle of the vehicle received by the receiver 21. The roll value is calculated (S105).

Next, the second determination unit 24 of the ECU 20 compares the calculated roll value with a threshold value previously stored in the memory 40 to determine whether the vehicle is turning (S107).

As a result of the determination in step S107, when the vehicle is not turning, the driving unit 25 moves the process to step S104 described above to separate the stabilizer bar 35 by driving the actuator 30.

As a result of the determination in step S107, when the vehicle is turning, the driver 25 determines whether the left and right of the vehicle body is a restraint time satisfying the parallel reference condition according to the garage signal received by the receiver 21 (S109). .

As a result of the determination in step S109, when the restraint time, the driving unit 25 drives the actuator 30 to restrain the rigidity of the left and right stabilizer bar 30 (S111).

As a result of the determination in step S109, the counter 26 of the ECU 20 counts the time when it is not the time of restraint (S112). At this time, the stabilizer bar 34 is in a separated state.

Next, the ECU 20 determines whether the counted time reaches a predetermined time (S114).

As a result of the determination in step S114, if the counted time does not reach a predetermined time, the counter 26 moves the process to step S112 described above to count the time.

As a result of the determination in step S114, when the counted time reaches a predetermined time, the drive unit 25 moves to the above-described step S109 to determine whether it is a restraint time. And, if it is determined that the restraint time, restrain the stabilizer bar 35 installed on the front wheel, the rear wheel, respectively.

In this way, since the vehicle separates or restrains the stabilizer bar when the road input is generated after the turning, the vehicle attitude control can be performed under the condition that the turning and the roll motion by the road occur simultaneously.

In the present exemplary embodiment, the rigidity of the stabilizer bar 35 is constrained at the time of restraining when the vehicle satisfies the reference condition in which the vehicle body is parallel to the left and right, but the present invention is not limited thereto. It may be determined whether the right and left is a restraint time satisfying the parallel reference condition, and as a result of the determination, the stabilizer bar 35 of the vehicle may be restrained when the restraint time is satisfied.

The present invention is not limited to the embodiments described above, and various modifications and changes can be made by those skilled in the art, which are included in the spirit and scope of the present invention as defined in the appended claims.

According to the present invention as described above, by driving the actuator to separate or restrain the stabilizer bar when the rolling motion of the vehicle and the road surface, there is an effect that can ensure the stability and ride comfort of the vehicle.

In addition, according to the present invention as described above, by restraining the stabilizer bar at the restraint time that satisfies the reference conditions parallel to the left and right of the vehicle body when the low motion caused by the road surface, there is also an effect that can maintain the conditions for ensuring the stability of the vehicle.

Further, according to the present invention as described above, the actuator is driven to restrain the stabilizer bar at the restraint time when the vehicle is turning and the parallel left and right body parts satisfy the reference condition, and the restraint time when the left and right body parts satisfy the parallel reference condition is not. In other words, by driving the actuator to restrain the stabilizer bar at the time of restraint by determining whether it is restrained again after a certain time elapses when driving on a rough road, and actively applying a moment to reduce roll generation when a road input occurs after turning. There is also an effect that can perform posture control.

Claims (6)

A vehicle speed sensor detecting a speed of the vehicle; A steering angle sensor for detecting a steering angle of the vehicle; A plurality of garage sensors for detecting a garage of the vehicle; An actuator for controlling a stabilizer bar mounted to the vehicle; And If the detected speed of the vehicle is more than a certain vehicle speed, it is determined whether or not the vehicle is turning, and if the vehicle is turning includes an ECU for controlling the actuator to restrain the stabilizer bar at the restraint time that satisfies a preset reference condition, , The ECU is A receiver configured to receive a vehicle speed, a steering angle, and a garage from the vehicle speed sensor, the steering angle sensor, and the garage sensor; A first determination unit determining whether the received vehicle speed exceeds a predetermined vehicle speed; A calculator configured to calculate a roll value by using the received vehicle speed and steering angle when the received vehicle speed exceeds a predetermined vehicle speed; A second determination unit comparing the calculated roll value with a preset threshold value and determining whether the vehicle is turning; And And the driving unit is configured to drive the actuator to restrain the stabilizer bar at a restraint time in which the vehicle body is parallel to the left and right when the vehicle is turning. The method according to claim 1, wherein the reference condition Vehicle attitude control device characterized in that the left and right vehicle body condition in parallel according to the garage signal sensed by the height sensor. delete The method according to claim 1, wherein the ECU is And a counter counting a time from the time when the vehicle is turning and does not satisfy the reference condition, The driving unit determines whether the restraint time that satisfies the reference condition again when the predetermined time is counted by the counter, and when the restraint time is driven, driving the actuator to restrain the stabilizer bar. In a posture control method of a vehicle attitude control device comprising a vehicle speed sensor, a steering angle sensor, a plurality of garage sensors and an actuator to control the stabilizer bar, Receiving a speed, a steering angle and a garage of the vehicle from the vehicle speed sensor, the steering angle sensor and the garage sensor; Determining whether a speed of the received vehicle exceeds a predetermined vehicle speed; Calculating a roll value by using the received vehicle speed and steering angle when the vehicle speed exceeds a predetermined vehicle speed as a result of the determination; Comparing the calculated roll value with a preset threshold to determine whether the vehicle is turning; And determining that the stabilizer bar is driven by driving the actuator at a restraint time when the vehicle is in a turning position and satisfying a reference condition in which the vehicle body is parallel to the left and right sides of the vehicle. The method of claim 5, wherein after determining whether the vehicle is turning, Counting time from a restraint time when the vehicle is turning and does not satisfy the restraint condition; Determining whether it is a restraint time that satisfies a reference condition again when the counted time reaches a predetermined time; And And as a result of the determination, driving the actuator to restrain the stabilizer bar when the restraint time is reached.

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