KR101081797B1 - 차량 안정성 제어 시스템에서의 차량 전복 상태 감지방법 - Google Patents
차량 안정성 제어 시스템에서의 차량 전복 상태 감지방법 Download PDFInfo
- Publication number
- KR101081797B1 KR101081797B1 KR1020070028593A KR20070028593A KR101081797B1 KR 101081797 B1 KR101081797 B1 KR 101081797B1 KR 1020070028593 A KR1020070028593 A KR 1020070028593A KR 20070028593 A KR20070028593 A KR 20070028593A KR 101081797 B1 KR101081797 B1 KR 101081797B1
- Authority
- KR
- South Korea
- Prior art keywords
- vehicle
- roll
- rollover
- roll angle
- roll rate
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 2
- 125000000205 L-threonino group Chemical group [H]OC(=O)[C@@]([H])(N([H])[*])[C@](C([H])([H])[H])([H])O[H] 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/101—Side slip angle of tyre
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/109—Lateral acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (3)
- 차량 안정성 제어 시스템(ESP)의 센서 신호와 차량 롤 모델로부터 추정 롤각 및 롤 레이트를 계산하는 제1 단계와;상기 제1 단계에서 추정한 롤각 및 롤 레이트를 지오메트리(geometry) 특성에 따라 각각의 임계값의 롤각과 롤 레이트로 변환하는 제2 단계와;차량의 주행시 발생하는 현재 상태(current status)의 롤각과 롤 레이트로부터 상기 임계값의 롤각과 롤 레이트까지의 거리를 제1 소정식을 통해 구하는 제3 단계와;위상평면에 현재의 차량 상태에서의 롤각과 롤 레이트를 적용하여 순간 속도 벡터의 크기를 구한 다음, 이 벡터 속도로부터 상기 제3 단계에서 구한 거리까지 진행에 필요한 시간을 결정하는 제4 단계; 및현재 시간으로부터 전복 상황을 예방하기 위해 필요한 시간과, 필요 하드웨어가 차량의 전복 모멘트를 상쇄시키는 필요한 시간에 따라 차량의 전복 여부를 판단하는 제5 단계로 이루어진 것을 특징으로 하는 차량 안정성 제어 시스템에서의 차량 전복 상태 감지방법.
- 제1항에 있어서, 상기 제5 단계는차량의 전복 모멘트를 상쇄시키는 필요한 시간이 전복예측시간 이하인 경우에는 차량 전복으로 판단하는 것을 특징으로 하는 차량 안정성 제어 시스템에서의 차량 전복 상태 감지방법.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020070028593A KR101081797B1 (ko) | 2007-03-23 | 2007-03-23 | 차량 안정성 제어 시스템에서의 차량 전복 상태 감지방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020070028593A KR101081797B1 (ko) | 2007-03-23 | 2007-03-23 | 차량 안정성 제어 시스템에서의 차량 전복 상태 감지방법 |
Publications (2)
Publication Number | Publication Date |
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KR20080086649A KR20080086649A (ko) | 2008-09-26 |
KR101081797B1 true KR101081797B1 (ko) | 2011-11-10 |
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KR1020070028593A KR101081797B1 (ko) | 2007-03-23 | 2007-03-23 | 차량 안정성 제어 시스템에서의 차량 전복 상태 감지방법 |
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KR (1) | KR101081797B1 (ko) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102569892B1 (ko) * | 2017-12-06 | 2023-08-25 | 현대자동차주식회사 | 차량 전복 감지 방법 및 장치 |
CN112373460B (zh) * | 2020-11-17 | 2021-10-26 | 东风汽车集团有限公司 | 基于场景变化动态调整阈值的车辆侧翻预警方法及系统 |
JP7162919B2 (ja) * | 2020-12-04 | 2022-10-31 | 肇▲慶▼学院 | Hmm-rfハイブリッドモデルに基づく大型車両横転警告方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001260835A (ja) | 2000-03-17 | 2001-09-26 | Honda Motor Co Ltd | 車両の横転判定方法 |
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- 2007-03-23 KR KR1020070028593A patent/KR101081797B1/ko active IP Right Grant
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001260835A (ja) | 2000-03-17 | 2001-09-26 | Honda Motor Co Ltd | 車両の横転判定方法 |
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