KR101205596B1 - Method And Apparatus for Compensating Steering Pull of Vehicle - Google Patents

Abstract

The present invention relates to a method and an apparatus for compensating for tipping of a vehicle.

The present invention provides a sensor unit for generating a torque signal, a vehicle speed signal, and a steering angle signal for a driving vehicle; A motor for generating assistance power to facilitate steering; And the vehicle speed signal exceeds a first reference vehicle speed or a second reference vehicle speed, wherein an absolute value of the steering angle signal is less than a first reference angular velocity or a second reference angular velocity, and an absolute value of the torque signal is preset. When it is less than the first reference torque or the second reference torque, it is determined that the vehicle does not maintain the straightness due to the short-term or long-term causes, and generates a pulling torque value or a pulling steering angle value according to the pulling state generated in the vehicle. And generating an offset pooling torque value or an offset pooling steering angle value that cancels the pooling torque value or the pooling steering angle value, and restores the corrected torque value or steering angle value by applying the offset pooling torque value or the offset pooling steering angle value. Electronic control unit (ECU: Electroni) for controlling to transmit the compensation current to the motor c Control Unit) provides a device for compensating for the tilting of the vehicle.

Focus, Compensation, Steering, EPS, Electronic Control Unit, ECU

Description

Method and Apparatus for Compensating Steering Pull of Vehicle

The present invention relates to a method and an apparatus for compensating for tipping of a vehicle. More specifically, while driving the vehicle, various signals are received from various sensor units to determine the straightness of the vehicle. If the vehicle fails to maintain the straightness, it is classified as a short-term cause or a long-term cause. The present invention relates to a method and an apparatus for compensating for the tilting of a vehicle that can improve driver comfort, stability, and straightness of the vehicle by applying a compensation value.

In general, a hydraulic power steering steering system using hydraulic pressure of a hydraulic pump has been used as a vehicle's power auxiliary steering system, but since 1990, an electric power steering steering system using an electric motor has been used. It is becoming more and more common.

Existing hydraulic power assisted steering system consumes energy regardless of whether the steering wheel is rotated by the hydraulic pump driven by the engine, which is the power source to assist the power, whereas the electric power assisted steering system rotates the steering wheel. When torque is generated, a motor driven by electrical energy provides steering assistance.

Therefore, when the electric power assist steering device is used, the energy efficiency of the vehicle can be improved as compared with the hydraulic power assist steering device.

On the other hand, due to the aging of the suspension of the vehicle (geometry) changes, the difference in the air pressure of the left and right tires, or the slope of the road due to the slope of the vehicle, regardless of the driver's intention, the tilting phenomenon occurs. .

In the related art, when such a phenomenon occurs, the driver feels a left / right difference in steering, and thus, the driver's convenience and safety are deteriorated.

In order to solve the above problems, the present invention, while driving the vehicle, receives various signals from various sensor units to determine the straightness of the vehicle, and if the vehicle does not maintain the straightness, whether the short-term and long-term causes It is an object of the present invention to provide a method and an apparatus for compensating for tilting of a vehicle which can improve driver comfort, stability, and straightness of the vehicle by applying the compensation value according to the classification result.

In order to achieve the above object, the present invention is a sensor unit for generating a torque signal, a vehicle speed signal and a steering angle signal for a driving vehicle; A motor for generating assistance power to facilitate steering; And the vehicle speed signal exceeds a preset first reference vehicle speed, an absolute value of the steering angle speed calculated from the steering angle signal is less than a first preset reference angular speed, and an absolute value of the torque signal is less than a first preset reference torque. In this case, it is determined that the vehicle does not maintain the straightness due to a short-term cause, generating a pulling torque value according to the pulling state generated in the vehicle, generating an offset pulling torque value that cancels the generated pulling torque value, and canceling the offset. A compensation current for restoring a corrected torque value by applying a pulling torque value is transmitted to the motor, the vehicle speed signal exceeds a second preset reference vehicle speed, and an absolute value of the steering angle velocity is a preset second reference angular velocity If the absolute value of the torque signal is less than the second preset reference torque, the vehicle is a long-term circle Determining that it is not possible to maintain the straightness to generate a pooling steering angle value according to the pooling state generated in the vehicle, to generate an offset steering angle value to cancel the generated steering steering angle value, the steering angle corrected by applying the offset steering angle value A compensation current for restoring to a value is transmitted to the motor, and when the vehicle is determined to be unable to maintain straightness for a long term, the offset steering angle value generated is automatically stored so that the offset steering angle value is automatically generated when the vehicle is restarted. An electronic control unit (ECU) for controlling to be applied to the steering angle value derived from the steering angle signal provides a device for compensating for tilting of the vehicle.

According to another object of the present invention, (a) checking whether the received vehicle speed signal exceeds a first reference vehicle speed or a second reference vehicle speed; (b) When the vehicle speed signal exceeds the first reference vehicle speed, as a result of the checking in the step (a), it is determined whether the absolute value of the steering angle speed calculated from the received steering angle signal is less than the first reference angular velocity. Making; (c) checking whether the absolute value of the received torque signal is less than the first reference torque when the absolute value of the steering angle velocity is less than the first reference angular velocity as a result of the checking in step (b); (d) confirming whether or not the absolute value of the steering angle speed is less than a second reference angular speed when the vehicle speed signal exceeds the second reference vehicle speed as a result of the checking in step (a); (e) if the absolute value of the steering angle velocity is less than the second reference angular velocity as a result of the checking in step (d), checking whether the absolute value of the received torque signal is less than the preset second reference torque; (f) If the absolute value of the torque signal is less than the first reference torque as a result of the checking in the step (c), it is determined that the vehicle does not maintain the straightness due to a short-term cause to the pulling state generated in the vehicle. Generating a pulling torque value according to the above-mentioned step (e), and when the absolute value of the torque signal is less than the second reference torque, it is determined that the vehicle does not maintain the straightness for a long-term cause, and the pulling occurs in the vehicle. Generating a pulling steering angle value according to a pulling state; (g) generating an offset pooling torque value or an offset pooling steering angle value that cancels the pooling torque value or the pooling steering angle value; And (h) transmitting a compensating current to the motor to restore the corrected torque value or steering angle value by applying the offset pooling torque value or the offset pooling steering angle value, wherein in step (g) the offset pooling When the steering angle value is generated, the offset pooling steering angle value is stored, and when the vehicle is restarted, the offset pulling steering angle value is automatically applied to the steering angle signal to transmit a current for the corrected steering angle value to the motor. It provides a method for compensating for the tilting of the vehicle.

As described above, according to the present invention, when driving the vehicle, various signals are received from various sensor units to determine the straightness of the vehicle, and if the vehicle fails to maintain the straightness, the short-term cause and the long-term cause are distinguished. And, by applying the compensation value according to the classification result, there is an effect that can improve the driver's convenience, stability and straightness of the vehicle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is a block diagram schematically showing an apparatus for compensating for tilting of a vehicle according to a first embodiment and a second embodiment of the present invention.

An apparatus for compensating for the tilting of a vehicle according to the first and second embodiments of the present invention includes a sensor unit 110, an electronic control unit (ECU) 120, and a motor 130. do.

The sensor unit 110 includes a torque sensor 112, a vehicle speed sensor 114, and a steering angle sensor 116.

In the present invention, the sensor unit 110 is described as including only the torque sensor 112, the vehicle speed sensor 114 and the steering angle sensor 116, which is merely illustrative of the technical idea of the present invention, the present invention Those skilled in the art may variously modify and modify the components included in the sensor unit 110 without departing from the essential characteristics of the present invention.

The torque sensor 112 detects a relative rotational displacement of the input shaft and the output shaft according to the rotation of the steering wheel to generate an electrical signal and transmit the electrical signal to the electronic controller 120. In the present invention, for convenience of description, it will be assumed that the electric signal generated by the torque sensor 112 is assumed as the torque signal.

The vehicle speed sensor 114 detects a vehicle speed of the vehicle, generates an electrical signal proportional to the detected vehicle speed, and transmits the generated electrical signal to the electronic controller 120. In the present invention, for convenience of description, it is assumed that the electric signal generated by the vehicle speed sensor 114 is assumed as the vehicle speed signal.

The steering angle sensor 116 generates a signal measuring the rotation angle of the steering wheel that is rotated by the driver's operation and transmits the signal to the electronic controller 120. In the present invention, for convenience of description, a signal obtained by measuring a rotation angle of a steering wheel in the steering angle sensor 116 will be described as a steering angle signal.

The electronic controller 120 receives various signals from the sensor unit 110 to determine the driving state of the vehicle and then controls the driving of the motor 130 by adjusting the amount of current flowing through the motor 130.

In the electronic control unit 120 according to the first embodiment of the present invention, the vehicle speed signal received from the sensor unit 110 exceeds a preset first reference vehicle speed and the steering angle calculated from the steering angle signal received from the sensor unit 110. If the absolute value of the speed is less than the predetermined first reference angular velocity and the absolute value of the torque signal received from the sensor unit 110 is less than the predetermined first reference torque, it is determined that the vehicle does not maintain the straightness for a short term. Generating a pulling torque value according to the pulling state generated in the vehicle, generating an offset pulling torque value that cancels the pulling torque value, and applying a offset pulling torque value to restore a compensated current to the corrected torque value. It performs the function of transmitting to the motor (130).

Here, the first reference vehicle speed according to the first embodiment of the present invention is preferably 50 km / h, the first reference angular velocity is preferably 3 deg / sec, the first reference torque is 5 kgf ~ cm It is preferable.

In addition, the short-term cause according to the first embodiment of the present invention may be one of the difference in the air pressure of the left or right tire and the gradient of the road.

In the electronic control unit 120 according to the second embodiment of the present invention, the vehicle speed signal received from the sensor unit 110 exceeds a preset second reference vehicle speed, and the absolute value of the steering angle signal received from the sensor unit 110 is increased. If the value is less than the second preset reference angular velocity and the absolute value of the torque signal received from the sensor unit 110 is less than the preset second reference torque, it is determined that the vehicle does not maintain the straightness for a long term, so that the pooling occurs in the vehicle. A function of generating a pooling steering angle value according to a state, generating and storing an offset steering angle value that cancels the pooling steering angle value, and transmitting a compensation current to the motor 130 to restore the corrected steering angle value by applying the offset steering angle value. Do this.

Here, the second reference vehicle speed according to the second embodiment of the present invention is preferably 80 km / h, the second reference angular velocity is preferably 1 deg / sec, the second reference torque is 3 kgf ~ cm desirable.

In addition, the long-term cause according to the second embodiment of the present invention may be a change in geometry according to the aging of the suspension (Suspension).

The motor 130 performs a function of generating auxiliary power for smooth steering.

2 is a flowchart illustrating a method for compensating for tilting of a vehicle according to a first exemplary embodiment of the present invention.

The electronic controller 120 checks whether the vehicle speed signal received from the sensor unit 110 exceeds the preset first reference vehicle speed (S210).

Here, when it is assumed that the first reference vehicle speed is 50 km / h, the electronic controller 120 checks whether the vehicle speed received from the sensor unit 110 exceeds 50 km / h.

When the received vehicle speed signal exceeds the preset first reference vehicle speed as a result of checking in step S210, the electronic controller 120 sets a preset absolute value of the steering angle speed calculated from the steering angle signal received from the sensor unit 110. 1 check whether the reference angular velocity is less (S220).

Here, when it is assumed that the first reference angular velocity is 3 deg / sec, the electronic controller 120 determines whether the absolute value of the steering angle velocity calculated from the steering angle signal received from the sensor unit 110 is less than 3 deg / sec. To confirm.

If the absolute value of the calculated steering angle speed is less than the first reference angular velocity, as a result of checking in step S220, the electronic controller 120 determines that the absolute value of the torque signal received from the sensor unit 110 is less than the first reference torque. Check whether the recognition (S230).

Here, when it is assumed that the first reference torque is 5 kgf cm, the electronic controller 120 checks whether the absolute value of the torque signal received from the sensor part 110 is less than 5 kgf cm.

As a result of checking in step S230, when the absolute value of the received torque signal is less than the first preset reference torque, the electronic controller 120 determines that the vehicle does not maintain the straightness due to a short-term cause, the pulling according to the pulling state occurred in the vehicle Generate a torque value (S240).

Here, the short-term cause may be one of the difference in air pressure of the left and right tires and the gradient of the road.

In other words, when the vehicle speed is 50 km / h or more, the steering angle speed is less than 3 deg / sec, and the torque is less than 5 kgf cm, the vehicle may not be able to go straight in the short term due to the difference in air pressure between the left and right tires and the slope of the road. It is determined that it is not maintained, and generates a pulling torque value according to the pulling state generated in the vehicle.

The electronic controller 120 generates an offset pulling torque value that cancels the pulling torque value (S250).

The electronic controller 120 transmits a compensation current to the motor 130 to restore the corrected torque value by applying the offset pulling torque value (S260).

The motor 130 generates auxiliary power to receive the compensation current to cancel the pulling phenomenon.

3 is a flowchart illustrating a method for compensating for tilting of a vehicle according to a second exemplary embodiment of the present invention.

The electronic controller 120 checks whether the vehicle speed signal received from the sensor unit 110 exceeds the preset second reference vehicle speed (S310).

Here, when it is assumed that the second reference vehicle speed is 80 km / h, the electronic controller 120 checks whether the vehicle speed received from the sensor unit 110 exceeds 80 km / h.

When the received vehicle speed signal exceeds the preset second reference vehicle speed as a result of checking in step S310, the electronic controller 120 sets a preset absolute value of the steering angle speed calculated from the steering angle signal received from the sensor unit 110. 2 check whether the reference angular velocity is less (S320).

Here, when it is assumed that the second reference angular velocity is 1 deg / sec, the electronic controller 120 determines whether the absolute value of the steering angle velocity calculated from the steering angle signal received from the sensor unit 110 is less than 1 deg / sec. To confirm.

As a result of checking in step S320, when the calculated steering angle speed is less than the second reference angular speed, the electronic controller 120 checks whether the absolute value of the torque signal received from the sensor unit 110 is less than the preset second reference torque. (S330).

Here, when it is assumed that the second reference torque is 3 kgf cm, the electronic controller 120 checks whether the absolute value of the torque signal received from the sensor 110 is less than 3 kgf cm.

As a result of checking in step S330, when the absolute value of the received torque signal is less than the preset second reference torque, the electronic controller 120 determines that the vehicle cannot maintain the straightness due to a long-term cause, and according to the pulling state generated in the vehicle. A pooling steering angle value is generated (S340).

Here, the long-term cause may be a change in geometry according to the aging of the suspension.

In other words, when the vehicle speed is 80 km / h or more, the steering angle speed is less than 1 deg / sec, and the torque is less than 3 kgf cm, the vehicle is not kept straight in the long run due to the geometry change due to the aging of the suspension. If it is determined that the failure is not generated, the pulling steering angle value according to the pulling state generated in the vehicle.

The electronic controller 120 generates and stores an offset steering angle value that cancels the pulling steering angle value (S350).

That is, the electronic controller 120 may store the offset steering angle value in order to automatically apply the offset steering angle value at start-up when the vehicle is regarded as a long-term cause of pooling.

The electronic controller 120 transmits a compensation current to the motor 130 to restore the steering angle value corrected by applying the offset steering angle value (S360).

The motor 130 generates auxiliary power to receive the compensation current to cancel the pulling phenomenon.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a block diagram schematically showing an apparatus for compensating for tilting of a vehicle according to a first embodiment and a second embodiment of the present invention;

2 is a flowchart illustrating a method for compensating for tilting of a vehicle according to a first embodiment of the present invention;

3 is a flowchart illustrating a method for compensating for tilting of a vehicle according to a second exemplary embodiment of the present invention.

Description of the Related Art

110: sensor unit 120: electronic control unit

130: motor

Claims (4)

A sensor unit configured to generate a torque signal, a vehicle speed signal, and a steering angle signal for a driving vehicle; A motor for generating assistance power to facilitate steering; And The vehicle speed signal exceeds a first reference vehicle speed preset, an absolute value of a steering angle speed calculated from the steering angle signal is less than a first preset reference angular speed, and an absolute value of the torque signal is less than a first preset reference torque Determining that the vehicle cannot maintain the straightness due to a short-term cause, generating a pulling torque value according to the pulling state generated in the vehicle, generating an offset pulling torque value that cancels the generated pulling torque value, and the offset pulling Applying a torque value and transmitting a compensation current to the motor to restore the corrected torque value, If the vehicle speed signal exceeds a second preset reference vehicle speed, the absolute value of the steering angle speed is less than the second preset reference angular speed, and the absolute value of the torque signal is less than the second preset reference torque, It is determined that the straightness cannot be maintained due to the cause, and a pulling steering angle value is generated according to the pulling state generated in the vehicle, and an offset steering angle value that cancels the generated steering steering angle value is generated and corrected by applying the offset steering angle value. Transmitting a compensation current to the motor for restoring to a steering angle value, Electronically controlling the offset steering angle value to be automatically applied to the steering angle value derived from the steering angle signal when restarting the vehicle by storing the offset steering angle value generated when it is determined that the vehicle cannot maintain the straightness for a long term. Control Unit (ECU: Electronic Control Unit) Apparatus for compensating for tilting of the vehicle comprising a. The method of claim 1, The short term cause Apparatus for compensating for the tipping of a vehicle, characterized by one of the difference in air pressure between the left and right tires and the slope of the road. The method of claim 1, The long-term cause is Apparatus for compensating for tilting of a vehicle, characterized in that the geometry changes according to the aging of the suspension. (a) checking whether the received vehicle speed signal exceeds a preset first reference vehicle speed or second reference vehicle speed; (b) When the vehicle speed signal exceeds the first reference vehicle speed, as a result of the checking in the step (a), it is determined whether the absolute value of the steering angle speed calculated from the received steering angle signal is less than the first reference angular velocity. Making; (c) checking whether the absolute value of the received torque signal is less than the first reference torque when the absolute value of the steering angle velocity is less than the first reference angular velocity as a result of the checking in step (b); (d) confirming whether or not the absolute value of the steering angle speed is less than a second reference angular speed when the vehicle speed signal exceeds the second reference vehicle speed as a result of the checking in step (a); (e) if the absolute value of the steering angle velocity is less than the second reference angular velocity as a result of the checking in step (d), checking whether the absolute value of the received torque signal is less than the preset second reference torque; (f) If the absolute value of the torque signal is less than the first reference torque as a result of the checking in the step (c), it is determined that the vehicle does not maintain the straightness due to a short-term cause to the pulling state generated in the vehicle. Generating a pulling torque value according to the above-mentioned step (e), and when the absolute value of the torque signal is less than the second reference torque, it is determined that the vehicle does not maintain the straightness for a long-term cause, and the pulling occurs in the vehicle. Generating a pulling steering angle value according to a pulling state; (g) generating an offset pooling torque value or an offset pooling steering angle value that cancels the pooling torque value or the pooling steering angle value; And (h) transmitting a compensation current to the motor to restore the corrected torque value or steering angle value by applying the offset pooling torque value or the offset pooling steering angle value; , ≪ / RTI & When the offset pooling steering angle value is generated in step (g), the offset pooling steering angle value is stored, and the current for the steering angle value corrected by automatically applying the offset pooling steering angle value stored when the vehicle is restarted. Transmitting the motor to the motor.

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