KR101327116B1 - Mdps control method with learning of driving pattern - Google Patents
Mdps control method with learning of driving pattern Download PDFInfo
- Publication number
- KR101327116B1 KR101327116B1 KR1020110121798A KR20110121798A KR101327116B1 KR 101327116 B1 KR101327116 B1 KR 101327116B1 KR 1020110121798 A KR1020110121798 A KR 1020110121798A KR 20110121798 A KR20110121798 A KR 20110121798A KR 101327116 B1 KR101327116 B1 KR 101327116B1
- Authority
- KR
- South Korea
- Prior art keywords
- driver
- steering
- mode
- driving
- range
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D9/00—Recording measured values
- G01D9/28—Producing one or more recordings, each recording being of the values of two or more different variables
Abstract
본 발명은 운전자의 주행 습관을 자동적으로 학습하여, 각 운전자의 운전 특성에 맞추어진 MDPS 조향 특성을 제공함으로써, 운전자가 보다 자신에 맞는 조향감을 느낄 수 있게 하여, 궁극적으로 차량의 상품성을 향상시킬 수 있도록 한다.The present invention can automatically learn the driving habits of the driver, by providing the MDPS steering characteristics tailored to the driving characteristics of each driver, to allow the driver to feel a more personalized steering feeling, ultimately to improve the vehicle's merchandise Make sure
Description
본 발명은 ＭＤＰＳ 제어방법에 관한 것으로서, 보다 상세하게는 운전자가 주행하는 중에 보이게 되는 운전자의 습관 또는 습성을 학습하여, 해당 운전자에 최적화된 MDPS제어를 구현함으로써, 운전자의 조향감을 향상시킬 수 있도록 하는 기술에 관한 것이다.The present invention relates to a MDPS control method, and more particularly, by learning a driver's habits or habits to be seen while the driver is driving, and by implementing the MDPS control optimized for the driver, the driver's steering feeling can be improved. It's about technology.
MDPS(MOTOR DRIVEN POWER STEERING)은 운전자의 스티어링휠 조작력을 모터의 동력으로 보조하여 원활한 조향이 이루어질 수 있도록 하는 것으로서, 종래의 유압식 파워스티어링 장치에 비하여, 구성이 간단하고 엔진의 동력을 소모하지 않는 등의 장점이 있다.
MDPS (MOTOR DRIVEN POWER STEERING) assists the driver's steering wheel operating power with the power of the motor to enable smooth steering. Compared with the conventional hydraulic power steering system, the configuration is simpler and does not consume engine power. Has the advantage.
상기한 바와 같은 MDPS는 차량의 제작시에, 통상 표준적인 운전자의 운전 특성에 맞추어 스티어링휠 조작력을 보조할 수 있도록 각종 제어치가 결정되어 있어서, 운전자가 무난히 차량을 운전할 수 있도록 한다.
As described above, in the manufacture of a vehicle, various control values are determined so as to assist the steering wheel operation force in accordance with a standard driver's driving characteristics, so that the driver can safely drive the vehicle.
그러나, 운전자들은 저마다의 개성이 다르고 취향이 다르므로, 표준적인 운전자의 운전 특성에 맞추어진 종래의 MDPS 제어가 모든 운전자에게 만족스럽지는 못하게 마련이며, 갈수록 고급화되고 개성을 강조하는 소비자들의 욕구를 충족시키지는 못한다는 문제가 있다.
However, because drivers have different personalities and tastes, conventional MDPS controls tailored to the standard driver's driving characteristics are not always satisfactory to all drivers, and they are increasingly satisfying to the needs of increasingly sophisticated and individualized consumers. There is a problem.
상기의 발명의 배경이 되는 기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진 자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.It will be appreciated that those skilled in the art will appreciate that the described embodiments are provided merely for the purpose of promoting an understanding of the background of the present invention, It will not.
본 발명은 상기한 바와 같은 문제점을 해결하기 위하여 안출된 것으로서, 운전자의 주행 습관을 자동적으로 학습하여, 각 운전자의 운전 특성에 맞추어진 MDPS 조향 특성을 제공함으로써, 운전자가 보다 자신에 맞는 조향감을 느낄 수 있게 하여, 궁극적으로 차량의 상품성을 향상시킬 수 있도록 한 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법을 제공함에 그 목적이 있다.The present invention has been made to solve the problems described above, by automatically learning the driving habits of the driver, by providing the MDPS steering characteristics tailored to each driver's driving characteristics, the driver feels a more comfortable steering feeling It is an object of the present invention to provide a MPS control method according to the learning habits of the driver to be able to ultimately improve the merchandise of the vehicle.
상기한 바와 같은 목적을 달성하기 위한 본 발명 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법은 MDS control method according to the learning habits of the driver of the present invention for achieving the above object is
차속에 따라 변속이 이루어지는 시기와, 차속에 따른 조향각속도와, 차량의 요각속도와, 가속페달과 브레이크페달의 조작각속도에 의해 운전자의 운전습관을 판별하여 다수개로 구분된 운전모드 중 어느 모드에 속하는지를 판별하는 모드판별단계와;The driver's driving habits are determined by the timing of shifting according to the vehicle speed, the steering angle speed according to the vehicle speed, the yaw speed of the vehicle, and the operation angular speed of the accelerator pedal and the brake pedal. A mode discrimination step of determining whether the image is detected;
상기 운전자가 속하는 운전모드에 따라 운전자의 조향토크에 보상토크를 가감하는 조향감최적화단계;를 포함하여 구성된 것을 특징으로 한다.And a steering feeling optimization step of adding or subtracting a compensation torque to the steering torque of the driver according to the driving mode to which the driver belongs.
본 발명은 운전자의 주행 습관을 자동적으로 학습하여, 각 운전자의 운전 특성에 맞추어진 MDPS 조향 특성을 제공함으로써, 운전자가 보다 자신에 맞는 조향감을 느낄 수 있게 하여, 궁극적으로 차량의 상품성을 향상시킬 수 있도록 한다.The present invention can automatically learn the driving habits of the driver, by providing the MDPS steering characteristics tailored to the driving characteristics of each driver, to allow the driver to feel a more personalized steering feeling, ultimately to improve the vehicle's merchandise Make sure
도 1은 본 발명에 따른 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법의 실시예를 도시한 순서도,
도 2는 본 발명에 따른 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법을 블록도로 설명한 도면이다.1 is a flow chart showing an embodiment of the MDS control method according to the learning habits of the driver according to the present invention;
2 is a block diagram illustrating a MPS control method according to learning of a driving habit of a driver according to the present invention.
도 1과, 도 2를 참조하면, 본 발명 실시예의 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법은, 차속에 따라 변속이 이루어지는 시기와, 차속에 따른 조향각속도와, 차량의 요각속도와, 가속페달과 브레이크페달의 조작각속도에 의해 운전자의 운전습관을 판별하여 다수개로 구분된 운전모드 중 어느 모드에 속하는지를 판별하는 모드판별단계(S10)와; 상기 운전자가 속하는 운전모드에 따라 운전자의 조향토크에 보상토크를 가감하는 조향감최적화단계(S20)를 포함하여 구성된다.
1 and 2, the MDPS control method according to the learning habits of the driver of the embodiment of the present invention, when the shift is made according to the vehicle speed, the steering angle speed according to the vehicle speed, the yaw speed of the vehicle, the accelerator pedal And a mode discrimination step (S10) of determining a driving habit of the driver based on an operation angular velocity of the brake pedal to determine which mode among the plurality of divided driving modes; And a steering feeling optimization step (S20) of adding or subtracting a compensation torque to the driver's steering torque according to the driving mode to which the driver belongs.
즉, 운전자가 차량을 운전함에 따라 발생되는 차량의 거동변화를 상기한 바와 같이, 차속, 변속시기, 조향각속도, 요각속도, 가속페달 및 브레이크페달 조작각속도 등과 같은 물리량의 변화로 입력 받아, 이와 같이 입력 받은 데이터를 근거로 하여 운전자의 운전습관을 판별하여, 해당 운전자의 운전 습관이 포함되는 운전모드에 맞춰서 운전자의 조향토크에 보상토크를 더하거나 감하여 해당 운전자가 느끼게 되는 조향감을 최적화시키도록 함으로써, 운전자의 조향감 만족도 향상으로 차량의 상품성을 증대시키도록 하는 것이다.
That is, as described above, the change in the behavior of the vehicle generated as the driver drives the vehicle is inputted as a change in the physical quantity such as the vehicle speed, the shift timing, the steering angle speed, the yaw speed, the accelerator pedal, and the brake pedal operation angle speed. The driver's driving habits are determined based on the input data, and the driver's steering torque is added to or subtracted from the driver's steering torque according to the driving mode including the driver's driving habits to optimize the steering feeling felt by the driver. It is to increase the vehicle's commerciality by improving steering satisfaction.
상기 모드판별단계(S10)는 차속에 따라 변속이 이루어지는 시기가 어느 범위에 속하는지에 의해 운전자의 가감속 성향을 판단하는 변속시기판단단계(S11)와, 차속에 따른 조향각속도가 어느 범위에 속하는지에 의해 운전자의 조타 성향을 판단하는 조타성판단단계(S12)와, 요각속도가 어느 범위에 속하는지에 의해 차량의 거동으로 운전자의 운전 습관을 검증하는 차량거동판단단계(S13)와, 가속페달과 브레이크페달의 조작각속도가 어느 범위에 속하는가에 따라 운전자의 가감속 성향을 파악하는 가감속판단단계(S14)를 포함하여 구성된다.
The mode judging step S10 includes a shift timing determining step S11 of determining an acceleration / deceleration tendency of the driver based on which range the time period of shifting is made according to the vehicle speed, and a range of steering angular velocity according to the vehicle speed. Steering determination step (S12) for judging the steering tendency of the driver by the vehicle, vehicle behavior determination step (S13) for verifying the driver's driving habits by the behavior of the vehicle by the range of the yaw speed, and the accelerator pedal and the brake Acceleration and deceleration determination step (S14) for grasping the driver's acceleration and deceleration propensity according to which range the operation angular speed of the pedal belongs to.
즉, 상기 변속시기판단단계(S11)에서 차속에 따라 변속이 이루어지는 시기를 판단하는 것은, 차속에 따라 변속이 이루어지는 엔진회전수가 어느 범위에 속하는지에 의해 판단하도록 할 수 있을 것인바, 예컨대 어느 차속에서 운전자가 변속을 하는 엔진회전수가 상대적으로 높은 회전수라면, 이 운전자는 부드럽고 완만한 주행을 선호한다기 보다는 힘있고 강한 주행을 선호하는 스포티한 운전 습관을 가지고 있다고 판단할 수 있는 것이다.
That is, in the shift timing determining step (S11) to determine when the shift is made in accordance with the vehicle speed, it can be determined by the range within which the engine speed at which the shift is made in accordance with the vehicle speed, for example at which vehicle speed If the driver turns the engine at a relatively high engine speed, the driver can be judged to have a sporty driving habit that favors strong and strong driving rather than smooth and gentle driving.
상기 조타성판단단계(S12)에서는 어느 차속에서 운전자가 조향각속도가 상대적으로 크게 스티어링휠을 조작한다면, 당해 운전자는 스포티한 성향이라고 판단될 수 있고, 상대적으로 작게 스티어링휠을 조작한다면, 보통이나 부드럽고 완만한 시내 주행 위주의 성향을 가진 것으로 볼 수 있는 것이다.
In the steering determination step (S12), if the driver operates the steering wheel with a relatively large steering angular speed at a certain vehicle speed, the driver may be determined to be sporty, and if the steering wheel is operated relatively small, it is usually soft. It can be seen that it tends to be gentle in urban driving.
상기 차량거동판단단계(S13)에서는 운전자가 운전하는 차량의 상기 차속과 변속시기 조향각속도 등이 조합되어 차량의 거동으로 나타나게 마련이고, 이와 같은 차량의 거동은 그 변화와 크기가 클수록 차량의 요각속도 변화를 크게 하는 성향이 있으므로, 차량의 요각속도가 어느 범위에 속하는지에 의해 상기한 바와 같이 차속과, 변속시기, 조향각속도 등에 의해 파악된 운전자의 습관을 차량의 거동으로 검증하여, 판단의 정확도를 더욱 향상시킬 수 있도록 하는 것이다.
In the vehicle behavior determination step (S13), the vehicle speed and the shift timing steering angle speed of the vehicle driven by the driver are combined to appear as the behavior of the vehicle, and the behavior of the vehicle is larger as the change and the size of the vehicle is the yaw velocity of the vehicle. Since there is a tendency to increase the change, the driver's habits identified by the vehicle speed, the shift timing, the steering angle speed, and the like as described above are determined by the range of the vehicle's yaw rate, so as to determine the accuracy of the judgment. It is to improve it further.
또한, 상기 모드판별단계(S10)에서는 운전자의 조향 조작에 대하여 MDPS가 보조하는 보조조타력이 어느 범위에 속하는지를 판단하는 보타력판단단계(S15)를 더 포함하여 구성함으로써, 보다 정확하게 운전자의 운전습관을 파악할 수 있을 것이다.
In addition, the mode determining step (S10) further comprises a steering force judging step (S15) for determining the range of the auxiliary steering power assisted by the MDPS for the driver's steering operation, the driver's driving more accurately You will be able to understand your habits.
아울러, 상기 가감속판단단계(S14)에서는 예컨대, 운전자가 가속페달과 브레이크페달을 밟는 속도가 매우 빨라서 급격하다면, 급가속과 급정지를 선호하는 스포티한 주행습관을 가진 것으로 볼 수 있고, 반대로 가속페달과 브레이크페달의 조작각속도가 상대적으로 느린 범위에 속한다면, 운전자는 연비 위주의 부드럽고 조용한 주행습관을 가진 것으로 볼 수 있는 것이다.
In addition, in the acceleration / deceleration judging step (S14), for example, if the driver presses the accelerator pedal and the brake pedal very fast and suddenly, it can be regarded as having a sporty driving habit that prefers rapid acceleration and sudden stop, and vice versa. If the operating angular speed of the brake pedal and the brake pedal are in a relatively slow range, the driver may be regarded as having a smooth and quiet driving habit based on fuel economy.
상기 다수개로 구분된 운전모드는 본 실시예에서 거의 경주하듯 차량을 운전하는 F1모드, 상대적으로 강하고 힘있는 차량의 주행 특성을 나타내는 SPORTY모드, 평균적인 운전 습관을 대표하는 NORMAL모드, 시내주행 등에 사용되면 적합할 CITY모드, 주차시에 용이하게 스티어링휠이 조작되도록 하는 PARKING모드로 구분되고, 상기 조향감최적화단계(S20)에서 각 운전모드별로 상기 운전자의 조향토크에 가감하게 되는 보상토크는 물론, 상기 각 운전모드에 맞는 조타력감과 든든감 및 빌드업감을 형성할 수 있도록 각각 다르게 설정된다.
The driving mode divided into a plurality is used in the F1 mode for driving the vehicle almost as in this embodiment, the SPORTY mode indicating the driving characteristics of a relatively strong and powerful vehicle, the NORMAL mode representing the average driving habit, the city driving, etc. If the city mode to be suitable, and the PARKING mode to easily operate the steering wheel when parking, the compensation torque that is added to or subtracted from the steering torque of the driver for each driving mode in the steering feeling optimization step (S20), of course, It is set differently so as to form a feeling of steering power and a sense of comfort and build-up for each operation mode.
즉, 예컨대, SPORTY모드나 PARKING모드에서는 운전자의 조향토크에 보상토크를 더 더하여 보다 가볍게 스티어링휠의 회전이 가능하도록 하고, CITY모드에서는 운전자의 조향토크에서 보상토크를 감하여 안정적인 스티어링휠의 거동을 제공하도록 할 수 있는 것이다.
That is, for example, in the SPORTY or PARKING mode, the steering wheel can be rotated more lightly by adding the compensation torque to the driver's steering torque, and in the CITY mode, the steering torque is reduced by reducing the compensation torque in the driver's steering torque. I can do it.
상기한 바와 같이 운전자의 운전습관을 차량의 각종 정보를 통해 판단하고 그에 따라 결정된 운전자의 운전모드는 MDPS의 컨트롤러가 별도의 저장장치에 저장해두고, 이를 활용하여 운전시 운전자의 조향토크를 보조함으로써, 운전자가 선호하는 조향감이 형성될 수 있도록 하게 되며, 상기 컨트롤러는 차량의 주행이 계속됨에 따라 상기 결정된 운전모드를 갱신하면서 변화해가는 운전자의 운전 습관에도 능동적으로 대응하도록 할 수 있을 것이다.
As described above, the driver's driving habits are determined through various information of the vehicle, and the driver's driving mode determined by the controller is stored in a separate storage device by the controller of the MDPS, and assists the driver's steering torque during driving by using the same. The driver's preferred steering feeling can be formed, and the controller can actively respond to the driver's driving habits that change while updating the determined driving mode as the vehicle continues to travel.
참고로, 도 2에는 상측에 종래의 기본적인 MDPS로직이 도시되어 있어서, MDPS기본로직에 의해 결정된 제어토크값에 따라 모터제어로직이 모터를 제어하도록 하고 있으며, 그 하측에는 본 발명에 따른 운전자의 습관에 따른 보상토크를 결정하여 상기 제어토크값에 가감하도록 하는 내용이 도시된 바, 각종 센서로부터 받은 신호를 처리하여 운전자의 운전습관을 판별하고 그에 따라 구분되는 운전모드별로 가감해야할 보상토크를 결정하여, MDPS기본로직에서 결정된 제어토크에 보상토크를 가감하여 그에 따라 모터를 제어하도록 하는 것을 표현한 것이다.
For reference, FIG. 2 shows a conventional basic MDPS logic on the upper side, whereby the motor control logic controls the motor according to the control torque value determined by the MDPS basic logic, and on the lower side, the habit of the driver according to the present invention. Determining the compensation torque according to the content is shown to add or subtract to the control torque value, by processing the signals received from the various sensors to determine the driver's driving habits and to determine the compensation torque to be added or decreased for each operation mode according to In other words, the control torque determined by MDPS basic logic is added or subtracted to control the motor accordingly.
본 발명은 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.
S10; 모드판별단계
S11; 변속시기판단단계
S12; 조타성판단단계
S13; 차량거동판단단계
S14; 가감속판단단계
S15; 보타력판단단계
S20; 조향감최적화단계S10; Mode discrimination step
S11; Speed judgment stage
S12; Steering stage
S13; Vehicle behavior determination stage
S14; Acceleration / Deceleration Judgment Step
S15; Step of judging force
S20; Steering feeling optimization stage
Claims (5)
상기 운전자가 속하는 운전모드에 따라 운전자의 조향토크에 보상토크를 가감하는 조향감최적화단계(S20);
를 포함하여 구성된 것을 특징으로 하는 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법. A shift timing determination step (S11) of determining an acceleration / deceleration tendency of the driver based on which range the timing of shifting is made according to the vehicle speed; A steering judging step (S12) of judging the steering tendency of the driver based on which range the steering angular velocity according to the vehicle speed belongs to; A vehicle behavior determining step (S13) of verifying a driving habit of the driver by the behavior of the vehicle based on which range the yaw rate is in; Acceleration and deceleration judging step (S14) to determine the acceleration and deceleration tendency of the driver according to the range of the operation angular speed of the accelerator pedal and the brake pedal to determine which mode of the driving mode divided into a plurality of driving modes A mode discrimination step (S10) of judging whether it belongs;
A steering feeling optimization step of adding or subtracting a compensation torque to the steering torque of the driver according to the driving mode to which the driver belongs (S20);
MDS control method according to the learning habits of the driver, characterized in that configured to include.
상기 변속시기판단단계(S11)에서 차속에 따라 변속이 이루어지는 시기를 판단하는 것은, 차속에 따라 변속이 이루어지는 엔진회전수가 어느 범위에 속하는지에 의해 판단하는 것
을 특징으로 하는 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법.The method according to claim 1,
Determining when the shift is made in accordance with the vehicle speed in the shift timing determination step (S11) is to determine by which range the engine speed at which the shift is made in accordance with the vehicle speed falls within the range.
MDS control method according to the learning habits of the driver, characterized in that.
상기 모드판별단계(S10)에서는
운전자의 조향 조작에 대하여 MDPS가 보조하는 보조조타력이 어느 범위에 속하는지를 판단하는 보타력판단단계(S15)를 더 포함하여 구성된 것을 특징으로 하는 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법.The method according to claim 1,
In the mode determination step (S10)
MDS control method according to the learning habits of the driver, characterized in that it further comprises a steering force judging step (S15) for determining in which range the auxiliary steering power assisted by the MDPS for the driver's steering operation.
상기 다수개로 구분된 운전모드는 F1모드, SPORTY모드, NORMAL모드, CITY모드, PARKING모드로 구분되고;
상기 조향감최적화단계(S20)에서 각 운전모드별로 상기 운전자의 조향토크에 가감하게 되는 보상토크는 각 운전모드에 맞는 조타력감과 든든감 및 빌드업감을 형성할 수 있도록 각각 다르게 설정되는 것
을 특징으로 하는 운전자의 주행습관 학습에 따른 ＭＤＰＳ 제어방법.The method according to claim 1,
The plurality of operation modes are divided into F1 mode, SPORTY mode, NORMAL mode, CITY mode, and PARKING mode;
Compensation torque that is added to or subtracted from the steering torque of the driver for each driving mode in the steering feeling optimization step (S20) is set differently so as to form a steering feeling, a strong feeling, and a buildup feeling for each driving mode.
MDS control method according to the learning habits of the driver, characterized in that.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020110121798A KR101327116B1 (en) | 2011-11-21 | 2011-11-21 | Mdps control method with learning of driving pattern |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020110121798A KR101327116B1 (en) | 2011-11-21 | 2011-11-21 | Mdps control method with learning of driving pattern |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR20130056063A KR20130056063A (en) | 2013-05-29 |
| KR101327116B1 true KR101327116B1 (en) | 2013-11-07 |
Family
ID=48664299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020110121798A KR101327116B1 (en) | 2011-11-21 | 2011-11-21 | Mdps control method with learning of driving pattern |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR101327116B1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10034630B2 (en) | 2015-11-16 | 2018-07-31 | Samsung Electronics Co., Ltd. | Apparatus and method to train autonomous driving model, and autonomous driving apparatus |
| KR102311698B1 (en) * | 2020-12-31 | 2021-10-14 | (주)제인모터스 | Steering angle calibration system and correction method of electric vehicle |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101527132B1 (en) * | 2013-09-05 | 2015-06-09 | 현대오트론 주식회사 | Adjusting apparatus and method for steering force according to driver's patterns |
| KR102609830B1 (en) * | 2021-01-22 | 2023-12-08 | 오병훈 | System for verifying delivery qualification |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000073308A (en) * | 1999-05-10 | 2000-12-05 | 선우명호 | Driving mode survey and data analysis system of a vehicle |
| JP4297149B2 (en) * | 2006-09-29 | 2009-07-15 | トヨタ自動車株式会社 | Vehicle steering device |
| JP2010162958A (en) | 2009-01-13 | 2010-07-29 | Toyota Motor Corp | Vehicle control device |
| KR20110080758A (en) * | 2010-01-07 | 2011-07-13 | 현대모비스 주식회사 | Steering control method of active front steering system |
-
2011
- 2011-11-21 KR KR1020110121798A patent/KR101327116B1/en active IP Right Grant
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000073308A (en) * | 1999-05-10 | 2000-12-05 | 선우명호 | Driving mode survey and data analysis system of a vehicle |
| JP4297149B2 (en) * | 2006-09-29 | 2009-07-15 | トヨタ自動車株式会社 | Vehicle steering device |
| JP2010162958A (en) | 2009-01-13 | 2010-07-29 | Toyota Motor Corp | Vehicle control device |
| KR20110080758A (en) * | 2010-01-07 | 2011-07-13 | 현대모비스 주식회사 | Steering control method of active front steering system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10034630B2 (en) | 2015-11-16 | 2018-07-31 | Samsung Electronics Co., Ltd. | Apparatus and method to train autonomous driving model, and autonomous driving apparatus |
| US10791979B2 (en) | 2015-11-16 | 2020-10-06 | Samsung Electronics Co., Ltd. | Apparatus and method to train autonomous driving model, and autonomous driving apparatus |
| KR102311698B1 (en) * | 2020-12-31 | 2021-10-14 | (주)제인모터스 | Steering angle calibration system and correction method of electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130056063A (en) | 2013-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8214106B2 (en) | Adaptive suspension control for a motor vehicle | |
| CN102781752B (en) | Control device for vehicle | |
| JP5556523B2 (en) | Vehicle control device | |
| CN101405178A (en) | Driver- specific vehicle subsystem control method and apparatus | |
| WO2011021305A1 (en) | Engine control device | |
| CN110126628B (en) | Control method and control device for electric vehicle motor | |
| EP1998995A1 (en) | Driver- specific vehicle subsystem control method and apparatus | |
| KR101327116B1 (en) | Mdps control method with learning of driving pattern | |
| JP6838657B2 (en) | Vehicle driving support method and driving support device | |
| US10507835B2 (en) | System for controlling cornering of vehicle and method thereof | |
| CN110155059B (en) | Curve optimization control method and system | |
| CN103764471A (en) | Vehicle control device | |
| US20150047495A1 (en) | Audio system for a motor vehicle | |
| JP5152345B2 (en) | Pedal reaction force control device | |
| JP4443547B2 (en) | Understeer suppression device | |
| JP5097165B2 (en) | Vehicle control device | |
| KR102468810B1 (en) | Method and system for managing driving mode change of motor vehicles | |
| JP2020137355A (en) | Control device of electric vehicle | |
| JP2008115814A (en) | Vehicle controller and vehicle with continuously variable transmission | |
| JP2013086632A (en) | Vehicle control device | |
| WO2012111110A1 (en) | Vehicle control device and manufacturing method for same | |
| JP2014024409A (en) | Vehicle braking control device | |
| JP2011105103A (en) | Electric power steering device | |
| JP6229702B2 (en) | Driving force control device | |
| US20210347376A1 (en) | Autonomous driver-feedback system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A201 | Request for examination | ||
| E902 | Notification of reason for refusal | ||
| E701 | Decision to grant or registration of patent right | ||
| GRNT | Written decision to grant | ||
| FPAY | Annual fee payment |
Payment date: 20171030 Year of fee payment: 5 |
|
| FPAY | Annual fee payment |
Payment date: 20181030 Year of fee payment: 6 |