KR101757991B1 - Control method for active rear wheel steering apparatus - Google Patents

Control method for active rear wheel steering apparatus Download PDF

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Publication number
KR101757991B1
KR101757991B1 KR1020150189326A KR20150189326A KR101757991B1 KR 101757991 B1 KR101757991 B1 KR 101757991B1 KR 1020150189326 A KR1020150189326 A KR 1020150189326A KR 20150189326 A KR20150189326 A KR 20150189326A KR 101757991 B1 KR101757991 B1 KR 101757991B1
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KR
South Korea
Prior art keywords
rear wheel
wheel steering
signal
yaw rate
steering apparatus
Prior art date
Application number
KR1020150189326A
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Korean (ko)
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KR20170079117A (en
Inventor
김상묵
Original Assignee
주식회사 만도
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Priority to KR1020150189326A priority Critical patent/KR101757991B1/en
Publication of KR20170079117A publication Critical patent/KR20170079117A/en
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Publication of KR101757991B1 publication Critical patent/KR101757991B1/en

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    • 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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • 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
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/28—Wheel speed

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

A method of controlling an active rear wheel steering apparatus according to an embodiment of the present invention includes acquiring steering angle signals, vehicle speed signals, and yaw rate signals from a steering angle sensor, a wheel speed sensor, and a yaw rate sensor, respectively. Determining whether the steering angle signal, the vehicle speed signal, and the yaw rate signal obtained are normal; Setting an operation mode of the rear wheel steering device based on whether the steering angle signal, the vehicle speed signal, and the yaw rate signal are normal; And calculating a rear wheel target steering angle based on the set operation mode.

Description

TECHNICAL FIELD [0001] The present invention relates to a control method for an active rear wheel steering apparatus,

The present invention relates to a control method for an active rear wheel steering apparatus, and more particularly, to a control method of an active rear wheel steering apparatus in which, when a part of a signal generated from various sensors and sensors mounted on a vehicle is abnormal, De-Grade control to ensure stability of the vehicle.

Based on the four-wheel steering system concept introduced in the 1980s, most automobile makers since the 1990s developed / produced a four-wheel steering system based on a rear-wheel steering system having a mechanical or hydraulic operating structure. However, It failed to be popularized. However, as the demand for reduction of fuel consumption, expansion of EV / HEV, and improvement of safety have been increased, development of active rear wheel steering system (RWS, Rear Wheel Steering) has been actively progressed .

The objective of the development of a four-wheel steering system including an active rear-wheel steering system is to improve the maneuverability of a large-sized vehicle by reducing the turning radius at low-speed turning through the reverse-phase control (relative to the front- (Yaw-rate) and side-slip (yaw-rate) at high-speed turning through the front wheel steering angle (as compared to the front wheel steering direction), thereby determining the rear wheel steering mode using the information of various vehicles, And the control method of the rear wheel steering system is composed of control methods such as open-loop control (feed forward control) and closed-loop control (feedback control). In particular, in the control method of the open-loop control of the rear-wheel steering system, the control mode of the steady-state-based rear-wheel steering system is determined using the vehicle speed and the steering angle, .

On the other hand, in a situation where there is an abnormality in the sensor mounted on the vehicle and the signals generated therefrom, if the excessive steering input of the driver or the sudden change of the driving condition occurs, the stability of the driving performance of the vehicle may be deteriorated.

The following prior art document relates to a steering angle estimating method of a four-wheel drive vehicle, which can perform stable four-wheel drive control through steering angle estimation even when the steering angle sensor fails or the steering angle sensor is not applied in a four- A technique for estimating a steering angle of a four-wheel drive vehicle is disclosed, and does not include the technical gist of the present invention.

Korean Patent Laid-Open Publication No. 10-2014-0148186

A control method of an active rear wheel steering apparatus according to an embodiment of the present invention aims to solve the following problems.

If some sensors / signals (driver's steering angle) are abnormal and other sensors / signals (vehicle speed, yaw rate, lateral acceleration etc) are normal and rear-wheel steering system is able to operate normally, excessive steering input of the driver or sudden change of driving conditions De-grade yaw damping control according to the judgment condition is performed when a sudden change of the vehicle condition (such as excessive yaw rate variation) occurs due to various situations, so that the vehicle stability can be ensured .

 The solution to the problem of the present invention is not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

A method of controlling an active rear wheel steering apparatus according to an embodiment of the present invention includes acquiring steering angle signals, vehicle speed signals, and yaw rate signals from a steering angle sensor, a wheel speed sensor, and a yaw rate sensor, respectively. Determining whether the steering angle signal, the vehicle speed signal, and the yaw rate signal obtained are normal; Setting an operation mode of the rear wheel steering device based on whether the steering angle signal, the vehicle speed signal, and the yaw rate signal are normal; And calculating a rear wheel target steering angle based on the set operation mode.

It is preferable to further include determining whether the rear wheel steering apparatus is normal between the step of determining whether the signals are normal or not and the step of setting an operation mode of the rear wheel steering apparatus.

A step of setting an operation mode of the rear wheel steering apparatus is performed when it is determined that the rear wheel steering apparatus is normal and the operation of the rear wheel steering apparatus is stopped when it is determined that the rear wheel steering apparatus is abnormal, It is preferable to light the warning lamp.

Wherein the step of setting the operating mode of the rear wheel steering apparatus includes setting a normal control mode when it is determined that both the steering angle signal, the vehicle speed signal, and the yaw rate signal are normal; Setting a degrade control mode when it is determined that there is an abnormality in one of the steering angle signal, the vehicle speed signal, and the yaw rate signal; And stopping the operation of the rear wheel steering device or lighting a warning light mounted on the vehicle when it is determined that there is an abnormality in at least two of the steering angle signal, the vehicle speed signal, and the yaw rate signal.

Determining whether a signal judged to be abnormal is a steering angle signal after the operation mode of the rear wheel steering apparatus is set to a de-gradation control mode; Determining whether the yaw rate change amount is equal to or greater than a predetermined value; And setting a yaw damping control mode based on the determination result.

When the operation mode of the rear wheel steering apparatus is set to the yaw attenuation control mode, the rear wheel target steering angle is preferably calculated by reflecting the yaw damping control amount.

Preferably, the yaw damping control amount is calculated based on at least one of a change amount of a yaw rate, a magnitude of a yaw rate, and a vehicle speed and a lateral acceleration.

The control method of the active rear wheel steering apparatus according to an embodiment of the present invention is based on the assumption that when the driver's steering angle sensor / signal is in an abnormal state (such as an operation prohibited state such as ESC), the yaw rate sensor / (Yaw Damping control) is performed by using the yaw rate attenuation control.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the following description.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an arrangement of a rear wheel steering apparatus on a vehicle for implementing a control method of an active rear wheel steering apparatus according to an embodiment of the present invention; FIG.
FIG. 2 is a block diagram illustrating a rear wheel steering apparatus for implementing a control method of an active rear wheel steering apparatus according to an embodiment of the present invention and related configurations.
FIG. 3 is a flowchart illustrating a control method of an active rear wheel steering apparatus according to an embodiment of the present invention in a time-series manner.
FIG. 4 is a flow chart illustrating the steps of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings.

FIG. 1 is a view showing an arrangement of a rear wheel steering apparatus in a vehicle for implementing a control method of an active rear wheel steering apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram of an active rear wheel steering apparatus according to an embodiment of the present invention. Fig. 2 is a block diagram illustrating a rear wheel steering apparatus for implementing a control method of the present invention;

As shown in FIG. 1, a rear wheel steering apparatus for implementing a control method of an active rear wheel steering apparatus according to an embodiment of the present invention includes an electronic control unit (ECU) 120 for controlling the operation of the engine.

The configuration of the active rear wheel steering apparatus 100 will be described with reference to FIG. Generally, the active rear wheel steering apparatus 100 detects the position or angle of the actuator 110 for steering the left and right rear wheels, the electronic control unit 120 for controlling the actuator, and the driving system of the rear wheel or actuator 110 And a rear-wheel steering sensor 130 that performs steering control. In particular, the actuator 110 and the electronic control unit 120 are typically connected by a hard wire.

The electronic control unit 120 can calculate the drive amount of the actuators 110 and 140 based on the values output from the brake device 200 or the front wheel steering device 500 in calculating the drive amount of the actuator 110 In particular, an output value from the wheel speed sensor 300 and a Yaw-G sensor may be used as an output value from the brake device 200, and an output value from the front wheel steering sensor 500 may be output from the front wheel steering sensor 600 and / The output value from the torque sensor 700 can be used. Communication between the braking device 200 and the front wheel steering device 500 and the rear wheel steering device 100 is preferably performed through CAN (Controller Area Network) communication.

A control method of the active rear wheel steering apparatus according to an embodiment of the present invention will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a flowchart illustrating a method of controlling an active rear wheel steering apparatus according to an embodiment of the present invention in a time-series manner. FIG. 4 is a flowchart illustrating details of steps of FIG.

As shown in FIG. 3, the control method of the active rear wheel steering apparatus according to an embodiment of the present invention includes a step S100 of obtaining a sensor signal, a step S200 of determining whether the sensor signal is normal, (S300) of setting an operating mode of the rear wheels (S400) and calculating a rear wheel target steering angle (S400).

The step S100 of obtaining the sensor signal is a step of acquiring the steering angle signal, the vehicle speed signal and the yaw rate signal from the steering angle sensor, the wheel speed sensor 300 and the yaw rate sensor 400, respectively. Here, the steering angle sensor may be a front wheel steering sensor 600 or a rear wheel steering sensor 130. After acquiring the sensor signal (S100), it is determined whether the steering angle signal, the vehicle speed signal and the yaw rate signal are normal (S200), and then, based on the determination result of the signals, (S300) is performed.

Meanwhile, as shown in FIG. 3, a step S250 of determining whether the rear wheel steering apparatus is normal is performed between a step S200 of determining whether the signals are normal or not and a step S300 of setting an operation mode of the rear wheel steering apparatus. Step S250 of determining whether or not the rear wheel steering apparatus is normal may be performed before the step S100 of acquiring the sensor signal, and may be performed by acquiring the sensor signal S100, (Step S200) of determining whether or not the mobile stations are normal. If it is determined that there is no abnormality in the rear-wheel steering apparatus in the step S250 of determining whether or not the rear-wheel steering apparatus is abnormal, a subsequent step is performed. If it is determined that there is an abnormality, A step S260 is performed in which the operation of the steering apparatus is stopped or the alarms mounted on the vehicle are turned on.

Hereinafter, the step S300 of setting the operation mode of the rear wheel steering apparatus will be described in detail with reference to FIG. First, the setting of the operating mode of the rear wheel steering apparatus is performed on the assumption that the rear wheel steering apparatus is determined to be normal in the step S250 of determining whether the rear wheel steering apparatus is normal. First, it is determined whether there are any abnormal signals among the signals obtained from the sensors, i.e., the steering angle signal, the vehicle speed signal, and the yaw rate signal (S310). If it is determined that all three signals are normal, the control mode is set to the normal control mode (S320), and the control mode such as the in-phase control / reverse phase control generally performed in the control of the rear wheel steering device is discriminated A follow-up step will proceed. If it is determined that at least two signals among the three signals are abnormal, it is determined that there is a fatal defect, so that the operation of the rear wheel steering device is stopped or the warning signals mounted on the vehicle are turned on (S260).

Meanwhile, when it is determined that two of the three signals are normal and only one signal is abnormal, a step S330 is performed in which the control mode is set to the de-grade control mode. When the control mode is set to the degrade control mode, step S340 of determining whether any of the steering angle signal, the vehicle speed signal, and the yaw rate signal is abnormal is performed. The control mode such as Open-Loop Control (Feed Forward Control) may be set (S370). On the other hand, if the signal judged to be abnormal is a steering angle signal, a step of calculating a yaw rate change amount per reference time and determining whether the calculated yaw rate change amount per reference time exceeds a preset value (a) do. If it is determined that the yaw rate change amount per reference time does not exceed the preset value (a), the control mode such as the above-described Open Loop Control can be set (S370). If it is determined that the predetermined value (a) The control mode is set to the yaw damping control mode (S360).

When the control mode is set to the yaw-damping control mode, it is necessary to calculate the yaw-damping control amount to be reflected in the rear wheel target steering angle, which is designed to be calculated in the direction of damping control of the yaw rate sensor or a change in yaw rate signal generated therefrom And the yaw-damping control amount should be calculated using at least one of a yaw rate change amount per unit time, a yaw rate magnitude, a vehicle speed, and a lateral acceleration. For example, it would be possible to calculate the yaw-damping control amount using a second-order system control (mass-spring damper) for the derivative time element of the yaw rate signal.

Accordingly, when some problems occur in the sensors mounted on the rear-wheel steering system or signals obtained from the rear-wheel steering system, the normal control mode or the yaw-attenuation mode is performed as necessary without immediately stopping the operation of the rear- It is possible to expect an effect that both the driver's convenience and the driving stability can be simultaneously achieved.

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Therefore, it is to be understood that the embodiments disclosed herein are not intended to limit the scope of the present invention but to limit the scope of the present invention. It will be understood by those of ordinary skill 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 appended claims and their equivalents. It should be interpreted.

100: rear wheel steering device
110: Actuator
120: Electronic control unit
130: rear wheel steering sensor
200: Brake device
300: Wheel speed sensor
400: YAW-G sensor
500: front wheel steering device
600: Front wheel steering sensor
700: Torque sensor

Claims (7)

Acquiring a steering angle signal, a vehicle speed signal and a yaw rate signal from a steering angle sensor, a wheel speed sensor and a yaw rate sensor, respectively;
Determining the number of abnormal signals among the obtained steering angle signal, vehicle speed signal, and yaw rate signal;
Setting an operation mode of the rear wheel steering device based on whether the steering angle signal, the vehicle speed signal, and the yaw rate signal are normal; And
And calculating a rear wheel target steering angle based on the set operation mode,
The step of setting the operating mode of the rear-
And sets the degrade control mode when the number of the abnormal signals is one.
The method according to claim 1,
Further comprising the step of determining whether the rear wheel steering apparatus is normal between the step of determining whether the signals are normal or not and the step of setting an operation mode of the rear wheel steering apparatus.
3. The method according to claim 2, wherein, in the step of determining whether the rear-
The step of setting an operation mode of the rear wheel steering apparatus is performed when it is determined that the rear wheel steering apparatus is normal,
Wherein the step of stopping the operation of the rear wheel steering apparatus or lighting the warning lamp mounted on the vehicle is performed when it is determined that the rear wheel steering apparatus is abnormal.
2. The method according to claim 1, wherein the setting of the operating mode of the rear-
Setting a normal control mode when the steering angle signal, the vehicle speed signal, and the yaw rate signal are determined to be normal;
Stopping the operation of the rear wheel steering apparatus or lighting a warning light mounted on the vehicle when it is determined that there is an abnormality in at least two of the steering angle signal, the vehicle speed signal and the yaw rate signal;
And a control unit for controlling the rear wheels.
5. The method according to claim 4, wherein after the step of setting the operating mode of the rear wheel steering apparatus to the de-gradation control mode,
A first step of determining whether a signal judged to be abnormal is a steering angle signal;
A second step of determining whether the yaw rate change amount exceeds a preset value; And
Setting a yaw attenuation control mode based on a result of the determination of the first step and the second step;
And a control unit for controlling the rear wheels.
6. The rear wheel steering apparatus according to claim 5, wherein when the operating mode of the rear wheel steering apparatus is set to the yaw attenuation control mode,
And the rear wheel target steering angle is calculated in accordance with the yaw damping control amount.
The method according to claim 6,
Wherein the yaw-damping control amount is calculated based on at least one of a change amount of a yaw rate, a magnitude of a yaw rate, and a vehicle speed and a lateral acceleration.
KR1020150189326A 2015-12-30 2015-12-30 Control method for active rear wheel steering apparatus KR101757991B1 (en)

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KR101757991B1 true KR101757991B1 (en) 2017-07-14

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100250200B1 (en) * 1995-12-29 2000-04-01 류정열 Control method of a 4 wheel steering system using yaw-rate
JP2004237927A (en) * 2003-02-07 2004-08-26 Nissan Motor Co Ltd Vehicle motion control device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100250200B1 (en) * 1995-12-29 2000-04-01 류정열 Control method of a 4 wheel steering system using yaw-rate
JP2004237927A (en) * 2003-02-07 2004-08-26 Nissan Motor Co Ltd Vehicle motion control device

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