KR102080978B1 - The Safety Driving Method by Controlling Motor and Engine of the Vehicle - Google Patents
The Safety Driving Method by Controlling Motor and Engine of the Vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims abstract description 24
- 238000005096 rolling process Methods 0.000 claims description 5
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- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
- B60W30/045—Improving turning performance
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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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
- B60W40/105—Speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
본발명은 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법에 관한 것으로, 3축 가속도 센서(10), 조향 각 센서(20), 및 차속 센서(30)에 의하여 차량 모터 또는 엔진의 동력을 제어하는 것으로,
본발명은 3축 가속도 센서, 조향 각 센서, 차속 센서만으로 동력을 제어할 수 있어 저비용으로 제작이 가능하고 안전한 주행이 가능하며 전복사고를 방지할 수 있다. 또한 엔진 또는 모터를 제어함으로써 제동거리 확보와 안정성을 보장해주어 운전자의 안전주행을 유도할 수 있는 현저한 효과가 있다.The present invention relates to a vehicle safety driving method by the control of the vehicle motor or engine, the three-axis acceleration sensor 10, the steering angle sensor 20, and the vehicle speed sensor 30 to control the power of the vehicle motor or engine In that,
The present invention can control the power only by the three-axis acceleration sensor, steering angle sensor, vehicle speed sensor can be manufactured at low cost, safe driving and can prevent the rollover. In addition, by controlling the engine or the motor to ensure the braking distance and stability, there is a remarkable effect to induce the driver's safe driving.
Description
본발명은 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법에 관한 것으로, 3축 가속도 센서(10), 조향 각 센서(20), 및 차속 센서(30) 모두가 기준 값을 초과했을 때 차량 모터 또는 엔진의 동력을 제어하는 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법에 관한 것이다.The present invention relates to a vehicle safety driving method by a vehicle motor or an engine control, the vehicle motor or when the three-
또한, 차량 선회 주행시 조향핸들의 각도 값을 수치화시키기 위해 측정되는 것인 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법에 관한 것이다.In addition, the present invention relates to a vehicle safety driving method by vehicle motor or engine control, which is measured to quantify an angle value of a steering wheel steering wheel during driving.
일반적으로 차량의 자세 제어기술로서 선행발명인 공개특허공보 공개번호 10-2013-0044734호에는 ESC(Electronic Stability Control) 고장 또는 통신모듈 고장인지를 확인하는 단계; 상기 ESC 고장 또는 상기 통신모듈 고장 여부에 따라 ESC 제어 입력을 통한 MDPS(Motor Driven Power Steering) 제어를 수행하거나 MDPS 페일 세이프 로직을 수행하는 단계; 및 상기 ESC 제어 입력을 통한 MDPS 제어 또는 상기 MDPS 페일 세이프 로직을 통한 조향보상토크로 차량자세제어를 수행하는 단계;를 포함하는 것을 특징으로 하는 차량자세제어를 위한 페일 세이프 제어 방법이 공개되어 있다.In general, Patent Publication No. 10-2013-0044734 which is a prior invention as a posture control technology of the vehicle comprises the steps of checking whether the ESC (Electronic Stability Control) failure or communication module failure; Performing motor driven power steering (MDPS) control through an ESC control input or performing MDPS fail safe logic according to the ESC failure or the communication module failure; And performing vehicle posture control with MDPS control through the ESC control input or steering compensation torque through the MDPS fail safe logic. The fail safe control method for vehicle posture control is disclosed.
또한, 공개특허공보 공개번호 10-2009-0090066호에는 가속도 제한모드인지를 판단하는 단계; 횡 가속도 제한모드이면 횡 가속도가 기준값 이상이면 차량의 속도를 감속하는 단계를 포함하는 차량자세제어 시스템의 제어방법이 공개되어 있다.In addition, Patent Publication No. 10-2009-0090066 discloses a step of determining whether the acceleration limit mode; In the lateral acceleration limiting mode, a method of controlling a vehicle posture control system is disclosed that includes decelerating a vehicle speed when the lateral acceleration is equal to or greater than a reference value.
또한, 공개특허공보 특1995-0011249호에는 조향축의 회전각을 감지하는 조향센서와, 차량의 주행속도를 감지하는 차속센서와, 차량의 자세를 감지하는 자세감지센서를 구비하여 이루어지는 감지장치와 상기 감지장치로부터 검출된 정보를 제어 논리로 변환하는 전자제어유닛과; 상기 전자제어유닛으로부터 신호를 받아 모터와 펌프를 개재하여 유압을 발생시키고, 상기 유압을 전륜 혹은 후륜의 좌측 또는 우측의 일측 브레이크로 공급되도록 택일적으로 제어하는 모듈레이터와; 상기 모듈레이터로부터 유압을 공급받아 브레이크 슈를 동작시키는 훨실린더와를 구비하여 이루어짐을 특징으로 하는 자동차의 고속 선회시 차량자세 제어장치가 공개되어 있다.In addition, Japanese Patent Application Laid-Open No. 1995-0011249 includes a steering sensor for detecting a rotation angle of a steering shaft, a vehicle speed sensor for detecting a traveling speed of a vehicle, and a posture detection sensor for detecting a vehicle attitude. An electronic control unit for converting information detected from the sensing device into control logic; A modulator for receiving a signal from the electronic control unit to generate oil pressure through a motor and a pump, and selectively controlling the oil pressure to be supplied to one brake on the left or right side of the front wheel or the rear wheel; A vehicle posture control device has been disclosed in a high-speed turning of a vehicle, characterized in that it comprises a mulch cylinder for operating a brake shoe by receiving hydraulic pressure from the modulator.
그러나 기존의 차량 자세 제어 장치에서는 ESP, ESC, VDC, EPS 등 차량의 자세, 모터(엔진)속도, 스티어링 앵글이 불안정한 상황이 발생하였을 때 차량의 자세제어장치를 하여주는 시스템이다. 하지만 가격이 비싸고 제작이 어려우며 안티 롤링만으로는 Y축 제어를 하는데 어려움이 있다.However, in the existing vehicle attitude control device, the vehicle attitude control device is used when the vehicle attitude, motor (engine) speed, and steering angle of the vehicle such as ESP, ESC, VDC, EPS are unstable. However, it is expensive and difficult to manufacture, and it is difficult to control the Y axis by anti-rolling alone.
운전자가 예상치 못한 급격한 곡선도로나, 혹은 전방의 시야 확보가 쉽지 않은 곡선도로 주행 시 과속 및 부주의에 의해 감속하지 않고 곡선도로에 진입한다면 차량전복사고의 위험성이 매우 크다. 기존의 차량 자세 제어 장치는 ABS 시스템을 연동 시켜서 급선회 시 미끄럼을 방지하려고 하지만 본 발명에서는 ABS에만 의존하지 않고 기울기, 조향 각, 모터속력에 따라 차량의 동력 (모터, 엔진)의 회전력을 제어하여 운전자의 안전주행을 유도하여 슬립 및 전복사고를 방지할 수 있다.If a driver enters a curved road without sudden deceleration due to speed and carelessness when driving on an unexpectedly sharp curve road or a curve road where it is difficult to secure a forward view, there is a great risk of vehicle rollover accident. Existing vehicle attitude control device to link the ABS system to prevent slipping in a sharp turn, but in the present invention does not rely only on ABS control the rotational force of the vehicle power (motor, engine) according to the tilt, steering angle, motor speed Safety driving can be prevented to prevent slip and rollover accident.
따라서 상기와 같은 문제점을 해결하고자 안출된 것으로, 3축 가속도 센서, 조향 각 센서, 차속 센서만으로 동력을 제어할 수 있어 저비용으로 제작이 가능하고 안전한 주행이 가능하며 전복사고를 방지할 수 있다. Therefore, to solve the problems as described above, it is possible to control the power only by the three-axis acceleration sensor, steering angle sensor, vehicle speed sensor can be manufactured at low cost, safe running and can prevent the rollover.
또한 엔진 또는 모터를 제어함으로써 제동거리 확보와 안정성을 보장해주어 운전자의 안전주행을 유도할 수 있는 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법을 제공하고자 하는 것이다.In addition, it is to provide a vehicle safety driving method by controlling a vehicle motor or engine to induce a driver's safe driving by ensuring a braking distance and stability by controlling the engine or the motor.
본발명은 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법에 관한 것으로, 3축 가속도 센서(10), 조향 각 센서(20), 및 차속 센서(30)에 의하여 차량 모터 또는 엔진의 동력을 제어하는 것을 특징으로 한다.The present invention relates to a vehicle safety driving method by the control of the vehicle motor or engine, the three-
따라서 본발명은 3축 가속도 센서, 조향 각 센서, 차속 센서만으로 동력을 제어할 수 있어 저비용으로 제작이 가능하고 안전한 주행이 가능하며 전복사고를 방지할 수 있다. Therefore, the present invention can control the power only by the three-axis acceleration sensor, steering angle sensor, vehicle speed sensor can be manufactured at low cost, safe driving can be prevented and rollover accident.
또한 엔진 또는 모터를 제어함으로써 제동거리 확보와 안정성을 보장해주어 운전자의 안전주행을 유도할 수 있는 현저한 효과가 있다.In addition, by controlling the engine or the motor to ensure the braking distance and stability, there is a remarkable effect to induce the driver's safe driving.
도 1은 본발명 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법의 센서 설치 일례도
도 2는 본발명 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법 흐름도1 is a sensor installation example of the vehicle safety driving method by the vehicle motor or engine control of the present invention
2 is a flow chart of a vehicle safety driving method according to the present invention vehicle motor or engine control
본발명은 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법에 관한 것으로, 3축 가속도 센서(10), 조향 각 센서(20), 및 차속 센서(30)에 의하여 차량 모터 또는 엔진의 동력을 제어하는 것을 특징으로 한다.The present invention relates to a vehicle safety driving method by controlling a vehicle motor or an engine, wherein the three-
또한, 상기 3축 가속도 센서(10), 조향 각 센서(20), 및 차속 센서(30)가 모두가 기준 값을 초과했을 때 차량 모터 또는 엔진의 동력을 제어하여 서서히 속력을 낮춰주어 전복 방지 및 코너 주행 시 안전한 주행을 유도하는 것을 특징으로 한다.In addition, when the three-
또한, 상기 조향 각 센서 측정치는 차량 선회 주행시 조향핸들의 각도 값을 수치화시키기 위해 측정되는 것을 특징으로 한다.In addition, the steering angle sensor measurement is characterized in that for measuring the angular value of the steering wheel steering when driving the vehicle.
본발명을 첨부도면에 의해 상세히 설명하면 다음과 같다. 도 1은 본발명 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법의 센서 설치 일례도, 도 2는 본발명 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법 흐름도이다.The present invention is described in detail by the accompanying drawings as follows. 1 is an example of a sensor installation of the vehicle safety driving method by the vehicle motor or engine control of the present invention, Figure 2 is a flow chart of a vehicle safety driving method by the vehicle motor or engine control of the present invention.
본발명은 3축 가속도 센서(10), 조향 각 센서(20), 및 차속 센서(30)가 기준 값을 초과했을 때 차량 모터 또는 엔진의 동력을 제어하게 된다.The present invention is to control the power of the vehicle motor or engine when the three-
곧, 상기 3축 가속도 센서, 조향 각 센서, 및 차속 센서가 기준 값을 초과했을 때 차량 모터 또는 엔진의 동력을 제어하여 서서히 속력을 낮춰주어 전복 방지 및 코너 주행 시 안전한 주행을 유도하는 것이다.That is, when the three-axis acceleration sensor, the steering angle sensor, and the vehicle speed sensor exceed the reference value, the power of the vehicle motor or the engine is controlled to gradually lower the speed to induce rollover prevention and safe driving during corner driving.
특히 상기 조향 각 센서 측정치는 차량 선회 주행시 조향핸들의 각도 값을 수치화시키기 위해 측정되는 것이다. In particular, the steering angle sensor measurement is measured to quantify the angle value of the steering wheel steering wheel.
그리고 3축 가속도 센서, 조향 각 센서, 차속 센서만으로 동력을 제어할 수 있어 저비용으로 제작이 가능하며 Y축을 제어하는데 있어 안티 롤링뿐만 아니라 본 발명을 통해 롤링모멘트에 의한 사고를 방지할 수 있다.And it is possible to control the power only by the three-axis acceleration sensor, steering angle sensor, vehicle speed sensor can be manufactured at low cost, and to prevent the accident due to the rolling moment through the present invention as well as anti-rolling in the Y-axis control.
차량이 선회주행을 할 때 차체가 기울어지기 때문에 이를 수치화시키기 위한 3축 가속도 센서를 이용하여 차체 기울기 값을 측정, 선회 주행시 조향핸들의 각도 값을 수치화시키기 위해 조향 각 센서의 각도 값을 측정, 차속 센서(30)에 의해 속력을 측정한 후 측정한 3개의 값들이 모두 기준 값을 넘어섰을 경우 차량 모터 또는 엔진의 동력을 제어한다.Since the vehicle body is inclined when turning the vehicle, the three-axis acceleration sensor to quantify it is used to measure the inclination value of the vehicle body.In order to quantify the angle of the steering wheel steering angle, the angle value of the steering angle sensor is measured and the vehicle speed is measured. After measuring the speed by the
특히, 제어방법에 있어서, 3축 가속도 센서를 이용하여 차체 기울기 값을 측정하되, 차체 기울기 값이 일정기울기 이하에서는 조향 각 센서의 각도 값의 한계치를 높게 설정하고, 일정기울기를 초과하는 상태에서는 조향 각 센서의 각도 값이 한계치를 낮게 설정하는 이단 제어로 구분하여 본발명의 제어 효율성을 도모할 수 있다.In particular, in the control method, the vehicle body tilt value is measured using a three-axis acceleration sensor, but if the body tilt value is equal to or less than a predetermined slope, the threshold value of the angle value of the steering angle sensor is set higher, and in a state where the constant tilt is exceeded, the steering is performed. The control efficiency of the present invention can be achieved by dividing into two-stage control in which the angle value of each sensor is set to a low threshold.
도 2는 좌우기울기(y축)가 기준 값을 넘어서고 조향 각 센서가 기준 값을 넘어서며 차속센서의 속력이 기준 값 이상을 넘어섰을 때 엔진 또는 모터동력을 낮추고 브레이크를 통한 제동 후 서서히 속력을 낮춰주어 롤링모멘트 또는 차속센서의 값이 기준치 미만이 되게 제어하며, 전복 방지 및 코너 주행 시 안전한 주행을 유도 할 수 있는 흐름도이다.Figure 2 shows that when the left and right tilt (y-axis) exceeds the reference value, the steering angle sensor exceeds the reference value and the speed of the vehicle speed sensor exceeds the reference value, lowers the engine or motor power and gradually lowers the speed after braking through the brake. It controls the rolling moment or the value of the vehicle speed sensor to be below the standard value, and it is a flow chart that can induce rollover prevention and safe driving during corner driving.
따라서 본발명은 3축 가속도 센서, 조향 각 센서, 차속 센서만으로 동력을 제어할 수 있어 저비용으로 제작이 가능하고 안전한 주행이 가능하며 전복사고를 방지 할 수 있다. Therefore, the present invention can control the power only by the three-axis acceleration sensor, steering angle sensor, vehicle speed sensor can be manufactured at low cost, safe running and can prevent the rollover.
또한 엔진 또는 모터를 제어함으로써 제동거리 확보와 안정성을 보장해주어 운전자의 안전주행을 유도할 수 있는 현저한 효과가 있다.In addition, by controlling the engine or the motor to ensure the braking distance and stability, there is a remarkable effect to induce the driver's safe driving.
10 : 3축 가속도 센서
20 : 조향 각 센서
30 : 차속 센서10: 3-axis acceleration sensor
20: steering angle sensor
30: vehicle speed sensor
Claims (3)
상기 3축 가속도 센서(10), 조향 각 센서(20), 및 차속 센서(30)가 모두가 기준 값을 초과했을 때 차량 모터 또는 엔진의 동력을 제어하여 서서히 속력을 낮춰주어 전복 방지 및 코너 주행 시 안전한 주행을 유도하는 것이며,
상기 조향 각 센서(20) 측정치는 차량 선회 주행시 조향핸들의 각도 값을 수치화시키기 위해 측정되는 것이며,
상기 3축 가속도 센서(10)를 이용하여 차량이 선회주행을 할 때 차체가 기울어지기에 차체 기울기 값을 측정하고, 선회 주행시 조향핸들의 각도 값을 수치화시키기 위해 조향 각 센서(20)의 각도 값을 측정하고, 차속 센서(30)에 의해 속력을 측정한 후, 측정한 3개의 값들이 모두 기준 값을 넘어섰을 경우 차량 모터 또는 엔진의 동력을 제어하는 것이며,
상기 3축 가속도 센서(10)를 이용하여 차체 기울기 값을 측정하되, 차체 기울기 값이 일정기울기 이하에서는 조향 각 센서(20)의 각도 값의 한계치를 높게 설정하고, 일정기울기를 초과하는 상태에서는 조향 각 센서(20)의 각도 값의 한계치를 낮게 설정하는 이단 제어로 구분하여 제어 효율성을 도모할 수 있는 것이며,
상기 3축 가속도 센서(10)의 좌우기울기가 기준 값을 넘어서고 조향 각 센서(20)가 기준 값을 넘어서며 차속 센서(30)의 속력이 기준 값 이상을 넘어섰을 때, 엔진 또는 모터동력을 낮추고 브레이크를 통한 제동 후 서서히 속력을 낮춰주어 롤링모멘트, 또는 차속센서의 값이 기준치 미만이 되게 제어하며, 전복 방지 및 코너 주행 시 안전한 주행을 유도 할 수 있는 것으로,
상기 3축 가속도 센서(10), 조향 각 센서(20), 차속 센서(30)에 의해 동력을 제어할 수 있어 저비용으로 제작이 가능하고 안전한 주행이 가능하며 전복사고를 방지 할 수 있으며, 엔진 또는 모터를 제어함으로써 제동거리 확보와 안정성을 보장해주어 운전자의 안전주행을 유도할 수 있는 것을 특징으로 하는 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법
In the vehicle safety driving method by the vehicle motor or engine control to control the power of the vehicle motor or engine by the three-axis acceleration sensor 10, the steering angle sensor 20, and the vehicle speed sensor 30,
The three-axis acceleration sensor 10, the steering angle sensor 20, and the vehicle speed sensor 30 all lower the speed by controlling the power of the vehicle motor or engine when the reference value exceeds the reference value to prevent overturning and corner driving To drive safe driving
The steering angle sensor 20 is measured to digitize the steering wheel angle value when the vehicle turns.
The vehicle body tilt value is measured when the vehicle is inclined when the vehicle is turning by using the three-axis acceleration sensor 10, and the angle value of the steering angle sensor 20 is used to quantify the angle value of the steering wheel when the vehicle is turning. After measuring the speed by the vehicle speed sensor 30, if all three measured values exceed the reference value is to control the power of the vehicle motor or engine,
The vehicle body tilt value is measured using the three-axis acceleration sensor 10, but when the vehicle body tilt value is equal to or less than a predetermined slope, the threshold value of the angle value of the steering angle sensor 20 is set higher, and in a state in which the constant tilt is exceeded, steering is performed. Control efficiency can be achieved by dividing into two-stage control that sets the lower limit of the angle value of each sensor 20,
When the left and right slopes of the three-axis acceleration sensor 10 exceeds the reference value, the steering angle sensor 20 exceeds the reference value, and the speed of the vehicle speed sensor 30 exceeds the reference value, lowers the engine or motor power and brakes. After braking through, the speed is gradually lowered to control the rolling moment, or the value of the vehicle speed sensor, to be below the standard value, to prevent rollover and to drive safely in corner driving.
Power can be controlled by the three-axis acceleration sensor 10, the steering angle sensor 20, the vehicle speed sensor 30 can be manufactured at low cost, safe running and can prevent the rollover, engine or Vehicle safety driving method by controlling the motor or engine, characterized in that to drive the driver's safe driving by ensuring the braking distance and ensure the stability by controlling the motor
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