KR102273469B1 - Suspension malfunction detecting system of vehicle - Google Patents

Suspension malfunction detecting system of vehicle Download PDF

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KR102273469B1
KR102273469B1 KR1020150162585A KR20150162585A KR102273469B1 KR 102273469 B1 KR102273469 B1 KR 102273469B1 KR 1020150162585 A KR1020150162585 A KR 1020150162585A KR 20150162585 A KR20150162585 A KR 20150162585A KR 102273469 B1 KR102273469 B1 KR 102273469B1
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vehicle
value
suspension
speed
performance
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KR1020150162585A
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Korean (ko)
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KR20170059052A (en
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손영일
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0185—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/04—Means for informing, instructing or displaying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/304—Acceleration sensors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

차체의 전방에 배치되고, 과속방지턱의 형상을 인지하는 프리뷰 센서; 차량의 상하방향의 가속도를 측정하는 가속도 센서; 및 프리뷰 센서를 통해 인지한 과속방지턱의 형상과 차량의 종류, 차량의 속도, 현가장치의 스프링 탄성계수, 현가장치의 쇽업소버 댐핑계수를 포함하는 차량정보를 통해 수직 가속도 값인 계산값을 산출하고, 계산값과 가속도 센서에서 측정된 값인 측정값을 비교하여 현가장치의 성능 이상 여부를 판단하는 제어부;를 포함하는 차량의 현가장치 성능 이상 판단 시스템.이 소개된다.a preview sensor disposed in front of the vehicle body and recognizing the shape of the speed bump; an acceleration sensor for measuring the vertical acceleration of the vehicle; And the shape of the speed bump recognized through the preview sensor, the type of vehicle, the speed of the vehicle, the spring elastic modulus of the suspension, and the calculated value of the vertical acceleration value through vehicle information including the shock absorber damping coefficient of the suspension, A suspension performance abnormality determination system of a vehicle including a; a control unit that determines whether the performance of the suspension is abnormal by comparing the calculated value with a measurement value that is a value measured by the acceleration sensor.

Description

차량의 현가장치 성능 이상 판단 시스템 {SUSPENSION MALFUNCTION DETECTING SYSTEM OF VEHICLE}SUSPENSION MALFUNCTION DETECTING SYSTEM OF VEHICLE

본 발명은 차량의 현가장치 성능 이상을 탐지하여 운전자에게 알리는 시스템에 관한 것이다.The present invention relates to a system for detecting and notifying a driver of an abnormality in suspension performance of a vehicle.

차량의 현가장치는 차체의 주행시 노면에서 전달되는 진동을 흡수하여 승객실 내부로의 전달을 차단하고, 노면의 상황에 따라 안정적인 차체의 자세를 유지할 수 있도록 하여 주행안정성을 향상시키는 역할을 수행한다. 이때 차량의 현가장치에 이상이 발생하게 되면 1차적으로 주행성능 저하 및 승차감의 저하가 발생하고 나아가 2차적으로 주행안정성을 저하로 안전사고를 유발할 수도 있다.The suspension system of the vehicle absorbs vibrations transmitted from the road surface when the vehicle body is driving, blocks transmission to the passenger compartment, and improves driving stability by maintaining a stable body posture according to road conditions. At this time, when an abnormality occurs in the vehicle's suspension system, driving performance and riding comfort may be deteriorated, and further, a safety accident may be caused secondaryly by lowering driving stability.

또한 이상이 발생한 현가장치를 계속적으로 사용하게 되면, 부품의 치명적인 파손을 야기하고, 차량의 기타 시스템에도 악영향을 미치게 되므로 전반적인 차량의 유지보수 비용의 상승을 초래하게 된다. 따라서 현가장치의 이상을 조기에 판단하고 대응하는 것은 매우 중요하다 할 것이다.In addition, if the abnormal suspension device is continuously used, it causes fatal damage to parts and adversely affects other systems of the vehicle, thereby increasing the overall maintenance cost of the vehicle. Therefore, it is very important to determine and respond to abnormalities in the suspension system early.

상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.The matters described as the above background art are only for improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-2015-0091722 AKR 10-2015-0091722 A

본 발명은 차량의 현가장치 성능 이상을 판단하고 이를 운전자에게 알림으로써 차량의 정비를 유도하는 시스템을 제공하는데 그 목적이 있다.An object of the present invention is to provide a system for inducing maintenance of a vehicle by determining an abnormality in suspension performance of a vehicle and notifying a driver thereof.

상기의 목적을 달성하기 위한 본 발명에 따른 차량의 현가장치 성능 이상 판단 시스템은 차체의 전방에 배치되고, 과속방지턱의 형상을 인지하는 프리뷰 센서; 차량의 상하방향의 가속도를 측정하는 가속도 센서; 및 프리뷰 센서를 통해 인지한 과속방지턱의 형상과 차량의 종류, 차량의 속도를 포함하는 차량정보를 통해 수직 가속도 값인 계산값을 산출하고, 계산값과 가속도 센서에서 측정된 값인 측정값을 비교하여 현가장치의 성능 이상 여부를 판단하는 제어부;를 포함한다.According to an aspect of the present invention, there is provided a system for determining abnormality of suspension system performance of a vehicle, comprising: a preview sensor disposed in front of a vehicle body and recognizing a shape of a speed bump; an acceleration sensor for measuring the vertical acceleration of the vehicle; And calculate a calculated value that is a vertical acceleration value through vehicle information including the shape of the speed bump recognized through the preview sensor, the type of vehicle, and the vehicle speed, and compare the calculated value with the measured value that is the value measured by the acceleration sensor for suspension. and a control unit that determines whether the performance of the device is abnormal.

제어부는 계산값과 측정값의 차이인 차이값을 산출하고, 차이값이 미리 정해진 판단값 보다 큰 경우 차량의 현가장치의 성능에 이상이 발생한 것으로 판단할 수 있다.The control unit may calculate a difference value that is a difference between the calculated value and the measured value, and if the difference value is greater than a predetermined determination value, it may be determined that an abnormality has occurred in the performance of the suspension device of the vehicle.

현가장치에 이상이 발생하는 경우 사용자에게 알리는 사용자 표시장치;를 더 포함하고, 제어부는 현가장치의 성능에 이상이 발생한 것으로 판단된 경우 사용자 표시장치에 현가장치 이상을 표시할 수 있다.The method further includes a user display device that notifies the user when an abnormality occurs in the suspension device, and the controller may display an abnormality in the suspension device on the user display device when it is determined that an abnormality has occurred in the performance of the suspension device.

차량의 외부에 마련되어 정보를 저장하고 분류하는 외부장치; 및 차량의 내부에 마련되어 외부장치와 정보를 주고받는 통신장치;를 더 포함하고, 제어부는 통신장치를 통하여 과속방지턱의 형상, 차량정보 및 가속도 센서에서 측정된 값을 외부장치에 송신하고, 외부장치는 통신장치를 통해 수신한 정보를 저장할 수 있다.an external device provided outside the vehicle to store and classify information; and a communication device provided inside the vehicle to exchange information with an external device, wherein the control unit transmits the shape of the speed bump, vehicle information, and values measured by the acceleration sensor to the external device through the communication device, and the external device may store the information received through the communication device.

외부장치는 통신장치를 통해 수신한 정보를 차종, 과속방지턱의 형상, 차량의 속도 별로 구분하여 측정값의 평균인 평균값을 계산하여 저장할 수 있다.The external device may classify information received through the communication device by vehicle type, shape of a speed bump, and vehicle speed, calculate and store an average value that is an average of the measured values.

외부장치에 의해 계산된 평균값을 다시 제어부에 송신할 수 있다.The average value calculated by the external device may be transmitted back to the control unit.

제어부는 통신장치를 통해 해당 과속방지턱의 형상 및 차량정보에 대응하는 평균값을 전송받고, 평균값과 측정값의 차이인 평균차이값이 미리 정해진 판단값보다 큰 경우 차량의 현가장치의 성능에 이상이 발생한 것으로 판단할 수 있다.The control unit receives the average value corresponding to the shape of the speed bump and vehicle information through the communication device, and when the average difference value, which is the difference between the average value and the measured value, is greater than a predetermined judgment value, an abnormality occurs in the performance of the vehicle's suspension system can be judged as

통신장치를 통해 수신한 측정값이 평균값과 비교하여 미리 정해진 수치 이상의 차이가 있는 경우 그 측정값을 저장하지 않을 수 있다.When the measured value received through the communication device has a difference of more than a predetermined value compared with the average value, the measured value may not be stored.

상술한 바와 같은 본 발명의 차량의 현가장치 성능 이상 판단 시스템에 따르면, 차량의 현가장치 이상을 조기에 발견하고 운전자에게 알림으로써 수리비용을 절감 및 운전자의 안전을 도모할 수 있게된다.According to the system for judging suspension system performance abnormality of a vehicle according to the present invention as described above, it is possible to reduce repair cost and promote driver safety by detecting suspension system abnormality of the vehicle early and notifying the driver.

도 1은 본 발명의 실시예에 따른 차량의 현가장치 성능 이상 판단 시스템의 개념도
도 2는 본 발명의 실시예에 따른 차량의 현가장치 성능 이상 판단 시스템의 설명을 위한 도면1 is a conceptual diagram of a system for determining an abnormality in suspension performance of a vehicle according to an embodiment of the present invention;
2 is a view for explaining a system for determining abnormality in suspension performance of a vehicle according to an embodiment of the present invention;

이하에서는 첨부된 도면을 참조하여 본 발명의 바람직한 실시예에 대하여 살펴본다.Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

도 1은 본 발명의 실시예에 따른 차량의 현가장치 성능 이상 판단 시스템의 개념도이고, 도 2는 본 발명의 실시예에 따른 차량의 현가장치 성능 이상 판단 시스템의 설명을 위한 도면이다.1 is a conceptual diagram of a system for determining abnormality in suspension performance of a vehicle according to an embodiment of the present invention, and FIG. 2 is a view for explaining a system for determining abnormality in suspension performance of a vehicle according to an embodiment of the present invention.

상기의 목적을 달성하기 위한 본 발명에 따른 차량의 현가장치 성능 이상 판단 시스템은 차체의 전방에 배치되고, 과속방지턱의 형상을 인지하는 프리뷰 센서(101); 차량의 상하방향의 가속도를 측정하는 가속도 센서(103); 및 프리뷰 센서(101)를 통해 인지한 과속방지턱의 형상과 차량의 종류, 차량의 속도를 포함하는 차량정보를 통해 수직 가속도 값인 계산값(401)을 산출하고, 계산값(401)과 가속도 센서(103)에서 측정된 값인 측정값(403)을 비교하여 현가장치의 성능 이상 여부를 판단하는 제어부(200);를 포함한다.According to an aspect of the present invention, there is provided a system for determining abnormality in suspension performance of a vehicle, comprising: a preview sensor 101 disposed in front of a vehicle body and recognizing a shape of a speed bump; an acceleration sensor 103 for measuring the vertical acceleration of the vehicle; And a calculated value 401, which is a vertical acceleration value, is calculated through vehicle information including the shape of the speed bump recognized through the preview sensor 101, the type of vehicle, and the vehicle speed, and the calculated value 401 and the acceleration sensor ( and a controller 200 that compares the measured value 403, which is the value measured in 103), to determine whether the performance of the suspension device is abnormal.

제어부(200)는 계산값(401)과 측정값(403)의 차이를 통해 얻어진 차이값(405)을 산출하고, 차이값(405)이 미리 정해진 판단값(407)보다 큰 경우 차량의 현가장치의 성능에 이상이 발생한 것으로 판단할 수 있다.The controller 200 calculates a difference value 405 obtained through the difference between the calculated value 401 and the measured value 403 , and when the difference value 405 is greater than a predetermined determination value 407 , the vehicle suspension device It can be judged that an abnormality has occurred in the performance of

차량의 현가장치는 차체의 주행시 노면에서 전달되는 진동을 흡수하여 승객실 내부로의 전달을 차단하고, 노면의 상황에 따라 안정적인 차체의 자세를 유지할 수 있도록 하여 주행안정성을 향상시키는 역할을 수행한다. 이때 차량의 현가장치에 이상이 발생하게 되면 1차적으로 주행성능 저하 및 승차감의 저하가 발생하고 나아가 2차적으로 주행안정성을 저하로 사고가 발생 될 수도 있다.The suspension system of the vehicle absorbs vibrations transmitted from the road surface when the vehicle body is driving, blocks transmission to the passenger compartment, and improves driving stability by maintaining a stable body posture according to road conditions. At this time, if an abnormality occurs in the vehicle's suspension system, the driving performance may be deteriorated and the ride comfort may be deteriorated, and further, an accident may occur due to the deterioration of driving stability secondarily.

따라서 차량의 현가장치의 이상을 탐지하고 이를 경고하여 운전자로 하여금 차량의 이상 여부를 파악하도록 하는 것은 안전사고의 예방적 측면에서 매우 유용하다.Therefore, it is very useful in terms of preventing safety accidents to detect abnormalities in the vehicle's suspension system and warn them so that the driver can determine whether the vehicle is abnormal.

본 발명에서는 현가장치의 이상을 도로상에 존재하는 과속방지턱을 통하여 측정하게 된다. 과속방지턱을 통과할 때 전달되는 충격에 대한 현가장치의 동작상황을 센싱하여 이상 여부를 판단하게 된다.In the present invention, the abnormality of the suspension device is measured through the speed bump existing on the road. It is determined whether there is an abnormality by sensing the operation status of the suspension device in response to the shock transmitted when passing through the speed bump.

차량이 높이가 h이고, 폭이 w인 과속방지턱을 통과하는 경우를 바탕으로 설명한다. 먼저, ECS(Electronic Controlled Suspension, 전자제어현가장치) 장착 차량의 경우 좌측전륜, 우측전륜, 우측후륜 세 곳에 장착된 가속도 센서(103)를 통해서 수직가속도 값을 측정한다. 이것을 각각 ACC_FL(좌측전륜), ACC_FR(우측전륜), ACC_RR(우측후륜)이라 한다. 이때 차체를 하나의 강체로 가정하고 ACC_FL, ACC_FR, ACC_RR를 통해 ACC_RL(좌측후륜)을 계산하여 구한다. 이 4개의 가속도 값이 측정값(403)이다.The description is based on the case where the vehicle passes a speed bump with a height of h and a width of w. First, in the case of a vehicle equipped with an Electronic Controlled Suspension (ECS), vertical acceleration values are measured through the acceleration sensors 103 mounted on three front left wheels, right front wheels, and right rear wheels. These are called ACC_FL (front left wheel), ACC_FR (front right wheel), and ACC_RR (right rear wheel), respectively. At this time, assuming that the vehicle body is a single rigid body, ACC_RL (left rear wheel) is calculated and obtained through ACC_FL, ACC_FR, and ACC_RR. These four acceleration values are the measured values 403 .

위의 가속도 값을 적분하여 각각의 수직속도를 구한다. 이를 각각 Vb_FL(좌측전륜 수직속도), Vb_FR(우측전륜 수직속도), Vb_RL(좌측후륜 수직속도), Vb_RR(우측후륜 수직속도)이라 한다.Integrate the above acceleration values to obtain each vertical velocity. These are called Vb_FL (vertical speed of the front left wheel), Vb_FR (vertical speed of the right front wheel), Vb_RL (vertical speed of the left rear wheel), and Vb_RR (vertical speed of the right rear wheel), respectively.

위의 수직속도를 통하여 차체 무게중심(CG, Center of Gravity)에서의 모달 속도를 구한다. 모달 속도는 차체의 3자유도인 바운스, 롤, 피치 모드에 대한 각각의 속도를 의미한다.The modal velocity at the center of gravity (CG) is obtained through the above vertical velocity. The modal speed means the speed for each of the three degrees of freedom of the vehicle body, bounce, roll, and pitch mode.

바운스 속도는 다음의 식을 통해 얻어진다.The bounce rate is obtained through the following equation.

Vcg = (Vb_FL + Vb_FR + Vb_RR + Vb_RL)/4Vcg = (Vb_FL + Vb_FR + Vb_RR + Vb_RL)/4

롤 속도는 다음의 식을 통해 얻어진다.The roll speed is obtained through the following equation.

Rcg = (Vb_FL - Vb_FR)/윤거Rcg = (Vb_FL - Vb_FR)/Tunge

피치 속도는 다음의 식을 통해 얻어진다.The pitch velocity is obtained through the following equation.

Pcg = (Vb_FR - Vb_RR)/축거Pcg = (Vb_FR - Vb_RR)/wheelbase

이때 위에서 언급한 바운스 속도, 롤 속도, 피치 속도 중 과속방지턱 통과시 가장 큰 연관관계를 갖는 값은 바운스 속도(Vcg) 및 피치 속도(Pcg)이다. 따라서 하나의 과속방지턱을 통과할 때마다 차속, 과속방지턱의 높이 및 폭에 대한 정보를 입력정보로 하고, 바운스 속도 및 피치 속도를 결과정보로 대응시켜 누적시킨다. 참고로, 차속은 차량의 차속센서를 통해 얻고 과속방지턱의 높이와 폭은 프리뷰 센서(101)를 통해 측정하여 얻도록 한다.At this time, the bounce speed (Vcg) and the pitch speed (Pcg) have the greatest correlation among the bounce speed, roll speed, and pitch speed mentioned above when passing through a speed bump. Therefore, whenever passing one speed bump, information on the vehicle speed and the height and width of the speed bump is taken as input information, and the bounce speed and pitch speed are matched as the result information and accumulated. For reference, the vehicle speed is obtained through the vehicle speed sensor, and the height and width of the speed bump are obtained by measuring through the preview sensor 101 .

프리뷰 센서(101)를 통해 인식된 과속방지턱의 형상에 대한 정보를 바탕으로 차체의 수직 가속도 값을 산출하는 방법은 다음과 같다.A method of calculating the vertical acceleration value of the vehicle body based on the information on the shape of the speed bump recognized through the preview sensor 101 is as follows.

먼저, 차량을 바운스, 롤, 피치의 3개의 자유도와 차량의 4개의 휠에서 발생하는 상하움직임을 각각 1개의 자유도로 나타낸 7개의 자유도를 갖는 강체로 모델링 한다.First, the vehicle is modeled as a rigid body having three degrees of freedom of bounce, roll, and pitch, and seven degrees of freedom, each representing one degree of freedom for up-and-down motion occurring in the four wheels of the vehicle.

이렇게 모델링 된 각각의 자유도마다 다음과 같은 상태공간방정식(State-space form)으로 표현한다.Each degree of freedom modeled in this way is expressed as the following state-space equation.

Figure 112015113035799-pat00001
Figure 112015113035799-pat00001

Figure 112015113035799-pat00002
Figure 112015113035799-pat00002

여기서 x는 휠의 상하방향의 변위이고, u는 프리뷰 센서(101)를 통해 입력되는 과속방지턱의 형상정보이며,

Figure 112015113035799-pat00003
은 휠의 상하방향 속도이고, y는 차체 무게중심의 상하방향 변위가 된다.where x is the vertical displacement of the wheel, u is the shape information of the speed bump input through the preview sensor 101,
Figure 112015113035799-pat00003
is the vertical speed of the wheel, and y is the vertical displacement of the vehicle body center of gravity.

이때 입력정보 x, u와 측정값(403)을 통해 얻어진 수직속도

Figure 112015113035799-pat00004
를 바탕으로 위의 식에서 표현된 A, B, C, D의 값을 역산하고, 이를 행렬의 형태로 정렬하여 분류한다.At this time, the vertical velocity obtained through the input information x, u and the measured value 403
Figure 112015113035799-pat00004
Based on the inverse calculation of the values of A, B, C, and D expressed in the above equation, they are sorted and classified in a matrix form.

이렇게 얻어진 행렬값을 바탕으로 프리뷰 센서(101)를 통해 입력되는 과속방지턱의 형상에 따라 발생하게 될 휠과 차체의 수직 방향의 변위, 속도 또는 가속도를 추정할 수 있게 된다. 이러한 모델을 통한 계산값(401)과 실제 측정값(403)을 비교함으로서 현가장치의 이상 여부를 알 수 있는 것이다. 이에 관하여는 자세히 후술한다.Based on the matrix value thus obtained, it is possible to estimate the displacement, speed, or acceleration in the vertical direction of the wheel and the vehicle body, which will occur according to the shape of the speed bump input through the preview sensor 101 . By comparing the calculated value 401 through this model with the actual measured value 403, it is possible to know whether the suspension is abnormal. This will be described later in detail.

본 발명은 현가장치에 이상이 발생하는 경우 사용자에게 알리는 사용자 표시장치를 더 포함하고, 제어부(200)는 현가장치의 성능에 이상이 발생한 것으로 판단된 경우 사용자 표시장치에 현가장치 이상을 표시할 수 있다.The present invention further includes a user display device for notifying the user when an abnormality occurs in the suspension device, and the control unit 200 may display the suspension device abnormality on the user display device when it is determined that an abnormality has occurred in the performance of the suspension device. have.

사용자 표시장치는 차량의 계기판 등에 표시되는 임의의 형상일 수 있다. 현가장치에 이상이 발생하는 경우 이를 운전자에게 시각적으로 인지시켜 현가장치의 이상 상황이 악화되기 전에 정비를 유도함으로써 보수비용의 절감 및 운전자의 안전을 도모할 수 있게된다.The user display device may have any shape displayed on a vehicle dashboard or the like. When an abnormality occurs in the suspension system, it is visually recognized by the driver and maintenance is induced before the abnormal situation of the suspension system becomes worse, thereby reducing maintenance costs and promoting driver safety.

차량의 외부에 마련되어 정보를 저장하고 분류하는 외부장치(303); 및 차량의 내부에 마련되어 외부장치(303)와 정보를 주고받는 통신장치(301);를 더 포함하고, 제어부(200)는 통신장치(301)를 통하여 과속방지턱의 형상, 차량정보 및 가속도 센서(103)에서 측정된 값을 외부장치(303)에 송신하고, 외부장치(303)는 통신장치(301)를 통해 수신한 정보를 저장할 수 있다.an external device 303 provided outside the vehicle to store and classify information; and a communication device 301 provided inside the vehicle for exchanging information with an external device 303; the control unit 200 includes a shape of a speed bump, vehicle information, and an acceleration sensor through the communication device 301 ( 103 ) may transmit the measured value to the external device 303 , and the external device 303 may store information received through the communication device 301 .

외부장치(303)는 통신장치(301)를 통해 수신한 정보를 차종, 과속방지턱의 형상, 차량의 속도 별로 구분하여 측정값(403)의 평균인 평균값(409)을 계산하여 저장할 수 있다.The external device 303 may classify the information received through the communication device 301 according to the vehicle model, the shape of the speed bump, and the speed of the vehicle, calculate and store the average value 409 , which is the average of the measured values 403 .

외부장치(303)에 의해 계산된 평균값(409)을 다시 제어부(200)에 송신할 수 있다.The average value 409 calculated by the external device 303 may be transmitted to the controller 200 again.

제어부(200)는 통신장치(301)를 통해 해당 과속방지턱의 형상 및 차량정보에 대응하는 평균값(409)을 전송받고, 평균값(409)과 측정값(403)의 차이인 평균 차이값(411)이 미리 정해진 판단값(407)보다 큰 경우 차량의 현가장치의 성능에 이상이 발생한 것으로 판단할 수 있다.The control unit 200 receives the average value 409 corresponding to the shape of the speed bump and vehicle information through the communication device 301, and the average difference value 411 that is the difference between the average value 409 and the measured value 403. If it is greater than the predetermined determination value 407, it may be determined that an abnormality has occurred in the performance of the vehicle suspension.

통신장치(301)를 통해 수신한 측정값(403)이 평균값(409)과 비교하여 미리 정해진 수치 이상의 차이가 있는 경우 그 측정값(403)을 저장하지 않을 수 있다.When the measured value 403 received through the communication device 301 is different from the average value 409 by more than a predetermined value, the measured value 403 may not be stored.

앞서 언급한 한 Vb_FL(좌측전륜 수직속도), Vb_FR(우측전륜 수직속도), Vb_RL(좌측후륜 수직속도), Vb_RR(우측후륜 수직속도)를 통하여 차체 무게중심(CG, Center of Gravity)에서의 모달 속도를 구한다.Modal at the center of gravity (CG) through the aforementioned Vb_FL (vertical velocity of front left wheel), Vb_FR (vertical velocity of right front wheel), Vb_RL (vertical velocity of left rear wheel), and Vb_RR (vertical velocity of right rear wheel) find the speed

바운스 속도는 다음의 식을 통해 얻어진다.The bounce rate is obtained through the following equation.

Vcg = (Vb_FL + Vb_FR + Vb_RR + Vb_RL)/4Vcg = (Vb_FL + Vb_FR + Vb_RR + Vb_RL)/4

롤 속도는 다음의 식을 통해 얻어진다.The roll speed is obtained through the following equation.

Rcg = (Vb_FL - Vb_FR)/윤거Rcg = (Vb_FL - Vb_FR)/Tunge

피치 속도는 다음의 식을 통해 얻어진다.The pitch velocity is obtained through the following equation.

Pcg = (Vb_FR - Vb_RR)/축거Pcg = (Vb_FR - Vb_RR)/wheelbase

이때 위에서 언급한 바운스 속도, 롤 속도, 피치 속도 중 과속방지턱 통과시 가장 큰 연관관계를 갖는 값은 바운스 속도(Vcg) 및 피치 속도(Pcg)이다. 따라서 하나의 과속방지턱을 통과할 때마다 차속, 과속방지턱의 높이 및 폭에 대한 정보를 입력정보로 하고, 바운스 속도 및 피치 속도를 결과정보로 대응시켜 누적시킨다.At this time, the bounce speed (Vcg) and the pitch speed (Pcg) have the greatest correlation among the bounce speed, roll speed, and pitch speed mentioned above when passing through a speed bump. Therefore, whenever passing one speed bump, information on the vehicle speed and the height and width of the speed bump is taken as input information, and the bounce speed and pitch speed are matched as the result information and accumulated.

이 결과값을 입력정보를 바탕으로 분류하여 정렬하게 되면 일정한 분포를 이루는 군집을 형성하게 된다. 이 군집의 평균값(409)을 저장하여 둔다.If the result values are classified and sorted based on the input information, clusters with a uniform distribution are formed. The average value 409 of this cluster is stored.

이때 가속도 센서(103)로부터 입력된 측정값(403)과 계산값(401)의 차이인 차이값(405)을 통해 얻어진 바운스 속도 또는 피치 속도를 평균값(409)과 비교하여 그 평균 차이값(411)을 얻어낸다. 그 평균 차이값(411)이 결과정보의 군집으로부터 일정거리인 판단값(407)보다 큰 경우에는 현가장치의 비정상 상황으로 인식하며 비정상 상황의 발생횟수를 카운팅한다. 이후 비정상 상황의 발생횟수가 미리 정해진 횟수를 초과하는 경우 현가장치의 이상 상황임을 운전자에게 알리도록 한다.At this time, the bounce velocity or pitch velocity obtained through the difference value 405 that is the difference between the measured value 403 and the calculated value 401 input from the acceleration sensor 103 is compared with the average value 409 and the average difference value 411 ) is obtained. When the average difference value 411 is greater than the determination value 407 which is a predetermined distance from the cluster of result information, it is recognized as an abnormal situation of the suspension and the number of occurrences of the abnormal situation is counted. After that, if the number of occurrences of the abnormal situation exceeds a predetermined number of times, the driver is notified that the suspension is abnormal.

위의 연산과정은 차량의 내부에 마련된 ECU 등의 자체 연산장치를 통해서 수행할 수도 있으며, 위의 연산 또는 저장과정 들을 외부장치(303)에서 수행한 뒤 차량에 마련되 통신장치(301)를 통하여 정보를 주고받음으로써 수행할 수도 있다.The above calculation process may be performed through an internal calculation device such as an ECU provided inside the vehicle, and after performing the above calculation or storage procedures in the external device 303, through the communication device 301 provided in the vehicle It can also be done by exchanging information.

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 당 업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.Although the present invention has been shown and described with reference to specific embodiments, it is within the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

101 : 프리뷰 센서 103 : 가속도 센서
200 : 제어부 301 : 통신장치
303 : 외부장치 401 : 계산값
403 : 측정값 405 : 차이값
407 : 판단값 409 : 평균값
411 : 평균 차이값101: preview sensor 103: acceleration sensor
200: control unit 301: communication device
303: external device 401: calculated value
403: measured value 405: difference value
407: judgment value 409: average value
411: mean difference value

Claims (8)

차체의 전방에 배치되고, 과속방지턱의 형상을 인지하는 프리뷰 센서;
차량의 상하방향의 가속도를 측정하는 가속도 센서; 및
프리뷰 센서를 통해 인지한 과속방지턱의 형상과 차량의 종류, 차량의 속도를 포함하는 차량정보를 통해 수직 가속도 값인 계산값을 산출하고, 계산값과 가속도 센서에서 측정된 값인 측정값을 비교하여 현가장치의 성능 이상 여부를 판단하는 제어부;를 포함하며,
차량의 외부에 마련되어 정보를 저장하고 분류하는 외부장치; 및
차량의 내부에 마련되어 외부장치와 정보를 주고받는 통신장치;를 더 포함하고,
제어부는 통신장치를 통하여 과속방지턱의 형상, 차량정보 및 가속도 센서에서 측정된 값을 외부장치에 송신하며,
외부장치는 통신장치를 통해 수신한 정보를 저장하고,
외부장치는 통신장치를 통해 수신한 정보를 차종, 과속방지턱의 형상, 차량의 속도로 구분하여 측정값의 평균인 평균값을 계산하여 저장하는 것을 특징으로 하는 차량의 현가장치 성능 이상 판단 시스템.a preview sensor disposed in front of the vehicle body and recognizing the shape of the speed bump;
an acceleration sensor for measuring the vertical acceleration of the vehicle; and
The calculated value, which is the vertical acceleration value, is calculated through vehicle information including the shape of the speed bump recognized through the preview sensor, the type of vehicle, and the vehicle speed, and the calculated value and the measured value measured by the acceleration sensor are compared with a control unit that determines whether the performance of the
an external device provided outside the vehicle to store and classify information; and
Further comprising; a communication device provided inside the vehicle to exchange information with an external device;
The control unit transmits the shape of the speed bump, vehicle information, and values measured by the acceleration sensor to an external device through the communication device,
The external device stores the information received through the communication device,
The external device divides the information received through the communication device by the vehicle model, the shape of the speed bump, and the vehicle speed, and calculates and stores the average value, which is the average of the measured values. 청구항 1에 있어서,
제어부는 계산값과 측정값의 차이를 통해 얻어진 차이값을 산출하고, 차이값이 미리 정해진 판단값 보다 큰 경우 차량의 현가장치의 성능에 이상이 발생한 것으로 판단하는 것을 특징으로 하는 차량의 현가장치 성능 이상 판단 시스템.The method according to claim 1,
The control unit calculates a difference value obtained through the difference between the calculated value and the measured value, and determines that an abnormality has occurred in the performance of the vehicle suspension system when the difference value is greater than a predetermined judgment value anomaly judgment system. 청구항 2에 있어서,
현가장치에 이상이 발생하는 경우 사용자에게 알리는 사용자 표시장치;를 더 포함하고,
제어부는 현가장치의 성능에 이상이 발생한 것으로 판단된 경우 사용자 표시장치에 현가장치 이상을 표시하는 것을 특징으로 하는 차량의 현가장치 성능 이상 판단 시스템.3. The method according to claim 2,
Further comprising; a user display device that notifies the user when an abnormality occurs in the suspension device;
The control unit displays the suspension abnormality on the user display device when it is determined that the performance of the suspension system is abnormal. 삭제delete 삭제delete 청구항 1에 있어서,
외부장치에 의해 계산된 평균값을 다시 제어부에 송신하는 것을 특징으로 하는 차량의 현가장치 성능 이상 판단 시스템.The method according to claim 1,
Suspension system abnormality determination system of a vehicle, characterized in that the average value calculated by the external device is transmitted back to the control unit. 청구항 6에 있어서,
제어부는 통신장치를 통해 해당 과속방지턱의 형상 및 차량정보에 대응하는 평균값을 전송받고,
평균값과 측정값의 차이인 평균 차이값이 미리 정해진 판단값보다 큰 경우 차량의 현가장치의 성능에 이상이 발생한 것으로 판단하는 것을 특징으로 하는 차량의 현가장치 성능 이상 판단 시스템.7. The method of claim 6,
The control unit receives the average value corresponding to the shape of the speed bump and vehicle information through the communication device,
Suspension performance abnormality determination system for a vehicle, characterized in that when an average difference value, which is a difference between the average value and the measured value, is greater than a predetermined judgment value, it is determined that an abnormality has occurred in the performance of the suspension system of the vehicle. 청구항 1에 있어서,
통신장치를 통해 수신한 측정값이 평균값과 비교하여 미리 정해진 수치 이상의 차이가 있는 경우 그 측정값을 저장하지 않는 것을 특징으로 하는 차량의 현가장치 성능 이상 판단 시스템.The method according to claim 1,
The system for judging suspension performance abnormality of a vehicle, characterized in that the measured value is not stored when the measured value received through the communication device has a difference of more than a predetermined value compared with the average value.
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