KR102367770B1 - Vehicle control apparatus and control method thereof - Google Patents

Abstract

A vehicle control apparatus and a control method thereof are disclosed. An apparatus for controlling a vehicle and a method for controlling the same according to an embodiment of the present invention include: an input unit receiving an engine torque control value output from the engine torque control device and a wheel spin value for wheel speed output from the sensing device; It determines whether the road has a low coefficient of friction using the input engine torque control value and wheel spin value, and determines whether the road is moving from a road with a low friction coefficient to a high road by supplying a brake torque value of a certain level to the wheel. judging unit; and a control unit increasing the target engine torque value to a level corresponding to the road having a high road friction coefficient when the vehicle is moved to a road having a high road friction coefficient.

Description

Vehicle control apparatus and control method thereof

The present invention relates to a vehicle control device and a control method thereof.

In general, the conventional engine torque adjusting device is provided to an ETCS (Engine Traction Control System) module, and is provided to secure acceleration performance by adjusting engine torque with respect to wheel spin during road surface change driving.

In this case, in the conventional engine torque adjusting device, the engine torque with respect to wheel spin is adjusted by a PI (Proportional-Integral) controller during road surface change driving to secure acceleration performance.

However, in the conventional engine torque control device, the time for adjusting the engine torque for wheel spin in the I (Integral) controller among the PI (Proportional-Integral) controllers increases during road surface change driving, so there is a limit to efficiently securing acceleration performance. there was.

Accordingly, in recent years, research has been continuously conducted on an improved vehicle control apparatus capable of rapidly improving acceleration during road surface change driving, and a method for controlling the same.

SUMMARY OF THE INVENTION An embodiment of the present invention is to provide a vehicle control device capable of rapidly improving acceleration when moving from a road having a low coefficient of friction to a road having a high road surface friction coefficient, and a control method thereof.

According to one aspect of the present invention, there is provided an input unit for receiving an engine torque control value output from an engine torque control device and a wheel spin value with respect to a wheel speed output from the sensing device; It determines whether the road has a low coefficient of friction using the input engine torque control value and wheel spin value, and determines whether the road is moving from a road with a low friction coefficient to a high road by supplying a brake torque value of a certain level to the wheel. judging unit; and a control unit that increases the target engine torque value to a level corresponding to a road having a high road friction coefficient when the vehicle is moved to a road having a high road friction coefficient.

In this case, when determining whether the road surface friction coefficient is low, the determination unit may determine whether a wheel spin value generated according to an engine torque control value is lower than a target spin value.

In addition, when determining whether the road surface friction coefficient is moving from a low road to a high road, the determination unit supplies a brake torque value of a certain level to the wheel to determine whether there is a response of wheel spin to the wheel speed of the opposite wheel. .

Also, the brake torque value of a certain level may be a brake torque value corresponding to a road having a low road surface friction coefficient.

Further, the wheel may be a rear wheel, and the opposite wheel may be an opposite rear wheel.

In addition, the level of the target engine torque value may be determined according to a vehicle weight value and an acceleration value required for a road having a high road surface friction coefficient.

Also, a road having a low coefficient of friction may be a slippery road.

Also, a road having a high coefficient of road friction may be a dry road.

According to another aspect of the present invention, there is provided an input method comprising: an input step of receiving an engine torque control value output from an engine torque control device and a wheel spin value with respect to a wheel speed output from a sensing device; It determines whether the road has a low coefficient of friction using the input engine torque control value and wheel spin value, and determines whether the road is moving from a road with a low friction coefficient to a high road by supplying a brake torque value of a certain level to the wheel. judgment step; and an engine torque adjusting step of increasing a target engine torque value corresponding to a road having a high road friction coefficient when the vehicle is moved to a road having a high road friction coefficient.

The vehicle control apparatus and the control method according to an embodiment of the present invention can rapidly improve acceleration when moving from a road having a low coefficient of friction to a road having a high road surface friction coefficient.

1 is a block diagram illustrating a state in which a vehicle control device is connected to an engine torque adjusting device and a sensing device according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating the vehicle control device shown in FIG. 1 as an example;
3 is a view showing that the determination unit shown in FIG. 2 supplies a brake torque value of a certain level to the wheel to determine whether the vehicle is moving from a road having a low coefficient of friction to a road with a high road surface friction coefficient, and the controller is a target corresponding to a road having a high coefficient of friction. Waveform diagram to show the process of increasing the level of the engine torque value.
4 is a flowchart illustrating a vehicle control method of a vehicle control apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating a vehicle control method of a vehicle control apparatus according to an embodiment of the present invention as another example.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following examples are presented to sufficiently convey the spirit of the present invention to those of ordinary skill in the art to which the present invention pertains. The present invention is not limited to the embodiments presented herein, and may be embodied in other forms. The drawings may omit illustration of parts irrelevant to the description in order to clarify the present invention, and slightly exaggerate the size of the components to help understanding.

1 is a block diagram illustrating a state in which a vehicle control device is connected to an engine torque adjusting device and a sensing device according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating the vehicle control device shown in FIG. 1 as an example. am.

3 is a view showing that the determination unit shown in FIG. 2 supplies a brake torque value of a certain level to the wheel to determine whether the vehicle is moving from a road having a low coefficient of friction to a road with a high road surface friction coefficient, and the controller is a target corresponding to a road having a high coefficient of friction. It is a waveform diagram to show the process of increasing the level of the engine torque value.

1 to 3 , the vehicle control apparatus 100 according to an embodiment of the present invention includes an input unit 102 , a determination unit 104 , and a control unit 106 .

The input unit 102 receives the engine torque control value output from the engine torque control device 10 and the wheel spin value for the wheel speed output from the sensing device 30 .

Here, although not shown, the engine torque adjusting device 10 may be provided to an ETCS (Engine Traction Control System) module (not shown), and to secure acceleration performance by adjusting engine torque for wheel spin during road surface change driving. It may include a PI (Proportional-Integral) controller (not shown) for

In this case, although not shown, the sensing device 30 may include a wheel spin sensor (not shown) for detecting a wheel spin value with respect to a wheel speed.

The determination unit 104 determines whether the road has a low road surface friction coefficient using the engine torque control value and the wheel spin value input to the input unit 102 under the control of the control unit 106, and provides a brake torque of a certain level to the wheel. By supplying the value BT, it is determined according to the control of the controller 106 whether the road surface friction coefficient is moving from a low road to a high road t1.

In this case, when determining whether the road surface friction coefficient is low, the determination unit 104 may determine whether the wheel spin value generated according to the engine torque control value is lower than the target spin value.

In addition, the determination unit 104 supplies a brake torque value BT of a certain level to the wheel when determining whether the road surface friction coefficient is moving from a low road to a high road t1 to determine the wheel speed of the opposite wheel. It can be judged whether there is no reaction of wheel spin.

In this case, the brake torque value BT of the predetermined level may be a brake torque value corresponding to a road having a low road surface friction coefficient, the wheel may be a rear wheel, and the opposite wheel may be an opposite rear wheel.

Here, a road having a low coefficient of friction may be a slippery road, and a road t1 having a high coefficient of friction may be a dry road.

In this case, the slippery road may be at least one of a frozen road and a snowy road, and the dry road may be an asphalt road.

When the determination unit 104 determines that the vehicle has moved to the road t1 having a high road friction coefficient, the control unit 106 increases to the level TL1 of the target engine torque value corresponding to the road t1 having a high road friction coefficient. make it

That is, when the determining unit 104 determines that the vehicle has moved to the road t1 having a high road friction coefficient, the control unit 106 determines the level TL1 of the target engine torque corresponding to the road t1 having a high road friction coefficient. By increasing to TL1 , the engine torque adjusting command may be transmitted to the engine torque adjusting device 10 so that the engine torque adjusting device 10 adjusts the engine torque to the level TL1 of the increased target engine torque value.

For example, If the determination unit 104 determines that the vehicle has moved to the road t1 having a high coefficient of road friction, the control unit 106 is a PI (Proportional-Integral) controller (not shown) for controlling the engine torque to secure acceleration performance. The I (Integral) controller (not shown) increases the engine torque to the level TL1 of the target engine torque value corresponding to the road t1 having a high road surface friction coefficient, and increases the engine torque to the level TL1 of the increased target engine torque value. An engine torque control command may be transmitted to an I (Integral) controller (not shown) to adjust.

Here, the level TL1 of the target engine torque value may be determined according to the weight value of the vehicle and the acceleration value required for the road t1 having a high road friction coefficient.

At this time, as shown in FIG. 3 , the level TL1 of the target engine torque value corresponding to the road t1 having a high road friction coefficient is the level of the target engine torque value corresponding to the road t1 having a high road friction coefficient in the related art. It can be seen that the value increases faster than (TL2), and it can be seen that the vehicle acceleration value of the present invention increases faster than the conventional vehicle acceleration.

Here, although not shown, the input unit 102, the determination unit 104, and the control unit 106 are a typical ECU (Electric Control Unit) for controlling the overall operation and receiving determination and input information with a main computer applied to the vehicle; not shown) may be provided.

In addition, although not shown, the input unit 102 , the determination unit 104 , and the control unit 106 have a processor, a memory, and an input/output device inside a single chip to control the overall operation and to receive determination and input information. (Micro Control Unit, not shown) may be provided.

In addition, the input unit 102, the determination unit 104, and the control unit 106 are not limited thereto, and any control means, determination means, and input means capable of controlling the overall operation of the vehicle and receiving determination and input information may be used. .

Here, the input unit 102, the determination unit 104, and the control unit 106 may be provided to an ECU (not shown) or an MCU (not shown) as an integrated type, and may be provided to an ECU (not shown) or an MCU (not shown) as a separate type. can be provided on

A vehicle control method for controlling a vehicle using the vehicle control apparatus according to an embodiment of the present invention will be described with reference to FIGS. 4 and 5 below.

4 is a flowchart illustrating a vehicle control method of a vehicle control apparatus according to an embodiment of the present invention as an example, and FIG. 5 is a flowchart illustrating a vehicle control method of a vehicle control apparatus according to an embodiment of the present invention as another example .

4 and 5 , the vehicle control methods 400 and 500 of the vehicle control apparatus 100 in FIG. 2 according to an embodiment of the present invention include input steps S402 and S502 and determination steps S404 and S504. , S406, S506) and engine torque adjustment steps (S408, S508).

First, in the input steps S402 and S502, the engine torque control value output from the engine torque control device (10 in FIG. 2) and the wheel spin value for the wheel speed output from the sensing device (30 in FIG. 2) are input to the input unit ( The input is received in 102 of FIG. 2).

Thereafter, the determination step S404 determines whether the road has a low coefficient of friction using the engine torque control value and the wheel spin value input to the input unit (102 in FIG. 2) under the control of the controller (106 in FIG. 2). It is determined in part (104 in Fig. 2).

Thereafter, in the determination step S406, the control unit (FIG. 2) supplies the wheel with a brake torque value of a certain level (BT in FIG. 3) to determine whether the vehicle is moving from a road having a low coefficient of friction to a high road (t1 in FIG. 3). 106), the determination unit (104 in FIG. 2) determines.

For example, as shown in FIG. 5 , in the determination step S504 , when the determination unit ( 104 in FIG. 2 ) determines whether a road has a low road surface friction coefficient, the wheel spin value generated according to the engine torque adjustment value is the target Whether the spin value is lower than the spin value may be determined by the determination unit (104 in FIG. 2) under the control of the control unit (106 in FIG. 2).

After that, the determination step (S506) is when the determination unit (104 in FIG. 2) determines whether the road surface friction coefficient is moving from a low road to a high road (t1 in FIG. 3), a brake torque value of a certain level on the wheel By supplying (t1 in Fig. 3), the determination unit (104 in Fig. 2) can determine whether there is a response of the wheel spin to the wheel speed of the opposite wheel under the control of the control unit (106 in Fig. 2).

At this time, the brake torque value (BT of FIG. 3 ) of a certain level may be a brake torque value corresponding to a road having a low road surface friction coefficient, the wheel may be a rear wheel, and the opposite wheel may be an opposite rear wheel.

Thereafter, in the engine torque adjustment steps S408 and S508, if the determination unit (104 in FIG. 2) determines that the vehicle has moved to the road (t1 in FIG. 3) having a high road surface friction coefficient, the control unit (106 in FIG. 2) The target engine torque value is increased to a level (TL1 in FIG. 3) corresponding to a road (t1 in FIG. 3) with a high friction coefficient.

That is, in the engine torque adjustment steps S408 and S508, when the determination unit (104 in FIG. 2) determines that the vehicle has moved to a road (t1 in FIG. 3) having a high road friction coefficient, the control unit (106 in FIG. 2) determines the road friction The engine torque adjusting device (FIG. 3) increases the target engine torque value to the level (TL1 in FIG. 3) corresponding to the road with a high coefficient (t1 in FIG. 3), and to the increased level (TL1 in FIG. 3) 10 of 2), the control unit (106 of FIG. 2) may transmit an engine torque control command to the engine torque control device (10 of FIG. 2) to adjust the engine torque.

For example , in the engine torque adjustment steps S408 and S508, when the determination unit (104 in FIG. 2) determines that the vehicle has moved to a road (t1 in FIG. 3) having a high coefficient of road friction, the engine torque is adjusted to secure acceleration performance The level of the target engine torque value (TL1 in FIG. 3) corresponding to the road (t1 in FIG. 3) having a high road surface friction coefficient in the I (Integral) controller (not shown) among the PI (Proportional-Integral) controllers (not shown) for ) to transmit an engine torque control command from the control unit (106 in FIG. 2 ) to the I (Integral) controller (not shown) to adjust the engine torque to the level of the increased target engine torque value (TL1 in FIG. 3 ) can be

As described above, the vehicle control apparatus 100 and the control methods 400 and 500 according to an embodiment of the present invention include the input unit 102, the determination unit 104, and the control unit 106, the input step (S402, S502), determination steps (S404, S504, S406, S506) and engine torque adjustment steps (S408, S508) are performed.

Accordingly, the vehicle control apparatus 100 and the control methods 400 and 500 according to an embodiment of the present invention supply a brake torque value BT of a certain level to the wheels, so that the road surface friction coefficient is low on a road with a high road ( It is determined whether the vehicle is moving to t1), and when the vehicle is moved to a road t2 having a high road friction coefficient, it is possible to increase the target engine torque value to a level TL1 corresponding to a road t2 having a high road friction coefficient.

Accordingly, the vehicle control apparatus 100 and the control methods 400 and 500 according to an embodiment of the present invention can rapidly improve acceleration when moving from a road having a low coefficient of friction to a road t1 with a high coefficient of friction. do.

Claims (9)

an input unit for receiving an engine torque control value output from the engine torque control device and a wheel spin value with respect to the wheel speed output from the sensing device;
It is determined whether the road has a low friction coefficient by using the input engine torque control value and the wheel spin value, and it is determined whether the road is moving from a road having a low friction coefficient to a high road by supplying a brake torque value of a certain level to the wheel. judging unit; and
and a controller for increasing the target engine torque value to a level corresponding to a road having a high road friction coefficient when the road surface friction coefficient is high;
The judging unit,
A vehicle control device for determining a change in wheel spin with respect to a wheel speed of an opposite wheel by supplying a brake torque value of a certain level to the wheel when determining whether the road surface friction coefficient is moving from a low road to a high road. The method of claim 1,
The judging unit,
When determining whether the road surface friction coefficient is low, the vehicle control apparatus determines whether a wheel spin value generated according to the engine torque control value is lower than a target spin value. delete The method of claim 1,
The brake torque value of the predetermined level is a brake torque value corresponding to a road having a low road surface friction coefficient. The method of claim 1,
The wheel is a rear wheel, and the opposite wheel is an opposite rear wheel. The method of claim 1,
The level of the target engine torque value is determined according to a weight value of the vehicle and an acceleration value required for a road having a high road surface friction coefficient. The method of claim 1,
The vehicle control device wherein the road having a low coefficient of road friction is a slippery road. The method of claim 1,
The road having a high coefficient of road friction is a dry road. an input step of receiving an engine torque control value output from the engine torque control device and a wheel spin value with respect to the wheel speed output from the sensing device;
It is determined whether the road has a low friction coefficient by using the input engine torque control value and the wheel spin value, and it is determined whether the road is moving from a road having a low friction coefficient to a high road by supplying a brake torque value of a certain level to the wheel. judgment step; and
an engine torque adjusting step of increasing the target engine torque value to a level corresponding to a road having a high road friction coefficient when the road surface friction coefficient is high;
The determination step is
A vehicle control method for determining a change in wheel spin with respect to a wheel speed of an opposite wheel by supplying a brake torque value of a certain level to the wheel when determining whether the road surface friction coefficient is moving from a low road to a high road.

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