KR102373399B1 - Apparatus for controlling vehicle and method for controlling thereof - Google Patents

Abstract

The present invention provides a control system for a vehicle. According to an embodiment of the present invention, when the RPM detector for detecting the number of rotations of the vehicle motor, the vehicle speed detector for detecting the vehicle speed of the vehicle, and the Traction Control System (TCS) of the vehicle are turned on, the detected RPM There is provided a control system for a vehicle including a control unit for shifting a gear of the vehicle or controlling a current gear to be maintained in response to the detected vehicle speed.

Description

Vehicle control apparatus and method for controlling the same

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

In general, a conventional vehicle control apparatus has been provided to control a vehicle using at least one of an anti-lock brake system (ABS) module and an electronic stability control (ESC) module.

The ABS device is to prevent the wheel from slipping during braking, and in addition to this, a traction control system (hereinafter, TCS) that controls the torque of the engine to prevent excessive wheel slip during sudden start or rapid acceleration of the vehicle. is called) and so on.

The TCS controls the fuel injection amount, ignition timing, throttle valve, etc. of the engine through an electronic control device or applies a brake to the driving wheel to brake.

Specifically, the TCS uses a target torque that increases linearly according to a gear ratio and vehicle acceleration in calculating the target torque to control the torque of the engine. As a result, in the process of calculating the appropriate optimal torque according to the change of the road surface, the target torque value set on the icy road surface may not be appropriate on the snowy or wet asphalt road surface.

In addition, although the torque efficiency of the engine transmitted to the wheels during hill climbing or turning acceleration driving is one of the important factors that determine the performance of the vehicle, shifting the gear from a hill to a high stage may lower the grade. , if the gear is shifted to a lower gear during turning acceleration, the vehicle attitude may become unstable.

In an embodiment of the present invention, in order to minimize the instability of the vehicle posture that may occur when shifting using the transmission during TCS control, the gear is shifted or the current gear is maintained according to the speed of the vehicle and the number of rotations of the motor. We would like to provide a separate map for

In addition, in an embodiment of the present invention, in order to minimize the instability of the vehicle posture in a specific situation, such as when the vehicle is climbing a hill or turning, shifting a gear or maintaining the current gear according to the speed of the vehicle and the number of revolutions of the motor It is intended to maximize the performance of the vehicle according to the vehicle driving situation during TCS control by changing the map.

According to an aspect of the present invention, there is provided an RPM detector for detecting the rotation speed of a vehicle motor; a vehicle speed detector configured to detect a vehicle speed of the vehicle; and when a Traction Control System (TCS) of the vehicle is turned on, detecting the rotation speed of the vehicle motor through the RPM detecting unit, detecting the vehicle speed of the vehicle through the vehicle speed detecting unit, and the detection and a control unit configured to perform gear shift or current gear maintenance according to a gear shift map based on the detected number of revolutions and the detected vehicle speed, wherein the control unit shifts the gear so that the gear is shifted to a lower gear when the vehicle is climbing a hill. modify the map, modify the gear shift map so that a current gear is maintained when the vehicle is turning, and provide a control system of a vehicle that performs a gear shift or maintains a current gear according to the modified gear shift map there is.

Also, the control unit may upshift or downshift a gear of the vehicle when performing a gear shift.

In addition, the control unit upshifts when the detected number of revolutions is equal to or greater than a first reference RPM and the detected vehicle speed is equal to or greater than the first reference vehicle speed, the detected number of revolutions is equal to or less than a second reference RPM, and the detected vehicle speed is equal to or greater than the second reference RPM. 2 Downshifting is possible as long as it is below the reference vehicle speed.

In addition, the first reference RPM and the second reference RPM include a plurality of values corresponding to the detected vehicle speed, and the first reference vehicle speed and the second reference vehicle speed include a plurality of values corresponding to the detected number of revolutions. It can consist of values.

delete

Also, the controller may vary the second reference vehicle speed when the gear shift map is corrected.

delete

According to another aspect of the present invention, detecting the number of revolutions of the vehicle motor; detecting a vehicle speed of the vehicle; When the TCS (Traction Control System) of the vehicle is turned on, performing a gear shift or current gear maintenance according to a gear shift map based on the detected number of revolutions and the detected vehicle speed, and , performing the gear shift or current gear maintenance may include modifying the gear shift map so that a gear is shifted to a lower gear when the vehicle is climbing a hill, and maintaining the current gear when the vehicle is turning. A method of controlling a vehicle including a step of correcting , and performing a gear shift or maintaining a current gear according to the modified gear shift map may be provided.

In addition, the step of modifying the gear shift map may include upshifting or downshifting a gear of the vehicle.

In addition, the step of upshifting or downshifting the gear of the vehicle; upshifting when the detected rotational speed is equal to or greater than a first reference RPM and the detected vehicle speed is equal to or greater than a first reference vehicle speed, and the detected rotational speed is a second If the reference RPM or less and the detected vehicle speed is less than or equal to the second reference vehicle speed, the downshift may be performed.

In addition, the first reference RPM and the second reference RPM include a plurality of values corresponding to the detected vehicle speed, and the first reference vehicle speed and the second reference vehicle speed include a plurality of values corresponding to the detected number of revolutions. It can consist of values.

delete

Also, the step of modifying the gear shift map may include varying the second reference vehicle speed.

delete

An apparatus for controlling a vehicle and a method for controlling the same according to an embodiment of the present invention are intended to minimize the instability of a vehicle posture that may occur when a shift is performed using a transmission during TCS control.

In addition, in an embodiment of the present invention, in order to minimize the instability of the vehicle posture in a specific situation, such as when the vehicle is climbing a hill or turning, shifting a gear or maintaining the current gear according to the speed of the vehicle and the number of revolutions of the motor It is intended to maximize the performance of the vehicle according to the vehicle driving situation during TCS control by changing the map.

1 is a block diagram of a vehicle control system according to an embodiment of the present invention.
2 is a schematic diagram of an upshift gear map of a vehicle control system according to an embodiment of the present invention;
3 is a schematic diagram of a downshift gear map of a vehicle control system according to an embodiment of the present invention;
4 is a schematic diagram of a shift gear map of a vehicle control system according to an embodiment of the present invention;
5 is a schematic diagram illustrating a gear shift signal according to a vehicle control method according to an embodiment of the present invention.
6 is a flowchart illustrating a vehicle control method of a vehicle control system according to an embodiment of the present invention.
7 is a flowchart illustrating a vehicle control method of a vehicle control system according to another exemplary embodiment of the present invention.

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 of a vehicle control system according to an embodiment of the present invention, and FIGS. 2 to 4 are schematic diagrams of a shift gear map of a vehicle control system according to an embodiment of the present invention.

First, referring to FIG. 1 , the vehicle control system 1 includes a vehicle speed detection unit 10 , an acceleration measurement unit 20 , a yaw rate measurement unit 30 , a steering angle measurement unit 40 , and an RPM detection unit 50 . , a control unit 60 and a TCS control unit 70 .

The vehicle speed detection unit 10 may be installed inside the wheel of the vehicle to detect the rotation speed of the vehicle wheel and send a detection signal to the control unit 60 . Specifically, in order to measure the speed of the vehicle, the vehicle speed detector 10 may employ a wheel speed sensor (not shown).

The acceleration measuring unit 20 measures the acceleration of the vehicle, and the acceleration measuring unit 20 may include a lateral acceleration sensor (not shown) and a longitudinal acceleration sensor (not shown).

The lateral acceleration sensor measures the acceleration in the lateral direction by taking the vertical axis (Y-axis) direction of the moving direction as the lateral direction when the X-axis of the moving direction of the vehicle is the lateral direction.

The longitudinal acceleration sensor may measure the acceleration in the X-axis direction in the moving direction of the vehicle.

The acceleration sensor in the acceleration measurement unit 20 is an element that detects a change in speed per unit time, and detects dynamic forces such as acceleration, vibration, and shock, and measures it using the principles of inertial force, electric deformation, and gyro. . Thereafter, the measured acceleration value may be transmitted to the controller 60 .

Specifically, through the acceleration measured by the acceleration measuring unit 20 , the TCS control unit 70 may calculate a target torque in order to control the torque of the vehicle.

The yaw rate measurement unit 30 may detect a yaw rate value in real time by a yaw rate sensor (not shown) installed on each wheel of the vehicle.

The yaw rate sensor has a celium crystal element inside the sensor, and when the vehicle rotates while moving, the celium crystal element itself rotates and generates voltage. The yaw rate of the vehicle may be detected based on the voltage generated in this way.

The steering angle measuring unit 40 measures the steering angle. The steering angle measuring unit 40 is mounted on the lower end of the steering wheel (not shown), and may detect the steering speed, steering direction, and steering angle of the steering wheel. The steering angle measuring unit 40 may include a steering wheel angular velocity sensor (not shown) that detects the rotation speed of the steering wheel.

The RPM detector 50 detects revolutions per minute (RPM) of the vehicle motor. In order to measure the RPM of the vehicle, the vibration or sound signal of the engine is measured with an acceleration sensor, and the RPM can be calculated through signal processing.

The control unit 60 generally controls the control system 1 of the vehicle according to the present invention.

Specifically, the control unit 60 mediates data entry and exit between the various components included in the control system 1 of the vehicle and the control unit 60, and through the vehicle speed, acceleration, yaw rate, steering angle, RPM, etc. It may include a main processor 61 for controlling the control system and a memory 62 for storing programs and data.

The memory 62 includes control data for controlling the operation of the vehicle control system 1 , the vehicle speed detection unit 10 , the acceleration measurement unit 20 , the yaw rate measurement unit 30 , the steering angle measurement unit 40 , and the RPM Data acquired by the detection unit 50 and various control signals output from the main processor 61 may be temporarily stored.

Specifically, the memory 62 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, read-only memory, and erasable programmable read-only memory (EPROM). , and non-volatile memory such as an Electrically Erasable Programmable Read Only Memory (EEPROM).

In particular, the non-volatile memory may semi-permanently store a control program and control data for controlling the operation of the control system 1 of the vehicle, and the volatile memory retrieves and temporarily stores the control program and control data from the non-volatile memory. and various controls output from the data acquired by the vehicle speed detection unit 10 , the acceleration measurement unit 20 , the yaw rate measurement unit 30 , the steering angle measurement unit 40 , and the RPM detection unit 50 and the main processor 61 . Signals can be temporarily stored.

As shown in FIGS. 2 to 4 , when the TCS operates, the main processor 61 writes to the gear map based on the RPM of the motor detected by the RPM detecting unit 50 and the vehicle speed information obtained by the vehicle speed detecting unit 10 . Control to perform gear shift or current gear hold accordingly.

Specifically, FIG. 2 is a schematic diagram of an upshift gear map of a vehicle control system according to an embodiment of the present invention.

First, shifting in a general car consists of shifting steps from 1st to 5th gear, so the reduction ratio is set large to exert a strong force in the 1st and 2nd gears, and the 3rd and 4th gears maintain the speed at medium and high speeds. It has a gear ratio similar to the rotation speed of the motor so that it can be accelerated or accelerated, and the 5th gear is called overdrive and consists of a gear ratio lower than the rotation speed of the motor for driving at high speed.

At this time, as shown in FIG. 2 , when the vehicle speed and the number of rotations of the motor are included in the region corresponding to sections a to e, the gear may be upshifted by one step from the existing gear. That is, when the measured vehicle speed is greater than the first reference vehicle speed and the detected rotation speed (RPM) of the motor is greater than the first reference RPM, the vehicle control system 1 according to the present invention upshifts the gear of the vehicle.

For example, if the vehicle speed and motor revolutions are in section a, the control is controlled to upshift from 1st gear to 2nd gear, and if the vehicle speed and motor revolutions are in section b, shift from 2nd gear to 3rd gear Controls to upshift, and controls to upshift from 3rd gear to 4th gear when the vehicle speed and motor revolutions fall under section c. It is controlled to upshift to the 5th gear, and when the vehicle speed and the number of motor revolutions are in section e, it can be controlled to upshift from the 5th gear to the 6th gear.

As such, a plurality of reference values may be set for the first reference vehicle speed and the first reference RPM to be compared to perform the upshift according to the gear in which the currently driving vehicle is located.

3 is a schematic diagram of a downshift gear map of a vehicle control system according to an embodiment of the present invention.

As shown in FIG. 3 , when the vehicle speed and the number of rotations of the motor are included in the region corresponding to the sections a' to e', the gear may be downshifted by one step compared to the conventional gear. That is, when the measured vehicle speed is smaller than the second reference vehicle speed and the detected rotation speed (RPM) of the motor is greater than the second reference RPM, the vehicle control system 1 according to the present invention downshifts the gear of the vehicle.

For example, if the vehicle speed and motor revolutions fall in section a', the control is controlled to downshift from 2nd gear to 1st gear, and if the vehicle speed and motor revolutions fall in section b', the 3rd gear to 2 Control to downshift to first gear In this case, it is controlled to downshift from the 5th gear to the 4th gear, and when the vehicle speed and the number of motor revolutions are in the e' section, it can be controlled to downshift from the 6th gear to the 5th gear.

As described above, a plurality of reference values may be set for the second reference vehicle speed and the second reference RPM compared to perform the downshift according to which gear the currently driving vehicle is in.

In addition, the downshift gear map of the vehicle control system according to the present invention is the acceleration obtained by the acceleration measuring unit 20 and the yaw rate measured by the yaw rate measuring unit 30 and the steering angle data obtained by the steering angle measuring unit 40 . If it is determined that the vehicle is turning or climbing a hill through , the downshift area may be changed.

For example, when it is determined that the vehicle is driving on a hill through the measured acceleration, it may be advantageous for a hill slope to lower the gear, so that the downshift section can be freely changed in the indicated arrow area.

In addition, if it is determined that the vehicle is turning through the measured turning amount, the posture of the vehicle may become more unstable if the gear is shifted to a lower stage. You can control it to keep the current gear.

However, when the currently maintained gear is in a high gear, even during turning or hill driving, the reduction ratio is not large, so the variable region of the downshift section may not exist as illustrated.

4 is a schematic diagram of a shift gear map of a vehicle control system according to an embodiment of the present invention, in which both a down-shift map and an up-shift map are shown.

The gear can be downshifted or upshifted according to the measured vehicle speed and the detected RPM value during TCS control. .

The TCS control unit 70 of FIG. 1 communicates with the control unit 60 to maintain the gear shift or the current gear according to the above-described gear shift map when the control system 1 of the vehicle according to the present invention operates the TCS. It works.

5 is a schematic diagram illustrating a gear shift signal according to a vehicle control method according to an embodiment of the present invention.

The control method of the vehicle control system 1 according to the present invention is operated when the TCS control is on. Specifically, it can be seen that the vehicle control system 1 according to the present invention is operated at the timings ⑤ and ⑥ when the TCS control is turned on.

When a gear shift request signal is generated during TCS control, the gear shift map according to the present invention determines whether to shift gear based on the motor rotation speed, which is the engine speed of the vehicle, and the vehicle speed obtained through a wheel speed sensor (not shown). decide

After point ⑤, although there was a gear shift request signal, a gear shift was not generated, but after point ⑥, the gear shift request signal generated an upshift request signal at time ⑦, indicating that the gear has been shifted up. It can be confirmed through the gear shift level, and it can be confirmed that the gear is up accordingly at the point ⑧.

6 is a flowchart illustrating a vehicle control method of a vehicle control system according to an embodiment of the present invention, and FIG. 7 is a flowchart illustrating a vehicle control method of a vehicle control system according to another embodiment of the present invention.

First, the vehicle control system 1 according to the present invention may operate when the TCS control is on (S10).

During TCS control, when a gear shift command is generated (YES in S20), the vehicle control system 1 according to the present invention checks the gear shift map (S30). Specifically, the control unit 60 in the vehicle control system 1 maintains the gear upshift, gear downshift, or current gear according to the vehicle speed obtained from the vehicle speed detection unit 10 and the RPM value obtained from the RPM detection unit 50 . It is determined whether or not (S40).

During TCS control, when the gear shift command is not generated (NO in S20), the vehicle control system 1 according to the present invention ends.

7 is a flowchart illustrating a vehicle control method of a vehicle control system according to another exemplary embodiment of the present invention. Specifically, FIG. 7 is a flowchart illustrating an exemplary embodiment when the vehicle is going uphill or turning.

First, the vehicle control system 1 according to the present invention may operate when the TCS control is on (S100).

During TCS control, when a gear shift command is generated (Yes in S200), the vehicle control system 1 according to the present invention includes a vehicle acceleration measurement unit 20, a yaw rate measurement unit 30, and a steering angle measurement unit. From the acceleration, yaw rate, and steering angle obtained from (40), it is determined whether the vehicle is climbing or turning on a hill (S300).

In the case of going uphill or turning, the vehicle control system 1 according to the present invention corrects the gear shift map (S400). Specifically, when it is determined that the vehicle is driving on a hill through the measured acceleration, it may be advantageous to set the gear to a lower gear for hill climbing, so that the downshift section can be freely changed.

In addition, if it is determined that the vehicle is turning through the measured turning amount, the posture of the vehicle may become more unstable if the gear is shifted to a lower stage. can be controlled to keep.

However, when the currently maintained gear is in a high gear, even during turning or hill driving, the reduction ratio is not large, so the variable region of the downshift section may not exist.

Accordingly, the vehicle control system 1 may perform a gear shift according to the modified gear shift map or maintain the current gear ( S500 ).

If the vehicle control system 1 is turned from the acceleration, yaw rate, and steering angle obtained from the vehicle acceleration measurement unit 20, the yaw rate measurement unit 30, and the steering angle measurement unit 40, such as turning or climbing a hill If not (No in S300), the gear shift map is checked in the same manner as in the flowchart of FIG. 7 (S600). Specifically, the control unit 60 in the vehicle control system 1 maintains the gear upshift, gear downshift, or current gear according to the vehicle speed obtained from the vehicle speed detection unit 10 and the RPM value obtained from the RPM detection unit 50 . It is determined whether or not (S700).

However, as in FIG. 7 , when the gear shift command is not generated during TCS control (NO in S20 ), the vehicle control system 1 according to the present invention is terminated.

Also, the vehicle control system 1 according to the present invention may prohibit gear shifting in certain cases.

For example, the gear shift is not performed when the TCS control is not in progress, and when the vehicle mode is a sports mode, the driver's will is more important, and the gear shift may be prohibited.

In addition, in the case of reverse, gear shifting may be prohibited because gear shifting is meaningless, and gear shifting may be prohibited so that gear shifting is not performed again when the gear shift command is being executed.

In the above, an embodiment of the disclosed invention has been illustrated and described, but the disclosed invention is not limited to the specific embodiments described above, and those of ordinary skill in the art to which the disclosed invention pertains without departing from the gist of the claims Of course, various modifications are possible by the above, and these modifications cannot be individually understood from the disclosed invention.

Claims (14)

RPM detection unit for detecting the rotation speed of the vehicle motor;
a vehicle speed detector configured to detect a vehicle speed of the vehicle; and
When a Traction Control System (TCS) of the vehicle is turned on, the RPM detection unit detects the rotation speed of the vehicle motor, detects the vehicle speed through the vehicle speed detection unit, and the detected a control unit configured to shift gear according to a gear shift map or maintain current gear based on the number of revolutions and the detected vehicle speed; and
The control unit modifies the gear shift map so that the gear is shifted to a lower gear when the vehicle is going uphill, modifies the gear shift map so that the current gear is maintained when the vehicle is turning, and adds to the modified gear shift map. A vehicle's control system that performs a gear shift according to or maintains the current gear. The method of claim 1,
and the control unit upshifts or downshifts a gear of the vehicle when performing a gear shift. 3. The method of claim 2,
The control unit upshifts when the detected number of revolutions is equal to or greater than a first reference RPM and the detected vehicle speed is equal to or greater than the first reference vehicle speed;
A control system for downshifting a vehicle when the detected rotational speed is less than or equal to a second reference RPM and the detected vehicle speed is less than or equal to a second reference vehicle speed. 4. The method of claim 3,
The first reference RPM and the second reference RPM are configured as a plurality of values corresponding to the detected vehicle speed;
The first reference vehicle speed and the second reference vehicle speed are configured as a plurality of values corresponding to the detected rotation speed. delete 5. The method of claim 4,
wherein the control unit is configured to vary the second reference vehicle speed when the gear shift map is modified. delete detecting the rotation speed of the vehicle motor;
detecting a vehicle speed of the vehicle;
When the TCS (Traction Control System) of the vehicle is turned on, performing gear shift or current gear maintenance according to a gear shift map based on the detected number of revolutions and the detected vehicle speed, and ,
The step of performing the gear shift or current gear maintenance may include modifying the gear shift map so that the gear is shifted to a lower gear when the vehicle is going uphill, and modifying the gear shift map so that the current gear is maintained when the vehicle is turning. A method of controlling a vehicle, including a step of correcting and performing a gear shift or maintaining a current gear according to the modified gear shift map. 9. The method of claim 8,
Modifying the gear shift map comprises:
Upshifting or downshifting the gear of the vehicle; a vehicle control method comprising a. 10. The method of claim 9,
Upshifting or downshifting the gear of the vehicle;
Upshifting is performed when the detected rotation speed is equal to or greater than a first reference RPM and the detected vehicle speed is equal to or greater than the first reference vehicle speed;
When the detected rotation speed is equal to or less than a second reference RPM, and the detected vehicle speed is equal to or less than a second reference vehicle speed, the method for controlling a vehicle to downshift. 11. The method of claim 10,
The first reference RPM and the second reference RPM are configured as a plurality of values corresponding to the detected vehicle speed;
The first reference vehicle speed and the second reference vehicle speed are configured as a plurality of values corresponding to the detected rotation speed. delete 12. The method of claim 11,
Modifying the gear shift map comprises:
and varying the second reference vehicle speed. delete

Images