KR102417406B1 - Stabilization control method for quick braking vehicle and stabilization control system - Google Patents
Stabilization control method for quick braking vehicle and stabilization control system Download PDFInfo
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- KR102417406B1 KR102417406B1 KR1020160170714A KR20160170714A KR102417406B1 KR 102417406 B1 KR102417406 B1 KR 102417406B1 KR 1020160170714 A KR1020160170714 A KR 1020160170714A KR 20160170714 A KR20160170714 A KR 20160170714A KR 102417406 B1 KR102417406 B1 KR 102417406B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0555—Mounting means therefor adjustable including an actuator inducing vehicle roll
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
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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
- B60G17/0152—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 action on a particular type of suspension unit
- B60G17/0157—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 action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/11—Mounting of sensors thereon
- B60G2204/113—Tyre related sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
- B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
- B60G2206/40—Constructional features of dampers and/or springs
- B60G2206/42—Springs
- B60G2206/427—Stabiliser bars or tubes
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- 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
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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- 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
- B60G2400/40—Steering conditions
- B60G2400/41—Steering angle
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- 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
- B60G2600/18—Automatic control means
- B60G2600/182—Active control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/92—ABS - Brake Control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/984—Tyre Pressure Monitoring Systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
본 발명은 차량 타이어의 공기압이 정상 범위 내인지 판단하는 단계, 상기 차량 타이어의 공기압이 정상 범위 내가 아닌 경우에 상기 차량이 급제동시 상기 차량이 안정적으로 제동될 수 있는 롤 모멘트를 계산하는 단계를 포함하는 급제동 차량의 안정화 제어 방법으로서, 본 발명에 의하면, 타이어의 공기압에 불균형이 발생한 차량이 급제동시 차량을 안정적으로 제어될 수 있게 한다.The present invention includes the steps of determining whether the air pressure of a vehicle tire is within a normal range, and calculating a roll moment at which the vehicle can be stably braked when the vehicle is suddenly braked when the air pressure of the vehicle tire is not within the normal range As a method for stabilizing a vehicle with sudden braking, according to the present invention, it is possible to stably control a vehicle in which an imbalance in tire air pressure occurs during sudden braking.
Description
본 발명은 차량을 안정적으로 제어하기 위한 방법으로서, 특히 차량이 급제동을 하는 경우에 차량을 안정적으로 제어하는 방법에 관한 것이다.The present invention relates to a method for stably controlling a vehicle, and particularly, to a method for stably controlling a vehicle when the vehicle brakes abruptly.
일반적으로 차량의 현가장치는 차축과 차체를 연결하여 주행 중에 차축이 노면으로부터 받는 진동이나 충격을 차체에 직접적으로 전달되지 않도록 제어하여 차체와 화물의 손상을 방지하고 승차감을 좋게 하기 위한 장치이다.In general, a vehicle suspension is a device for preventing damage to the vehicle body and cargo and improving riding comfort by connecting the axle to the vehicle body and controlling the vibration or shock received by the axle from the road surface while driving so that it is not directly transmitted to the vehicle body.
이러한 현가장치는 노면으로부터 충격을 완화시키는 샤시 스프링, 샤시 스프링의 자유진동을 감쇄 제어하여 승차감을 좋게 하는 쇽 업소버 및 차량의 롤링을 억제하는 스태빌라이저 바 등으로 구성된다.Such a suspension device is composed of a chassis spring that relieves impact from the road surface, a shock absorber that reduces and controls free vibration of the chassis spring to improve riding comfort, and a stabilizer bar that suppresses vehicle rolling.
여기서, 스태빌라이저 바는 양측이 차체와 결합되고, 양단이 로워암 또는 스트럿 바에 장착되어, 좌우측 바퀴가 서로 동시에 상하 운동하는 경우에는 작용하지 않고, 좌우측 바퀴가 서로 상대적으로 상하 운동하는 경우에는 비틀림이 발생하여 그 비틀림 복원력으로 차체의 롤을 억제하는 안티 롤 역할을 한다.Here, both sides of the stabilizer bar are coupled to the vehicle body, and both ends are mounted on the lower arm or strut bar, so that it does not act when the left and right wheels move up and down at the same time, and when the left and right wheels move up and down relative to each other, torsion occurs. Thus, it acts as an anti-roll to restrain the roll of the car body with its torsional restoring force.
즉, 스태빌라이저 바는 차량의 선회 주행시에 차체의 선회 외측이 원심력으로 기울어지거나 혹은 주행 중에 범프 또는 리바운드로 인해 좌우측 바퀴가 상대적으로 위차상차를 가질 때에 비틀어지면서 그 복원력으로 차체의 자세를 안정화시켜 주게 된다.That is, the stabilizer bar is twisted when the left and right wheels have a relative difference in position due to a centrifugal force on the turning outer side of the car body during turning of the vehicle, or a bump or rebound while driving, and stabilizes the posture of the car body with the restoring force. .
최근에는 스태빌라이저 바의 자체 탄성 복원력에 의해 차량의 기울어짐을 억제하거나 기울어진 차체를 복귀시켜 안정시키는 데에는 신속 정확한 롤 제어가 미흡하여, 스태빌라이저 바에 액츄에이터를 장착하여 유압에 의해서 스태빌라이저 바의 강성을 능동적으로 제어하는 액티브 롤 스태빌라이제이션(ARS, Active Roll Stabilization) 시스템이 개발되었다.Recently, rapid and accurate roll control is insufficient to suppress the inclination of the vehicle by the self-elastic restoring force of the stabilizer bar or to restore the inclined car body and stabilize it. An Active Roll Stabilization (ARS) system was developed.
즉, 액티브 롤 스태빌라이제이션 시스템은 전륜이나 후륜 또는 전후륜에 적용되어 좌우측의 롤 모멘트의 분배비를 제어하여 일 측의 롤이 과다하지 않도록 강제로 롤을 제어하는 것이다.That is, the active roll stabilization system is applied to the front wheel, the rear wheel, or the front and rear wheels to control the distribution ratio of the left and right roll moments to forcibly control the roll so that the roll on one side is not excessive.
그런데, 차량이 급제동할 시 타이어의 공기압이 좌륜과 우륜의 편차가 심한 경우에는 편제동이 발생하게 되어 예기치 못한 요(yaw) 모션이 발생하여 차량의 조향이 어려워 위험한 상황이 발생할 수가 있는데, 이를 보상할 수 있는 제어 방법이 존재하지 못하였다.However, when the vehicle brakes abruptly, if the tire air pressure is significantly different between the left wheel and the right wheel, uneven braking may occur and unexpected yaw motion may occur, making it difficult to steer the vehicle, resulting in a dangerous situation. There was no way to control it.
이상의 배경기술에 기재된 사항은 발명의 배경에 대한 이해를 돕기 위한 것으로서, 이 기술이 속하는 분야에서 통상의 지식을 가진 자에게 이미 알려진 종래기술이 아닌 사항을 포함할 수 있다.The matters described in the background art are intended to help the understanding of the background of the invention, and may include matters that are not already known to those of ordinary skill in the art to which this technology belongs.
본 발명은 상술한 문제점을 해결하고자 안출된 것으로서, 본 발명은 타이어의 공기압에 불균형이 발생한 차량이 급제동시 차량을 안정적으로 제어할 수 있는 안정화 방법 및 시스템을 제공하는 데 그 목적이 있다.The present invention has been devised to solve the above-described problems, and an object of the present invention is to provide a stabilization method and system capable of stably controlling the vehicle when a vehicle with an imbalance in tire air pressure is suddenly braked.
본 발명의 일 관점에 의한 급제동 차량의 안정화 제어 방법은, 차량 타이어의 공기압이 정상 범위 내인지 판단하는 단계, 상기 차량 타이어의 공기압이 정상 범위 내가 아닌 경우에 상기 차량이 급제동시 좌측 또는 우측으로의 쏠림량을 계산하는 단계, 상기 쏠림량을 계산하는 단계에 의해 계산된 쏠림량에 따라 상기 차량이 안정적으로 제동될 수 있는 롤 모멘트를 계산하는 단계 및 상기 롤 모멘트를 계산하는 단계에 의해 계산된 롤 모멘트에 따라 차량의 ARS(Active Roll Stabilization) 시스템을 구성하는 액츄에이터를 제어함으로써 차량에 장착된 스태빌라이저 바를 제어하는 단계를 포함한다.According to an aspect of the present invention, there is provided a stabilization control method of a vehicle for sudden braking, comprising the steps of: determining whether the air pressure of a vehicle tire is within a normal range; The roll calculated by the steps of calculating the amount of leaning, calculating a roll moment at which the vehicle can be stably braked according to the amount of tilt calculated by the step of calculating the amount of leaning, and calculating the roll moment and controlling a stabilizer bar mounted on the vehicle by controlling an actuator constituting an Active Roll Stabilization (ARS) system of the vehicle according to a moment.
여기서, 상기 쏠림량을 계산하는 단계는 CAN 통신에 의해 조향각 정보, 브레이크압 정보, 차속 및 휠속 정보를 수신하여 수신된 정보를 기초로 계산하는 것을 특징으로 한다.Here, the calculating of the amount of leaning is characterized in that steering angle information, brake pressure information, vehicle speed and wheel speed information are received through CAN communication and calculated based on the received information.
다음으로, 본 발명의 일 관점에 의한 급제동 차량의 안정화 제어 시스템은, 차량 타이어의 공기압이 정상 범위 내가 아닌 경우 상기 차량이 급제동시 상기 차량이 안정적으로 제동될 수 있는 롤 모멘트를 계산하는 요구 롤 모멘트 계산부를 포함한다.Next, in the stabilization control system of a vehicle for sudden braking according to an aspect of the present invention, when the air pressure of a vehicle tire is not within a normal range, a required roll moment for calculating a roll moment at which the vehicle can be stably braked when the vehicle is suddenly braked Includes calculator.
상기 요구 롤 모멘트 계산부에 의해 산출된 요구 롤 모멘트에 의해 좌우측의 롤 모멘트가 제어되는 스태빌라이저 바를 더 포함한다.It further includes a stabilizer bar for controlling the roll moment on the left and right according to the required roll moment calculated by the required roll moment calculation unit.
그리고, 상기 차량 타이어의 공기압이 정상 범위 내가 아닌 경우에 상기 차량이 급제동시 좌측 또는 우측으로의 쏠림량을 계산하는 쏠림량 계산부를 더 포함한다.And, it further includes a deflection calculation unit for calculating the amount of deflection to the left or right when the vehicle is suddenly braked when the air pressure of the vehicle tire is not within the normal range.
상기 쏠림량 계산부는 TPMS(Tire Pressure Monitoring System)로부터 수신되는 타이어 공기압 정보를 토대로 계산하는 것을 특징으로 한다.The lean amount calculation unit may calculate based on tire air pressure information received from a TPMS (Tire Pressure Monitoring System).
또한, 상기 쏠림량 계산부는 상기 타이어 공기압 정보에 의해 제동슬립량을 계산하여 차량 쏠림량을 계산하는 것을 특징으로 한다.In addition, the leaning amount calculator calculates the vehicle leaning amount by calculating the braking slip amount based on the tire air pressure information.
이러한 상기 롤 모멘트 계산부는 상기 타이어의 공기압이 적은 측으로 롤이 더 발생하도록 계산하는 것을 특징으로 한다.The roll moment calculation unit is characterized in that it calculates to generate more roll to the side where the air pressure of the tire is low.
본 발명의 급제동 차량의 안정화 제어 방법 및 안정화 제어 시스템에 의하면, 타이어 공기압이 불균형한 차량이 급제동시 차량의 쏠림량을 입력되는 정보에 의해 연산하여 안정화를 위한 요구 롤 모멘트를 계산하여 ARS 시스템의 액츄에이터를 제어함으로써 차량이 안정적으로 제동될 수 있게 하여 차량의 위험성을 낮추고 상품성을 향상시킬 수 있다.According to the stabilization control method and stabilization control system for a sudden braking vehicle of the present invention, when a vehicle with unbalanced tire air pressure is suddenly braked, the amount of inclination of the vehicle is calculated based on the input information to calculate the required roll moment for stabilization, and the actuator of the ARS system By controlling the vehicle, it is possible to stably brake the vehicle, thereby lowering the risk of the vehicle and improving the marketability.
도 1은 본 발명에 의한 급제동 차량의 안정화 제어 방법을 설명하기 위한 그래프이다.
도 2는 본 발명에 의한 급제동 차량의 안정화 제어 시스템의 개념을 도시한 것이다.
도 3은 본 발명에 의한 급제동 차량의 안정화 제어 방법을 도시한 것이다.1 is a graph for explaining a stabilization control method of a sudden braking vehicle according to the present invention.
2 is a view showing a concept of a stabilization control system for a sudden braking vehicle according to the present invention.
3 is a view illustrating a stabilization control method of a sudden braking vehicle according to the present invention.
본 발명과 본 발명의 동작상의 이점 및 본 발명의 실시에 의하여 달성되는 목적을 충분히 이해하기 위해서는 본 발명의 바람직한 실시 예를 예시하는 첨부 도면 및 첨부 도면에 기재된 내용을 참조하여야만 한다.In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.
본 발명의 바람직한 실시 예를 설명함에 있어서, 본 발명의 요지를 불필요하게 흐릴 수 있는 공지의 기술이나 반복적인 설명은 그 설명을 줄이거나 생략하기로 한다.In describing preferred embodiments of the present invention, well-known techniques or repetitive descriptions that may unnecessarily obscure the gist of the present invention will be reduced or omitted.
도 1은 본 발명에 의한 급제동 차량의 안정화 제어 방법을 설명하기 위한 그래프이고, 도 2는 본 발명에 의한 급제동 차량의 안정화 제어 시스템의 개념을 도시한 것이며, 도 3은 본 발명에 의한 급제동 차량의 안정화 제어 방법을 도시한 것이다.1 is a graph for explaining the stabilization control method of a sudden braking vehicle according to the present invention, FIG. 2 shows the concept of a stabilization control system for a sudden braking vehicle according to the present invention, and FIG. 3 is a sudden braking vehicle according to the present invention. A stabilization control method is shown.
이하, 도 1 내지 도 3을 참조하여 본 발명의 일 실시예에 의한 급제동 차량의 안정화 제어 방법 및 안정화 제어 시스템을 설명하기로 한다.Hereinafter, a stabilization control method and a stabilization control system of a sudden braking vehicle according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3 .
본 발명은 ARS(Active Roll Stabilization) 시스템에 의해서 안티 롤 기능을 하는 스태빌라이저 바를 능동적으로 제어하는 차량에서 차량의 타이어 공기압의 균형이 정상적이지 못한 경우에 이를 제어하여 차량을 안정화시키기 위한 방법 및 시스템이다.The present invention is a method and system for stabilizing a vehicle by controlling the tire pressure balance of the vehicle when the balance of the tire pressure of the vehicle is not normal in a vehicle in which a stabilizer bar having an anti-roll function is actively controlled by an ARS (Active Roll Stabilization) system.
좌륜 또는 우륜 중 일 측의 공기압이 정상적이지 않을 경우에 차량이 감속하게 되면 전륜의 경우에는 정상 공기압 타이어 측으로 차량이 기울어지며 제동이 되고, 후륜의 경우에는 어느 쪽으로든 차량이 쏠릴 수가 있다.If the vehicle decelerates when the air pressure on either side of the left or right wheel is not normal, in the case of the front wheel, the vehicle is tilted to the side of the normal air pressure tire and braking occurs, and in the case of the rear wheel, the vehicle may be pulled to either side.
본 발명은 이와 같은 상황에서 인위적으로 좌우 롤을 발생시킴으로써 차량의 차고를 변경하여 편제동이 억제되게 한다.According to the present invention, by artificially generating the left and right rolls in such a situation, the vehicle height is changed so that uneven braking is suppressed.
즉, 좌우측 중 일 측의 공기압이 부족하면 그립력이 감소하게 되고, 공기압 부족 반대 방향으로 편제동이 발생되게 되는데, 기울어지는 방향으로 차량의 하중을 이동시켜 하중이동 발생방향에 대해 그립력을 증가시킴으로써 공기압 부족으로 떨어진 그립력을 보상하여 편제동을 감소시키게 된다.That is, when the air pressure on one side of the left and right sides is insufficient, the grip force is reduced, and partial braking occurs in the opposite direction to the insufficient air pressure. By compensating for the lost grip force, the partial braking is reduced.
마찰력은 다음 수학식 1과 같이 표현될 수 있고, 제동 슬립률은 수학식 2와 같다.The frictional force can be expressed as Equation 1 below, and the braking slip rate is Equation 2 below.
(F : 마찰력, μ : 마찰계수, N : 수직항력)(F: friction force, μ: friction coefficient, N: normal force)
(λxb : 제동슬립률, ni : 차륜 회전속도, rdyn : 타이어 동하중 반경, v : 차속)(λ xb : braking slip ratio, ni: wheel rotation speed, rdyn: tire dynamic load radius, v: vehicle speed)
수학식 2와 도 1에 따라 타이어 공기압 감소시 타이어 동하중 반경이 감소하고, 제동 슬립이 증가 또는 감소하게 되어 좌우 제동 편차가 발생하게 되는데, 수학식 2와 도 1에 의해 타이어 공기압에 의한 제동력이 감소되는 방향으로 수학식 1의 수직항력을 변경시켜 제동력을 증가시키는 것이다.According to Equations 2 and 1, when the tire air pressure is reduced, the tire dynamic load radius is reduced, and the braking slip increases or decreases, resulting in left and right braking deviation. To increase the braking force by changing the normal force of Equation 1 in the direction
즉, ARS에 의해 강제로 롤을 발생시킴으로써 차량의 하중이동발생에 의한 제동력을 증가시키는 것이다.That is, by forcibly generating a roll by ARS, the braking force caused by the load movement of the vehicle is increased.
본 발명에 의한 급제동 차량의 안정화 제어 시스템은, TPMS(Tire Pressure Monitoring System) 및 센서들과 연계하며, 쏠림량 계산부 및 요구 롤 모멘트 계산부를 포함하여, ARS를 제어한다.The stabilization control system for a sudden braking vehicle according to the present invention controls the ARS by interworking with a tire pressure monitoring system (TPMS) and sensors, and including a leaning amount calculation unit and a required roll moment calculation unit.
차량에 급감속 상황이 발생되면(S10), TPMS로부터 차량 타이어의 공기압 정보를 CAN 통신에 의해 수신하고, 이에 의해서 타이어 공기압이 정상인지 여부를 판단한다(S20).When a sudden deceleration situation occurs in the vehicle (S10), air pressure information of the vehicle tire is received from the TPMS through CAN communication, thereby determining whether the tire pressure is normal (S20).
또한, 조향각 정보, 브레이크압 정보, 차속 및 휠속 정보를 CAN 통신에 의해 수신한다.In addition, steering angle information, brake pressure information, vehicle speed and wheel speed information are received through CAN communication.
판단 결과, 타이어 공기압이 정상인 경우에는 일반적인 ARS 제어를 수행하여 요구 모멘트를 송출하여 제어한다.As a result of the determination, when the tire air pressure is normal, the general ARS control is performed and the required moment is transmitted and controlled.
반면, 타이어 공기압이 정상적이지 않은 경우이며, 별도 조향(steer) 제어가 있는지 판단하여(S30) 추가 제어가 없는 경우에는, 타이어 공기압에 따른 제동슬립량을 계산한다(S40).On the other hand, if the tire pressure is not normal, it is determined whether there is a separate steering control (S30), and if there is no additional control, the braking slip amount according to the tire pressure is calculated (S40).
타이어 동하중 반경과 차속 및 휠속 정보를 통해서 수학식 2와 같이 제동슬립량을 예측한다.The braking slip amount is predicted as in Equation 2 based on the tire dynamic load radius and vehicle speed and wheel speed information.
차량 쏠림량 계산부는 계산된 제동슬립량을 토대로 급제동시 편제동에 의한 쏠림 정도를 계산함으로써(S50), 방향 및 쏠림 정도가 산출이 된다.The vehicle leaning amount calculation unit calculates the tilting degree due to local braking during sudden braking based on the calculated braking slip amount (S50), and the direction and the leaning degree are calculated.
차량 쏠림량 계산부에 의해 차량 쏠림 정도 및 방향 정보에 의해서 편제동량 억제를 위한 요구 제어 모멘트를 계산한다(S60).The required control moment for suppressing the local braking amount is calculated by the vehicle leaning amount calculation unit based on the vehicle leaning degree and direction information (S60).
즉, 우측으로 쏠림이 예상이 되면 우측으로 롤을 발생시켜서 좌륜 측 차고를 높이고 우륜 측 차고를 낮출 수 있는 롤 모멘트를 산출하는 것이다.That is, when a right-side pull is expected, a roll is generated to the right to increase the height of the left wheel side and calculate the roll moment for lowering the height of the right wheel side.
쏠림량에 따른 요구 롤 모멘트는 실험에 의해서 얻고 이를 맵핑하여 데이터화한다.The required roll moment according to the amount of deflection is obtained by experiment, and it is mapped and dataized.
그에 따라 롤 모멘트를 송출하여 전륜 또는 후륜의 액츄에이터가 제어될 수 있게 하여 좌우측의 롤 강성을 달리하게 한다.Accordingly, the roll moment is transmitted so that the actuators of the front wheel or the rear wheel can be controlled, so that the roll stiffness on the left and right sides is different.
이에 의한 비틀림 제어에 의해 타이어 공기압의 편차에 의해 제동시에 차량이 쏠리는 경우에 롤을 안정적으로 제어함으로써 차량이 안정적으로 제어될 수 있게 한다.By this torsion control, the vehicle can be stably controlled by stably controlling the roll when the vehicle is pulled during braking due to a deviation in tire air pressure.
이상과 같이 본 발명은 타이어 공기압이 좌우 편차가 심한 경우에 롤을 보상 제어함으로써 급제동에 의한 쏠림을 억제시켜 차량이 안정적으로 제동될 수 있게 한다.As described above, according to the present invention, when the tire air pressure has a severe left-right deviation, the roll is compensated and controlled, thereby suppressing a pull caused by sudden braking, thereby enabling the vehicle to be braked stably.
이상과 같은 본 발명은 예시된 도면을 참조하여 설명되었지만, 기재된 실시 예에 한정되는 것이 아니고, 본 발명의 사상 및 범위를 벗어나지 않고 다양하게 수정 및 변형될 수 있음은 이 기술의 분야에서 통상의 지식을 가진 자에게 자명하다. 따라서 그러한 수정 예 또는 변형 예들은 본 발명의 특허청구범위에 속한다 하여야 할 것이며, 본 발명의 권리범위는 첨부된 특허청구범위에 기초하여 해석되어야 할 것이다.The present invention as described above has been described with reference to the illustrated drawings, but it is not limited to the described embodiments, and it is common knowledge in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. It is self-evident to those who have Accordingly, such modifications or variations should be said to belong to the claims of the present invention, and the scope of the present invention should be interpreted based on the appended claims.
S10 : 급감속 상황 발생
S20 : 타이어 공기압 정상 유무 확인
S30 : 추가 조향 확인
S40 : 제동슬립량 계산
S50 : 쏠림정도 계산
S60 : 요구 제어 모멘트 계산S10: A sudden deceleration situation occurs
S20: Check if tire pressure is normal
S30: Additional Steering Confirmation
S40: Calculation of braking slip amount
S50: Calculate the degree of leaning
S60: Calculate the required control moment
Claims (8)
상기 차량 타이어의 공기압이 정상 범위 내가 아닌 경우에 상기 차량이 급제동시 좌측 또는 우측으로의 쏠림량을 계산하는 단계;
상기 쏠림량을 계산하는 단계에 의해 계산된 쏠림량에 따라 상기 차량이 안정적으로 제동될 수 있는 롤 모멘트를 계산하는 단계; 및
상기 롤 모멘트를 계산하는 단계에 의해 계산된 롤 모멘트에 따라 차량의 ARS(Active Roll Stabilization) 시스템을 구성하는 액츄에이터를 제어함으로써 차량에 장착된 스태빌라이저 바를 제어하는 단계를 포함하고,
상기 쏠림량을 계산하는 단계는 CAN 통신에 의해 조향각 정보, 브레이크압 정보, 차속 및 휠속 정보를 수신하여 수신된 정보를 기초로 계산하는 것을 특징으로 하며,
상기 롤 모멘트를 계산하는 단계는 계산된 상기 쏠림량에 대응되는 상기 롤 모멘트를 맵핑된 데이터에 의해 산출하는 것을 특징으로 하는,
급제동 차량의 안정화 제어 방법.determining whether the air pressure of the vehicle tire is within a normal range;
calculating an amount of leaning to the left or right when the vehicle is suddenly braked when the air pressure of the vehicle tire is not within a normal range;
calculating a roll moment at which the vehicle can be stably braked according to the amount of tilt calculated by the step of calculating the amount of lean; and
Controlling the stabilizer bar mounted on the vehicle by controlling the actuators constituting the ARS (Active Roll Stabilization) system of the vehicle according to the roll moment calculated by the step of calculating the roll moment,
The step of calculating the amount of leaning is characterized in that steering angle information, brake pressure information, vehicle speed and wheel speed information are received through CAN communication and calculated based on the received information,
Calculating the roll moment is characterized in that calculating the roll moment corresponding to the calculated amount of inclination by the mapped data,
A method for stabilizing a vehicle with sudden braking.
상기 차량 타이어의 공기압이 정상 범위 내가 아닌 경우에 상기 차량이 급제동시 좌측 또는 우측으로의 쏠림량을 계산하는 쏠림량 계산부를 포함하고,
상기 쏠림량 계산부는 상기 타이어 공기압 정보에 의해 제동슬립량을 계산하여 차량 쏠림량을 계산하는 것을 특징으로 하며,
상기 요구 롤 모멘트 계산부는 계산된 상기 차량 쏠림량에 대응되는 상기 롤 모멘트를 맵핑된 데이터에 의해 산출하는 것을 특징으로 하는,
급제동 차량의 안정화 제어 시스템.a required roll moment calculation unit for calculating a roll moment at which the vehicle can be stably braked when the vehicle is suddenly braked when the air pressure of the vehicle tire is not within a normal range; and
and a deflection calculation unit for calculating the deflection amount to the left or right when the vehicle is suddenly braked when the air pressure of the vehicle tire is not within the normal range,
The leaning amount calculator calculates the vehicle leaning amount by calculating the braking slip amount based on the tire air pressure information,
The required roll moment calculation unit, characterized in that for calculating the roll moment corresponding to the calculated vehicle leaning amount by the mapped data,
Stabilization control system for sudden braking vehicles.
상기 요구 롤 모멘트 계산부에 의해 산출된 요구 롤 모멘트에 의해 좌우측의 롤 모멘트가 제어되는 스태빌라이저 바를 포함하는,
급제동 차량의 안정화 제어 시스템.4. The method according to claim 3,
and a stabilizer bar whose left and right roll moments are controlled by the required roll moment calculated by the required roll moment calculation unit;
Stabilization control system for sudden braking vehicles.
상기 쏠림량 계산부는 TPMS(Tire Pressure Monitoring System)로부터 수신되는 타이어 공기압 정보를 토대로 계산하는 것을 특징으로 하는,
급제동 차량의 안정화 제어 시스템.4. The method according to claim 3,
The lean amount calculation unit is characterized in that it is calculated based on tire air pressure information received from a TPMS (Tire Pressure Monitoring System),
Stabilization control system for sudden braking vehicles.
상기 롤 모멘트 계산부는 상기 타이어의 공기압이 적은 측으로 롤이 더 발생하도록 계산하는 것을 특징으로 하는,
급제동 차량의 안정화 제어 시스템.4. The method according to claim 3,
The roll moment calculation unit is characterized in that it calculates to generate more roll to the side of the tire with less air pressure,
Stabilization control system for sudden braking vehicles.
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