KR102681763B1 - Car and controlling method thereof - Google Patents

Abstract

The disclosed invention relates to a vehicle and a control method thereof, including a vehicle sensor for detecting the state of the vehicle; Based on the information detected through the vehicle sensor, it is determined whether the vehicle is driving straight, and as a result of the judgment, if the vehicle is driving straight, it is checked whether the driver's steering operation is input. If the driver's steering operation is not operated as a result of the confirmation, the vehicle's A control unit that performs roll control by calculating a roll control amount according to the degree of tilt; and an actuator that applies roll to the wheels of the vehicle according to the roll control amount to generate compression or tension between the wheels and the vehicle body.

Description

Vehicle and its control method{CAR AND CONTROLLING METHOD THEREOF}

It relates to vehicles and their control methods.

Vehicles are developing and installing a variety of additional vehicle service devices in consideration of driver convenience and safety.

More specifically, vehicle supplementary service devices include safety assistance devices such as a lane departure warning device that assists the driver's steering wheel operation when driving the vehicle on the road and prevents the driver from leaving the driving lane, as well as a route to the destination selected by the driver and It may include a device that provides additional services, such as a navigation system that guides surrounding information according to the route.

Meanwhile, while the vehicle is driving, the pulling phenomenon occurs depending on the vehicle's tire pressure, wheel alignment, and road slope. Generally, in order to maintain the vehicle's straight driving condition, the driver corrects the vehicle's tilt by manipulating the steering wheel.

However, if the driver releases his or her hands from the steering wheel or does not perform any steering operation to correct the tilt while the vehicle is driving straight, the vehicle will tend to tilt in one direction, threatening the driver's safety. It may occur.

The disclosed embodiment seeks to provide a vehicle and a control method for maintaining a straight driving state without the driver operating the steering wheel.

As a technical means for achieving the above-described technical problem, a vehicle according to one aspect includes a vehicle sensor for detecting the state of the vehicle; Based on the information detected through the vehicle sensor, it is determined whether the vehicle is driving straight, and as a result of the determination, if the vehicle is driving straight, it is checked whether the driver's steering operation is input, and the confirmation result is that the driver's steering is not operated. a control unit that performs roll control by calculating a roll control amount according to the degree of leaning of the vehicle; and an actuator that applies roll to the wheels of the vehicle according to the roll control amount to generate compression or tension between the wheels and the vehicle body.

In addition, the control unit may receive detection information including steering angle, vehicle speed, steering angle speed, and yaw rate from the vehicle sensor, and determine the degree of vehicle tilt based on the received detection information. .

In addition, the control unit may determine that the vehicle is in a straight driving state when the steering angle, vehicle speed, steering angle speed, and yaw rate received from the vehicle sensor each satisfy the reference conditions and maintain the reference time.

Additionally, the control unit may calculate the roll control amount using a toe change map that varies depending on roll applied to the wheels of the vehicle, a required roll map depending on lean, and a required roll map depending on vehicle speed.

In addition, when the vehicle is a rear-wheel drive vehicle, the control unit may calculate the roll control amount to apply roll to the rear wheels to compress the rear wheels in the leaning direction of the vehicle and tension the rear wheels in the opposite direction to the leaning direction of the vehicle. there is.

Additionally, the vehicle may further include a step bar connected to the actuator to compensate for rolling of the vehicle body.

In one aspect, a vehicle control method detects the state of the vehicle, determines whether the vehicle is driving straight ahead based on the sensed state of the vehicle, and, as a result of the determination, if the vehicle is driving straight, the driver does not steer. Check whether the steering is in an operating state, and if the driver is in a non-steering state as a result of the confirmation, determine the degree of leaning of the vehicle, calculate the roll control amount according to the degree of leaning of the vehicle, and adjust the wheel of the vehicle according to the roll control amount. It may include authorizing the role.

Additionally, detecting the status of the vehicle may mean detecting the steering angle, vehicle speed, steering angle speed, and yaw rate through a vehicle sensor.

In addition, to determine whether the vehicle is driving straight, if the steering angle, vehicle speed, steering angle speed, and yaw rate each maintain the reference time while satisfying the standard conditions, it can be determined that the vehicle is driving straight. there is.

Additionally, the degree of tilt of the vehicle may be determined based on the steering angle, vehicle speed, steering angle speed, and yaw rate.

In addition, the roll control amount can be calculated using a toe change map according to roll application to the wheels of the vehicle, a necessary roll map according to tilt, and a necessary roll map according to vehicle speed. .

In addition, when the vehicle is a rear-wheel drive vehicle, applying roll to the wheels of the vehicle compresses the rear wheels in the direction in which the vehicle is tilted and applies roll to the rear wheels to tension the rear wheels in the direction opposite to the tilt of the vehicle. You can.

According to the means for solving the above-described problem, when the driving state of the vehicle is detected and the driver's steering intention is not detected, if the vehicle is leaning, the vehicle's leaning state is corrected through roll control of the vehicle wheels, so that the driver's operation The effect of being able to maintain the vehicle's straight driving ability without it can be expected.

Additionally, because the vehicle's tilt is automatically corrected, a safer driving environment can be provided to the driver.

1 is a diagram showing the exterior of a vehicle.
Figure 2 is a diagram showing the interior of a vehicle.
Figure 3 is a control block diagram showing the configuration of the vehicle in detail.
Figure 4 is a diagram schematically explaining roll control of a vehicle.
5 to 7 are exemplary diagrams for explaining a method of controlling the roll of a vehicle.
Figure 8 is a flowchart for explaining a vehicle control method.

Like reference numerals refer to like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention pertains is omitted. The term 'part, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'part, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present invention will be described with reference to the attached drawings.

1 is a diagram showing the exterior of a vehicle.

Referring to FIG. 1, the exterior of the vehicle 1 includes a main body 10 that forms the exterior of the vehicle 1, a windscreen 11 that provides the driver with a view of the front of the vehicle 1, and a windscreen 11 that provides the driver with a view of the front of the vehicle 1. A side mirror (12) that provides a view of the rear of the vehicle (1), a door (13) that shields the inside of the vehicle (1) from the outside, and a front wheel (21) located in the front of the vehicle and a rear wheel (21) located in the rear of the vehicle ( 22) may include wheels 21 and 22 for moving the vehicle 1.

The wind screen 11 is provided on the front upper side of the main body 10 to enable the driver inside the vehicle 1 to obtain visual information in front of the vehicle 1. In addition, the side mirror 12 includes a left side mirror provided on the left side of the main body 10 and a right side mirror provided on the right side, and the driver inside the vehicle 1 provides visual information on the sides and rear of the vehicle 1. Make it possible to obtain.

The door 13 is rotatably provided on the left and right sides of the main body 10 to allow the driver to board the inside of the vehicle 1 when opened, and to shield the inside of the vehicle 1 from the outside when closed. You can.

In addition to the above-described configuration, the vehicle 1 includes a power device 16 that rotates the wheels 21 and 22, a steering device (not shown) that changes the direction of movement of the vehicle 1, and a braking device that stops the movement of the wheels ( (not shown) may be included.

The power unit 16 provides rotational force to the front wheels 21 or rear wheels 22 so that the main body moves forward or backward. Such a power device 16 may include an engine that generates rotational force by burning fossil fuel or a motor that generates rotational force by receiving power from a capacitor (not shown).

The steering device includes a steering handle (42 in FIG. 2) that receives the driving direction from the driver, a steering gear (not shown) that converts the rotational movement of the steering handle 42 into a reciprocating movement, and a reciprocating movement of the steering gear (not shown). It may include a steering link (not shown) transmitted to the front wheel 21. Such a steering device can change the driving direction of the vehicle 1 by changing the direction of the rotation axis of the wheels.

The braking device includes a brake pedal (not shown) that receives the braking operation from the driver, a brake drum (not shown) combined with the wheels 21 and 22, and a brake shoe that uses friction to brake the rotation of the brake drum (not shown). (not shown), etc. may be included. Such a braking device can brake the driving of the vehicle 1 by stopping the rotation of the wheels 21 and 22.

Figure 2 is a diagram showing the interior of a vehicle.

The interior of the vehicle (1) includes a dashboard (14) on which various devices are installed for the driver to operate the vehicle (1), a driver's seat (15) for the driver of the vehicle (1) to sit, and the vehicle (1). It may include a cluster display unit (51, 52) that displays operation information, etc., and a navigation (70) that provides audio and video functions as well as a route guidance function that provides route guidance information according to the driver's operation commands. there is.

The dashboard 14 is provided to protrude from the lower part of the windscreen 11 toward the driver, and allows the driver to operate various devices installed on the dashboard 14 while looking ahead.

The driver's seat 15 is provided at the rear of the dashboard 14 so that the driver can operate the vehicle 1 in a stable posture while looking at the front of the vehicle 1 and various devices on the dashboard 14.

The cluster display units 51 and 52 are provided on the driver's seat 15 side of the dashboard 14, and include a driving speed gauge 51 that displays the driving speed of the vehicle 1 and the rotational speed of the power unit (not shown). It may include an rpm gauge 52 that displays.

The navigation system 70 may include a display that displays information on the road on which the vehicle 1 is traveling or the route to the destination the driver wants to reach, and a speaker 41 that outputs sound according to the driver's operation commands. Recently, AVN (Audio Video Navigation) devices, which integrate audio devices, video devices, and navigation devices, are being installed in vehicles.

The navigation system 70 may be installed on the center fascia. At this time, the center fascia refers to the control panel part between the driver's seat and the passenger seat of the dashboard (14). It is the area where the dashboard (14) and the shift lever meet vertically. This area includes the navigation (70), air conditioner, Heater controllers, vents, cigar jacks, ashtrays, cup holders, etc. can be installed. Additionally, the center fascia, along with the center console, can also serve to distinguish between the driver's seat and the passenger's seat.

Additionally, a separate jog dial 60 may be provided for various driving operations including navigation 70.

The jog dial 60 of the disclosed invention not only has a method of performing a driving operation by rotating or applying pressure, but also has a touch pad with a touch recognition function, so that it can be used using the user's finger or a tool with a separate touch recognition function. Thus, handwriting recognition for driving operation can be performed.

Figure 3 is a control block diagram showing the configuration of the vehicle in detail.

Hereinafter, the description will be made with reference to Figure 4, which schematically explains the roll control of a vehicle, and Figures 5 to 7, which are exemplary diagrams to explain a method of controlling the roll of a vehicle.

As shown in FIG. 3, the vehicle 100 includes a communication unit 110, an input unit 120, a storage unit 130, a display 140, a vehicle sensor 150, a control unit 160, an actuator 170, and It may include a step bar 180.

The communication unit 110 may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

The short-range communication module transmits signals using a wireless communication network at a short distance, such as a Bluetooth module, infrared communication module, RFID (Radio Frequency Identification) communication module, WLAN (Wireless Local Access Network) communication module, NFC communication module, and Zigbee communication module. It may include various short-range communication modules that transmit and receive.

Wired communication modules include a variety of wired communication modules, such as Controller Area Network (CAN) communication modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules. In addition to communication modules, various cable communications such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication, or POTS (plain old telephone service) Can contain modules.

Wireless communication modules include Radio Data System-Traffic Message Channel (RDS-TMC), DMB (Digital Multimedia Broadcasting), Wi-Fi module, and WiBro (Wireless broadband) module, as well as GSM (global System for Supports various wireless communication methods such as Mobile Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), and LTE (Long Term Evolution) It may include a wireless communication module.

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving traffic information signals. Additionally, the wireless communication module may further include a traffic information signal conversion module for demodulating an analog wireless signal received through a wireless communication interface into a digital control signal.

The input unit 120 is a component for inputting various information related to the vehicle 100, and uses various buttons, switches, pedals, keyboards, mice, track-balls, and various levers for user input. ), may include hardware devices such as handles or sticks.

Additionally, the input unit 120 may include a GUI (Graphical User Interface), that is, a software device, such as a touch pad, for user input. The touch pad is implemented as a touch screen panel (TSP) and can form a mutual layer structure with the display 140.

The storage unit 130 is a component for storing various information related to the vehicle 100, for example, steering angle, vehicle speed, steering angle speed, and yaw rate for determining the straight driving state of the vehicle 100. ), etc. can be saved.

The storage unit 130 is a non-volatile memory device or RAM such as cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory. It may be implemented as at least one of a volatile memory device such as (Random Access Memory) or a storage medium such as a hard disk drive (HDD) or CD-ROM, but is not limited thereto. The storage unit 130 may be a memory implemented as a separate chip from the processor described above in relation to the control unit 160, or may be implemented as a single chip with the processor.

The display 140 is a component for displaying various information related to the vehicle 100, and may be implemented as a navigation display (70 in FIG. 2), a cluster display unit (51, 52 in FIG. 2), etc., but is not limited thereto. No.

For example, the display 140 may display vehicle tilt guidance, vehicle roll control status, etc. so that the user can recognize them.

The display 140 includes a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel, a liquid crystal display (LCD) panel, and an electroluminescent ( Electro Luminescence (EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel, or Organic Light Emitting Diode (OLED) ) It may be prepared as a panel, etc., but is not limited to this.

The vehicle sensor 150 may be configured to detect the state of the vehicle 100.

Specifically, the vehicle sensor 150 can detect the steering angle, vehicle speed, steering angle speed, and yaw rate and transmit them to the control unit 160.

To this end, the vehicle sensor 150 may include a steering angle sensor (SAS), a wheel speed sensor (WSS), and a yaw rate sensor, but is not limited thereto, and may be used to determine the driving of the vehicle 100. It may further include a camera, radar sensor, lidar sensor, ultrasonic sensor, etc. to detect the state.

The control unit 160 determines whether the vehicle 100 is driving straight ahead based on the information detected through the vehicle sensor 150, and determines whether the driver's steering operation is input if the vehicle 100 is driving straight as a result of the determination. And, as a result of confirmation, if the driver's steering is not operated, roll control can be performed by calculating the roll control amount according to the degree of tilt of the vehicle 100. At this time, the control unit 160 transmits the calculated roll control amount to the actuator 170 to control the roll of the vehicle wheels.

Referring to FIG. 4, when the vehicle 100 is traveling straight and the driver does not control the steering, the vehicle 100 is tilted due to factors such as tire pressure, wheel alignment, and road slope. In this case, the control unit 160 determines the degree of vehicle tilt based on the steering angle, vehicle speed, steering angle speed, and yaw rate detected through the vehicle sensor 150, calculates the roll control amount by considering this, and then adjusts the roll of the vehicle wheels. This is to ensure control.

Specifically, the control unit 160 receives detection information including the steering angle, vehicle speed, steering angle speed, and yaw rate from the vehicle sensor 150, and determines the degree of vehicle tilt based on the received detection information. You can judge.

If the steering angle, vehicle speed, steering angle speed, and yaw rate received from the vehicle sensor 150 each satisfy the standard conditions and maintain the reference time, the control unit 160 may determine that the vehicle is in a straight driving state. .

For example, the control unit 160 determines that the steering angle, vehicle speed, steering angle speed, and yaw rate detected from the vehicle sensor 150 are respectively steering angle < A deg, vehicle speed > B kph, steering angle speed < C rad/s., yaw rate. If the time to satisfy the standard condition of rate < D g is more than X seconds, it is determined that the vehicle is driving straight.

The control unit 160 may calculate the roll control amount using a toe change map according to roll application to the wheels of the vehicle 100, a necessary roll map according to tilt, and a necessary roll map according to vehicle speed.

Specifically, when the vehicle 100 is a rear-wheel drive vehicle, the control unit 160 applies roll to the rear wheels to compress the rear wheels in the direction in which the vehicle 100 is tilted and to tension the rear wheels in the direction opposite to the tilt of the vehicle 100. The roll control amount can be calculated to do this.

The above-described control unit 160 has a memory (not shown) that stores data for an algorithm for controlling the operation of components within the navigation 100 or a program that reproduces the algorithm, and performs the above-described operations using the data stored in the memory. It can be implemented with a processor (not shown) that performs. At this time, the memory and processor may each be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

The actuator 170 may apply roll to the wheels of the vehicle 100 according to the roll control amount to generate compression or tension between the wheels and the vehicle body.

For example, in the case of a rear-wheel drive vehicle, toe-out may appear in the form of a graph as shown in FIG. 5 depending on the inside (tension) and outside (compression) of the turn between the car body and wheels.

The control unit 160 calculates the amount of twist corresponding to the required roll value according to the principle of FIG. 5 and transmits it to the actuator 170 of FIG. 6. At this time, the actuator 170 generates a twist (roll) according to the amount of twist transmitted from the control unit 160 to create tension and compression between the wheels of the vehicle and the vehicle body, thereby correcting the vehicle 100 to maintain straight driving.

Specifically, in the case of rear-wheel drive, the prevention of tilt according to roll control occurs when a roll according to the roll control amount is applied to the rear wheels, the toe of the rear wheel changes, and the tilt is adjusted.

Referring to FIG. 6, in the case of a rear-wheel drive vehicle, when the vehicle is tilted to the right, toe-out occurs when the right side of the rear wheel of the vehicle (the direction in which the tilt occurred) is compressed, and the left side of the rear wheel of the vehicle (the direction in which the tilt occurred) is compressed. If you pull in the direction opposite to where the tilt occurred, toe-in occurs. Through this roll control, the vehicle 100 maintains a straight driving state, as shown in FIG. 7 .

In FIG. 7, toe out occurs due to compression between the wheels and the vehicle body, and toe in occurs due to tension between the wheels and the vehicle body.

The step bar 180 is connected to the actuator 170 to compensate for rolling of the vehicle body. To this end, the actuator 170 applies torque to the step bar 180 to generate twist in the step bar 180.

The control unit 160 shown in FIG. 3 may be implemented as an active control device (Active Roll Stabilizer), but is not limited to this, and controls the straight driving ability of the vehicle 100 based on information detected from vehicle sensors within the vehicle 100. It can be applied to any configuration that can perform the function of calculating the roll control amount and generating a control signal to maintain it.

Figure 8 is a flowchart for explaining a vehicle control method.

First, the vehicle 100 can detect the status of the vehicle (210).

At this time, the vehicle 100 can detect the steering angle, vehicle speed, steering angle speed, and yaw rate through the vehicle sensor 150, and the sensed information is not limited to this.

Next, the vehicle 100 may determine whether the vehicle is driving straight ahead based on the detected vehicle state (220).

Specifically, when the steering angle, vehicle speed, steering angle speed, and yaw rate detected through the vehicle sensor 150 each maintain the reference time while satisfying the reference conditions, the vehicle 100 drives straight. It can be judged as a state.

For example, the control unit 160 determines that the steering angle, vehicle speed, steering angle speed, and yaw rate detected from the vehicle sensor 150 are respectively steering angle < A deg, vehicle speed > B kph, steering angle speed < C rad/s., yaw rate. If the time to satisfy the standard condition of rate < D g is more than X seconds, it is determined that the vehicle is driving straight.

As a result of the determination, if the vehicle is in a straight driving state, the vehicle 100 can check whether the driver is not steering (230).

As a result, if the driver is in a state where the steering is not operated, the vehicle 100 determines the degree of leaning of the vehicle, calculates the roll control amount according to the degree of leaning of the vehicle 100, and applies roll to the wheels of the vehicle according to the roll control amount. It can be done (240).

Specifically, the vehicle 100 may determine the degree of vehicle tilt based on the steering angle, vehicle speed, steering angle speed, and yaw rate.

Additionally, the vehicle 100 may calculate the roll control amount using a toe change map according to roll application to the wheels of the vehicle, a necessary roll map according to tilt, and a necessary roll map according to vehicle speed.

Specifically, when the vehicle 100 is a rear-wheel drive vehicle, applying roll to the wheels of the vehicle may compress the rear wheels in the direction in which the vehicle is tilted and apply roll to the rear wheels to tension the rear wheels in the direction opposite to the tilt of the vehicle. .

Meanwhile, if the vehicle 100 is not in a straight driving state as a result of the determination in step 220, the vehicle 100 may perform the operation again from step 210.

On the other hand, if it is determined in step 230 that the driver is not steering, the vehicle 100 can restart from step 210.

Although not shown, even in the roll control state of the vehicle 100 in step 240 described above, when the driver's steering operation is detected, the vehicle 100 may stop performing roll control.

Since the disclosed invention controls steering through subtle roll changes of the vehicle, it can be expected that the driver will not feel the sense of discomfort that may occur due to steering control compared to technology that controls steering by detecting lane departure of the vehicle, etc. .

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be Read Only Memory (ROM), Random Access Memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which the present invention pertains will understand that the present invention can be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle
110: Department of Communications
120: input unit
130: storage unit
140: display
150: vehicle sensor
160: actuator
170: Step bar
180: control unit

Claims (12)

Vehicle sensors to detect the status of the vehicle;
Based on the information detected through the vehicle sensor, it is determined whether the vehicle is driving straight, and as a result of the determination, if the vehicle is driving straight, it is checked whether the driver's steering operation is input, and the confirmation result is that the driver's steering is not operated. a control unit that performs roll control by calculating a roll control amount according to the degree of leaning of the vehicle; and
an actuator that generates toe-in and toe-out of the rear wheels of the vehicle according to the roll control amount;
Vehicles containing.
According to paragraph 1,
The control unit,
A vehicle that receives detection information including steering angle, vehicle speed, steering angle speed, and yaw rate from the vehicle sensor, and determines the degree of vehicle tilt based on the received detection information.
According to paragraph 1,
The control unit,
A vehicle that determines that the vehicle is in a straight driving state when the steering angle, vehicle speed, steering angle speed, and yaw rate received from the vehicle sensor each satisfy the reference conditions and maintain the reference time.
According to paragraph 1,
The control unit,
A vehicle that calculates the roll control amount using a toe change amount map depending on roll applied to the wheels of the vehicle, a required roll map depending on tilt, and a required roll map depending on vehicle speed.
According to paragraph 1,
If the vehicle is a rear-wheel drive vehicle,
The control unit,
A vehicle that calculates the roll control amount to apply roll to the rear wheels to compress the rear wheels in the direction in which the vehicle is tilted and to stretch the rear wheels in the direction opposite to the tilt of the vehicle.
According to paragraph 1,
a step bar connected to the actuator to compensate for rolling of the vehicle body;
A vehicle further comprising:
Detect the status of the vehicle,
Based on the detected state of the vehicle, determine whether the vehicle is driving straight,
As a result of the determination, if the vehicle is driving straight, it is checked whether the driver is not steering,
As a result of the confirmation, if the driver is not steering, the degree of leaning of the vehicle is determined,
Calculate the roll control amount according to the degree of tilt of the vehicle,
A vehicle control method comprising generating toe-in and toe-out of rear wheels of the vehicle according to the roll control amount.
In clause 7,
Detecting the status of the vehicle,
A vehicle control method that detects steering angle, vehicle speed, steering angle speed, and yaw rate through vehicle sensors.
According to clause 8,
To determine whether the vehicle is driving straight,
A vehicle control method for determining that the vehicle is in a straight driving state when the steering angle, vehicle speed, steering angle speed, and yaw rate each satisfy reference conditions and maintain a reference time.
According to clause 8,
To determine the degree of leaning of the vehicle,
A vehicle control method for determining the degree of tilt of the vehicle based on the steering angle, vehicle speed, steering angle speed, and yaw rate.
In clause 7,
Calculating the roll control amount is,
A vehicle control method for calculating the roll control amount using a toe change map according to roll application to the wheels of the vehicle, a necessary roll map according to tilt, and a necessary roll map according to vehicle speed.
In clause 7,
If the vehicle is a rear-wheel drive vehicle,
Applying roll to the wheels of the vehicle,
A vehicle control method for applying roll to the rear wheels to compress the rear wheels in the direction in which the vehicle is tilted and to stretch the rear wheels in the direction opposite to the tilt of the vehicle.

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