KR20020052259A - Apparatus for inhibiting a vehicle from yaw moment - Google Patents

Apparatus for inhibiting a vehicle from yaw moment Download PDF

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Publication number
KR20020052259A
KR20020052259A KR1020000081498A KR20000081498A KR20020052259A KR 20020052259 A KR20020052259 A KR 20020052259A KR 1020000081498 A KR1020000081498 A KR 1020000081498A KR 20000081498 A KR20000081498 A KR 20000081498A KR 20020052259 A KR20020052259 A KR 20020052259A
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KR
South Korea
Prior art keywords
rack
housing
vehicle
yaw moment
driving unit
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KR1020000081498A
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Korean (ko)
Inventor
곽상도
Original Assignee
이계안
현대자동차주식회사
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Priority to KR1020000081498A priority Critical patent/KR20020052259A/en
Publication of KR20020052259A publication Critical patent/KR20020052259A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/02—Control of vehicle driving stability

Abstract

PURPOSE: A restricting apparatus of yaw moment is provided to improve traveling stability, and to prevent accidents by offsetting yaw moment from difference of frictional coefficient according to the surface condition of the road in braking. CONSTITUTION: A yaw moment restricting device is composed of a housing(2) installed in a steering column(1), and a driving unit(4) actuating by an ECU(Electronic Control Unit)(3) of an ABS(Anti-lock Brake System). A rack is installed in the housing, and moved longitudinally in the housing. A pinion is installed in the housing, and moved linearly by receiving rotational force of the driving unit. The rack is engaged with the pinion, and the center of the pinion is fixed in a driving shaft of the driving unit. A DC(direct current) motor rotates forward or reversely, and the rack moves linearly. The driving unit is controlled according to the signal from the ECU in braking. Traveling stability is improved with offsetting yaw moment from frictional coefficient difference between tires by transmitting driving force from the driving unit through the rack to wheels.

Description

편심 모먼트 억제 장치{Apparatus for inhibiting a vehicle from yaw moment}Eccentric Moment Suppression Device {Apparatus for inhibiting a vehicle from yaw moment}

본 발명은 스플릿(split) 노면에 의하여 발생할 수 있는 차량의 편심 모먼트를 억제할 수 있는 장치에 관한 것이다.The present invention relates to a device capable of suppressing an eccentric moment of a vehicle that may be caused by a split road surface.

겨울철 또는 우천시 차량의 좌측 및 우측 휠의 타이어가 접촉하는 도로의 조건이 서로 다른 상태(split)가 발생할 수 있다. 즉, 어느 한쪽 휠의 타이어가 접촉하는 도로 표면은 정상 상태이지만, 그 반대쪽 휠의 타이어가 접촉하는 도로 표면에는 눈이 덮혀 있거나 또는 결빙된 상태일 수 있다. 결국, 도로 표면과 타이어간의 마찰계수가 양측 휠에서 서로 다르게 되며, 따라서 주행하는 차량, 특히 ABS 시스템 (anti-lock brake system)이 장착된 차량의 브레이크를 작동시킬 경우 지면과타이어간의 마찰 계수가 큰 휠쪽으로 차량이 회전하게 된다.In winter or in rainy weather, the road conditions where the tires of the left and right wheels of the vehicle contact each other may occur. That is, the road surface to which the tire of one of the wheels is in contact is normal, but the road surface to which the tire of the other wheel is in contact is snow-covered or frozen. As a result, the coefficients of friction between the road surface and the tires are different on both wheels, so the friction coefficient between the ground and the tire is high when the brakes of the driving vehicle, in particular the vehicle equipped with the anti-lock brake system, are operated. The vehicle will turn towards the wheel.

도 1은 편심 모먼트가 발생한 차량의 진행과정을 개략적으로 도시한 도면으로서, 편의상 도면의 좌측을 표면이 정상적인 상태의 도로, 우측을 표면이 결빙되었거나 눈이 덮혀있는 도로로 가정하였다. 이러한 도로를 주행하는 차량의 운전자가 제동을 위하여 브레이크 페달을 밟을 경우, 타이어가 정상적인 도로 표면에 접촉하는 전륜의 왼쪽 휠에 비하여 타이어와 도로 표면과의 마찰 계수가 적은 전륜의 오른쪽 휠의 회전수가 많아지게 되며, 결국 도면에 도시된 바와 같이 차량은 왼쪽으로 회전하게 된다.1 is a diagram schematically illustrating a process of a vehicle in which an eccentric moment occurs. For convenience, it is assumed that the left side of the figure is a road having a normal surface, and the right side is a road where the surface is frozen or covered with snow. When the driver of a vehicle driving on such a road presses the brake pedal for braking, the number of revolutions of the right wheel of the front wheel is lower than that of the left wheel of the front wheel where the tire contacts the normal road surface. As a result, the vehicle turns to the left as shown in the drawing.

이와 같은 상황에서는 차량이 차로를 벗어나게 됨은 물론 중앙선을 넘어 반대 방향으로 주행하는 차량과 충돌하는 등 대형사고를 유발하게 된다. 그러나, 도로의 서로 다른 노면 상황에 따라 발생할 수 있는 이러한 차량의 편심 모우먼트(yaw moment)를 방지하기 위한 어떠한 장치도 개발되지 못하고 있다.In such a situation, the vehicle will not only leave the lane but also cause a large accident such as a collision with the vehicle traveling in the opposite direction beyond the center line. However, no device has been developed to prevent such a vehicle's yaw moment, which may occur according to different road conditions on the road.

따라서, 본 발명은 양측 전륜 휠의 타이어가 각각 접촉하는 노면 상태가 다른 조건에서 제동시 발생하는 상술한 문제점을 해결하기 위한 것으로서, 편심 모먼트 발생 초기에 이를 감지하여 이를 상쇄시킬 수 있는 장치를 제공하는데 그 목적이 있다.Accordingly, the present invention is to solve the above-described problems caused when braking in the condition that the tires of the two front wheels contact each other, providing a device that can detect and offset the eccentric moment at the beginning Its purpose is to.

이러한 목적을 실현하기 위한 본 발명은 차량 전륜(前輪)의 스티어링 컬럼에 고정된 하우징 및 ABS 시스템의 전자 제어 유니트(ECU)에 신호에 의하여 구동되는 구동부로 이루어져 있으며, 하우징의 내부에는 양단이 양 전륜의 중심에 고정되며 하우징 내에서 직선이동하는 랙 및 랙과 치합된 상태에서 구동부의 구동력을 전달받는 피니언이 장착되어 있다. 본 발명에 사용된 구동부는 정회전 또는 역회전이 가능한 DC 모터이며, 따라서 랙을 편심 모먼트가 발생하는 반대쪽으로 이동시킬 수 있다.The present invention for realizing this object consists of a housing fixed to the steering column of the front wheel of the vehicle and a drive unit driven by a signal to the electronic control unit (ECU) of the ABS system, both ends of the front wheel inside the housing It is fixed to the center of the rack is linearly moved in the housing and the pinion receives the driving force of the drive unit in engagement with the rack is mounted. The drive unit used in the present invention is a DC motor capable of forward or reverse rotation, and thus can move the rack to the opposite side where the eccentric moment occurs.

도 1은 편심 모먼트가 발생한 차량의 진행과정을 개략적으로 도시한 도면.1 is a view schematically showing the progress of a vehicle in which an eccentric moment occurs.

도 2는 본 발명의 개략적인 구성도.2 is a schematic configuration diagram of the present invention.

도 3(a) 및 도 3(b)는 편심 모먼트가 발생하는 차량에 대하여 본 발명에 따른 장치가 작동함으로서 나타나는 차량의 상태를 개략적으로 도시한 도면.3 (a) and 3 (b) schematically show the state of the vehicle as shown by the operation of the device according to the invention with respect to the vehicle in which the eccentric moment occurs;

* 도면의 주요부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

1: 스티어링 컬럼 2: 하우징1: steering column 2: housing

3: ECU 4 : 구동부3: ECU 4: driver

이하, 본 발명을 첨부한 도면을 참고하여 보다 상세히 설명한다.Hereinafter, with reference to the accompanying drawings of the present invention will be described in more detail.

도 2는 본 발명의 개략적인 구성도로서, 본 발명에 따른 장치는 차량 전륜(前輪)의 스티어링 컬럼(1; steering column)에 장착된다. 본 발명은 크게 스티어링 칼럼(1)에 고정된 하우징(2) 및 ABS 시스템의 전자 제어 유니트(3; ECU)에 의하여 구동되는 구동부(4)로 이루어져 있다.2 is a schematic configuration diagram of the present invention, wherein the device according to the present invention is mounted to a steering column 1 of the front wheel of a vehicle. The present invention largely consists of a housing 2 fixed to a steering column 1 and a drive 4 driven by an electronic control unit 3 (ECU) of an ABS system.

일정 길이의 하우징(2)의 내부에는 구동부(4)의 회전력을 받아 직선이동하는 랙과 피니언(도시되지 않음)이 위치한다. 즉, 하우징(2) 내부에는 하우징(2)의 길이 방향으로 이동할 수 있는 랙(R; rack)이 장착되어 있으며, 또한 랙과 치합되어 있는 피니언(pinion)이 장착되어 있다. 피니언의 중심은 구동부(4)의 구동축에 고정되어 있으며, 따라서 구동부(4)의 작동에 따라 랙(R)은 하우징(2) 내부에서 직선 이동하게 된다. 물론, 일정한 길이를 갖는 랙(R)은 하우징(2)에 의하여 이동이 안내된다. 랙(R)의 양단부는 하우징(2) 외부로 노출되어 양 전륜의 중심에 고정된다.Inside the housing 2 of a predetermined length is a rack and pinion (not shown) that is linearly moved by the rotational force of the drive unit 4 is located. That is, inside the housing 2, a rack (R; rack) capable of moving in the longitudinal direction of the housing 2 is mounted, and a pinion engaged with the rack is mounted. The center of the pinion is fixed to the drive shaft of the drive unit 4, so that the rack (R) is linearly moved in the housing (2) in accordance with the operation of the drive unit (4). Of course, the rack (R) having a constant length is guided by the housing (2). Both ends of the rack R are exposed to the outside of the housing 2 and are fixed to the centers of both front wheels.

본 발명에서 사용된 구동부(4)는 DC 모터로서, 정회전 또는 역회전이 가능하며, 따라서, 구동부(4)에 의하여 직선이동하는 랙(R)은 좌측 및 우측(도면에 도시된 하우징(2) 기준)으로의 이동이 가능하다. 구동부(4)는 차량 휠(wheel)의 제동을 제어하는 ABS 시스템의 ECU(3)에 연결되어 있어 차량의 제동 상태에 따른 ECU의 신호에 따라 구동이 제어된다.The drive unit 4 used in the present invention is a DC motor, and can be rotated forward or reversely. Therefore, the rack R linearly moved by the drive unit 4 is left and right (the housing 2 shown in the drawing). It is possible to move to The drive unit 4 is connected to the ECU 3 of the ABS system that controls the braking of the vehicle wheel, so that the driving is controlled according to the signal of the ECU according to the braking state of the vehicle.

도 2 도, 도 3(a) 및 도 3(b)를 통하여 본 발명의 작동을 설명한다.The operation of the present invention will be described with reference to Figs. 2, 3 (a) and 3 (b).

도 3(a)는 진행 방향의 좌측으로 편심 모먼트가 발생하는 차량에 대하여 본 발명에 따른 장치가 작동함으로서 나타나는 차량의 상태를 개략적으로 도시한 도면으로서, 도 1과 마찬가지로 편의상 도면의 좌측을 정상적인 상태의 도로, 우측을 표면이 결빙되었거나 눈이 덮혀있는 도로로 가정하였다. 이러한 도로를 주행하는 차량의 운전자가 제동을 위하여 브레이크 페달을 밟을 경우, 타이어가 정상적인 도로 표면에 접촉하는 왼쪽 휠에 비하여 타이어와 도로 표면과의 마찰 계수가 적은 오른쪽 앞 휠의 회전수가 많아지게 되며, 결국 도시된 바와 같이 차량은 왼쪽으로 회전하기 시작한다.Figure 3 (a) is a view schematically showing the state of the vehicle shown by the operation of the device according to the present invention for a vehicle in which the eccentric moment occurs to the left of the travel direction, as shown in FIG. The road in the state was assumed to be the road with the surface freezing or snow covered. When the driver of a vehicle driving on such a road presses the brake pedal for braking, the number of revolutions of the right front wheel, which is less friction coefficient between the tire and the road surface, is increased, compared to the left wheel where the tire contacts the normal road surface. Eventually, as shown, the vehicle starts to turn to the left.

ABS 시스템의 ECU(3)가 이 상태를 감지하여 구동부(4)를 정회전시키며, 따라서 구동부(4)의 회전력을 받은 피니언이 회전함으로서 (R)랙은 하우징(2) 내부에서 b 방향, 즉 회전수가 많은 오른쪽 휠로 이동하게 된다.The ECU 3 of the ABS system senses this state and rotates the drive unit 4 forward. Therefore, as the pinion rotated by the drive force of the drive unit 4, the rack (R) is in the b direction, i.e., inside the housing 2. The wheel will move to the right wheel with a lot of revolutions.

결국, 오른쪽 휠과 왼쪽 휠에는 랙(R)을 통하여 구동부(4)의 구동력이 전달됨으로서 지면에 대한 양 타이어의 마찰 계수 차이로 인한 편심 모먼트가 상쇄되며, 차량은 정상적인 상태를 유지할 수 있게 된다.As a result, the driving force of the driving unit 4 is transmitted to the right wheel and the left wheel through the rack R, so that the eccentric moment due to the difference in friction coefficient between the two tires against the ground is canceled, and the vehicle can maintain a normal state. .

도 3(b)는 진행 방향의 우측으로 편심 모먼트가 발생하는 차량에 대하여 본 발명에 따른 장치가 작동함으로서 나타나는 차량의 상태를 개략적으로 도시한 도면으로서, 편의상 도면의 우측을 정상적인 상태의 도로, 좌측을 표면이 결빙되었거나 눈이 덮혀있는 도로로 가정하였다. 이러한 도로를 주행하는 차량의 운전자가 제동을 위하여 브레이크 페달을 밟을 경우, 타이어가 정상적인 도로 표면에 접촉하는 오른쪽 휠에 비하여 타이어와 도로 표면과의 마찰 계수가 적은 왼쪽 앞 휠의 회전수가 많아지게 되며, 결국 도시된 바와 같이 차량은 오른쪽으로 회전하기 시작한다.Figure 3 (b) is a view schematically showing the state of the vehicle shown by the operation of the device according to the present invention with respect to the vehicle in which the eccentric moment occurs to the right of the travel direction, the right side of the figure for convenience, the road, The left side was assumed to be a road with frozen surfaces or snow covered. When the driver of a vehicle driving on such a road presses the brake pedal for braking, the number of revolutions of the left front wheel, which is less friction coefficient between the tire and the road surface, is increased compared to the right wheel where the tire contacts the normal road surface. Eventually the vehicle begins to turn to the right as shown.

ABS 시스템의 ECU(3)가 이 상태를 감지하여 구동부(4)를 역회전시키며, 따라서 구동부(4)의 회전력을 받은 피니언이 회전함으로서 랙(R)은 하우징(2) 내부에서 a 방향, 즉 회전수가 많은 왼쪽 휠로 이동하게 된다. 결국, 도 3(a)에서와 마찬가지로 오른쪽 휠과 왼쪽 휠에는 랙을 통하여 구동부의 구동력이 전달됨으로서 지면에 대한 양 타이어의 마찰 계수 차이로 인한 편심 모먼트가 상쇄되며, 차량은 정상적인 상태를 유지할 수 있게 된다.The ECU 3 of the ABS system senses this state and reversely rotates the driver 4, so that the pinion rotated by the rotational force of the driver 4 rotates the rack R in the a direction, i.e., inside the housing 2. The wheel will move to the left wheel with a lot of revolutions. As a result, as shown in FIG. 3 (a), the driving force of the driving unit is transmitted to the right wheel and the left wheel through the rack, so that the eccentric moment due to the difference in friction coefficient between the two tires against the ground is canceled, and the vehicle can maintain a normal state. Will be.

이상과 같은 본 발명은 도로 표면의 조건 차이에 따른 양측 타이어와의 마찰계수가 차이로 인하여 제동시 발생할 수 있는 편심 모먼트를 간단한 장치로 상쇄시킴으로서 차량의 안전성을 확보할 수 있으며, 사고 방지 및 주행안정성을 보장할 수 있다.The present invention as described above can ensure the safety of the vehicle by offsetting the eccentric moment that may occur during braking due to the difference in friction coefficient between the tires according to the condition of the road surface with a simple device, preventing accidents and driving Stability can be guaranteed.

Claims (2)

차량 전륜(前輪)의 스티어링 컬럼에 고정된 하우징 및 ABS 시스템의 전자 제어 유니트(ECU)에 신호에 의하여 구동되는 구동부로 이루어져 있으며, 하우징의 내부에는 양단이 양 전륜의 중심에 고정되며 하우징 내에서 직선이동하는 랙 및 랙과 치합된 상태에서 구동부의 구동력을 전달받는 피니언이 장착되어 있는 편심 모먼트 억제 장치.It consists of a housing fixed to the steering column of the front wheel of the vehicle and a drive unit driven by a signal to the electronic control unit (ECU) of the ABS system, and inside the housing, both ends are fixed to the center of both front wheels and Eccentric moment suppression device equipped with a moving rack and a pinion that receives the driving force of the drive unit in engagement with the rack. 제 1 항에 있어서, 상기 구동부는 정회전 또는 역회전이 가능한 DC 모터로서 상기 랙을 편심 모먼트가 발생하는 반대쪽으로 이동시킬 수 있는 편심 모먼트 억제 장치.The eccentric moment suppression apparatus according to claim 1, wherein the driving unit is a DC motor capable of forward rotation or reverse rotation and capable of moving the rack to the opposite side where an eccentric moment occurs.
KR1020000081498A 2000-12-26 2000-12-26 Apparatus for inhibiting a vehicle from yaw moment KR20020052259A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09142331A (en) * 1995-11-21 1997-06-03 Honda Motor Co Ltd Electric motor-driven power steering device
JPH11152057A (en) * 1997-09-16 1999-06-08 Honda Motor Co Ltd Electric power steering device
KR20010063135A (en) * 1999-12-21 2001-07-09 류정열 activity power steering system and method of activity power steering
KR20020040219A (en) * 2000-11-24 2002-05-30 밍 루 Method for operating electric power steering system of automobile

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09142331A (en) * 1995-11-21 1997-06-03 Honda Motor Co Ltd Electric motor-driven power steering device
JPH11152057A (en) * 1997-09-16 1999-06-08 Honda Motor Co Ltd Electric power steering device
KR20010063135A (en) * 1999-12-21 2001-07-09 류정열 activity power steering system and method of activity power steering
KR20020040219A (en) * 2000-11-24 2002-05-30 밍 루 Method for operating electric power steering system of automobile

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