KR20040028367A - Vehicle dynamics control device - Google Patents

Vehicle dynamics control device Download PDF

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Publication number
KR20040028367A
KR20040028367A KR1020020059535A KR20020059535A KR20040028367A KR 20040028367 A KR20040028367 A KR 20040028367A KR 1020020059535 A KR1020020059535 A KR 1020020059535A KR 20020059535 A KR20020059535 A KR 20020059535A KR 20040028367 A KR20040028367 A KR 20040028367A
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South Korea
Prior art keywords
vehicle
acceleration
yaw
converter
rate
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KR1020020059535A
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Korean (ko)
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KR100471260B1 (en
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서정재
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현대자동차주식회사
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Priority to KR10-2002-0059535A priority Critical patent/KR100471260B1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/56—Devices characterised by the use of electric or magnetic means for comparing two speeds
    • G01P3/60—Devices characterised by the use of electric or magnetic means for comparing two speeds by measuring or comparing frequency of generated currents or voltages
    • 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
    • B60G17/0182—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 involving parameter estimation, e.g. observer, Kalman filter
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P15/125—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by capacitive pick-up

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gyroscopes (AREA)

Abstract

PURPOSE: An apparatus for detecting the posture of chassis of a vehicle is provided to detect the posture of the overall directions of the vehicle by integrating the G sensor and the Yaw-Rate sensor into only one sensor. CONSTITUTION: An apparatus for detecting the posture of chassis of a vehicle includes a pair of acceleration speed sensing units(112,114), a longitudinal acceleration speed converter(120), a Yaw-Rate sensing unit(130) and a Yaw-Rate converter. Each of the acceleration speed sensing units(112,114) is constituted of a plurality of photo sensors. The longitudinal acceleration speed converter(120) is mounted between the acceleration speed sensing units(112,114) for detecting the longitudinal acceleration speed of the chassis of the vehicle in response to the contact relation. The Yaw-Rate sensing unit(130) is provided with a plurality of photo sensors at the central portion of the longitudinal acceleration speed converter(120). And, the Yaw-Rate converter is formed of a rotational body in the form of a sphere at the central portion of the Yaw-Rate sensing unit(130) for detecting the acceleration speed of the chassis of the vehicle.

Description

차량의 차체 자세 검출장치{VEHICLE DYNAMICS CONTROL DEVICE}Vehicle body position detection device {VEHICLE DYNAMICS CONTROL DEVICE}

본 발명은 차량에 관한 것으로서, 특히 차량의 차체 자세 검출장치에 관한 것이다.The present invention relates to a vehicle, and more particularly, to an apparatus for detecting a vehicle body attitude.

통상적으로, 차량에 장착된 차체 자세 제어장치(VDC ; Vehicle Dynamics Control)는 급제동, 급가속 및 급선회 등 차량 주행 중 발생하는 각종 위험상황에서 차체의 안전성을 확보해 준다.In general, a vehicle dynamics control device (VDC) mounted in a vehicle ensures the safety of the vehicle body in various dangerous situations such as sudden braking, rapid acceleration, and sharp turning.

차체 자세 제어장치(VDC)는 차량의 자세를 제어하기 위하여 각속도 센서(Yaw-Rate Sensor)와 횡 가속도 센서의 값을 받아서 차량의 자세를 유지한다.The vehicle body attitude control device VDC maintains the vehicle attitude by receiving values of a yaw-rate sensor and a lateral acceleration sensor in order to control the vehicle attitude.

차량의 자세를 유지하기 위해서는 다른 센서도 필요하지만 상기 2개의 센서는 필수적으로 사용되고 있다.Other sensors are required to maintain the vehicle's posture, but the two sensors are essentially used.

그러나, 위와 같은 방법을 사용할 때 종래에는 상기 2개의 센서를 별도로 장착함으로써 공간 부족의 문제점이 있었다.However, when using the above method, there was a problem of lack of space by mounting the two sensors separately.

또한, 기존의 센서는 전압을 감지하는 방식이므로 전원 및 접지(GND) 영향을 받을 수 있어 정밀하게 제어하기 어려운 문제점이 있었다.In addition, the conventional sensor has a problem that it is difficult to control precisely because it can be affected by the power supply and ground (GND) because it is a way to sense the voltage.

본 발명의 목적은 가속도 센서(G Sensor)와 각속도 센서(Yaw-Rate Sensor)를 하나의 센서로 통합하여 차량의 전반적인 방향의 자세를 감지할 수 있는 차량의 차체 자세 검출장치를 제공하는데 있다.An object of the present invention is to provide a vehicle body attitude detection device that can detect the attitude of the overall direction of the vehicle by integrating the acceleration sensor (G Sensor) and Yaw-Rate Sensor into one sensor.

도 1은 본 발명의 실시예에 따른 차량의 차체 자세 검출장치의 구성을 도시한 도면.1 is a view showing the configuration of a vehicle body position detection apparatus of a vehicle according to an embodiment of the present invention.

도 2는 본 발명의 실시예에 따른 차량의 차체 자세 검출장치의 신호흐름을 도시한 블록도.Figure 2 is a block diagram showing the signal flow of the vehicle body attitude detection apparatus according to an embodiment of the present invention.

상기와 같은 목적을 달성하기 위하여 본 발명은 차량의 차체 자세 검출장치에 있어서, 일정 간격으로 다수개의 포토 센서가 배열되어 구성되는 가속도 감지부와; 상기 가속도 감지부 사이에 장착되어 상기 가속도 감지부와의 접촉관계에 따라 상기 차량의 차체 횡 가속도를 검출하는 횡 가속도용 변환기와; 상기 횡 가속도용 변환기의 중심부에서 구형의 내주면에 일정 간격으로 다수개의 포토 센서가 배열되는 각속도 감지부와; 상기 각속도 감지부의 중심부에서 구형의 회전체로 형성되어 상기 차량의 차체 각속도를 검출하는 각속도(Yaw-Rate) 변환기를 포함하여 구성하는 것을 특징으로 한다.In order to achieve the above object, the present invention provides an apparatus for detecting a vehicle body attitude, comprising: an acceleration sensing unit configured to arrange a plurality of photo sensors at a predetermined interval; A transverse acceleration converter mounted between the acceleration detection units to detect a vehicle body lateral acceleration according to a contact relationship with the acceleration detection unit; An angular velocity sensor configured to arrange a plurality of photo sensors at regular intervals on a spherical inner circumferential surface at the center of the transverse acceleration converter; It is characterized in that it comprises a angular velocity (Yaw-Rate) converter is formed of a spherical rotor in the center of the angular velocity detection unit for detecting the angular velocity of the vehicle body.

이하 본 발명의 바람직한 실시예를 첨부한 도면을 참조하여 상세히 설명한다. 하기 설명 및 첨부 도면과 같은 많은 특정 상세들이 본 발명의 보다 전반적인 이해를 제공하기 위해 나타나 있으나, 이들 특정 상세들은 본 발명의 설명을 위해예시한 것으로 본 발명이 그들에 한정됨을 의미하는 것은 아니다. 그리고 본 발명의 요지를 불필요하게 흐릴 수 있는 공지 기능 및 구성에 대한 상세한 설명은 생략한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. While many specific details, such as the following description and the annexed drawings, are shown to provide a more general understanding of the invention, these specific details are illustrative of the invention and are not meant to limit the invention to them. And a detailed description of known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

도 1을 참조하여 본 발명의 실시예에 따른 차량의 차체 자세 검출장치의 구성을 설명한다.A configuration of an apparatus for detecting a vehicle body attitude of a vehicle according to an exemplary embodiment of the present invention will be described with reference to FIG. 1.

본 발명의 실시예는 차량의 차체 자세 검출장치에 있어서, 가속도 감지부(112, 114), 횡 가속도용 변환기(120), 각속도 감지부(130), 각속도(Yaw-Rate) 변환기(140)를 포함하여 구성한다.In the embodiment of the present invention, in the vehicle body attitude detection apparatus, the acceleration detection unit 112, 114, the lateral acceleration converter 120, the angular velocity detection unit 130, Yaw-Rate converter 140 It is configured to include.

가속도 감지부(112, 114)는 도 1에 도시된 바와 같이 횡 가속도용 변환기(120)를 사이에 두고 일정 간격으로 다수개의 포토 센서가 배열되어 구성된다.As illustrated in FIG. 1, the acceleration detectors 112 and 114 are configured by arranging a plurality of photo sensors at regular intervals with the transverse acceleration converter 120 interposed therebetween.

횡 가속도용 변환기(120)는 가속도 감지부(112, 114) 사이에 장착되어 가속도 감지부(112, 114)와의 접촉관계에 따라 차량의 차체 횡 가속도를 검출한다.Transducer for lateral acceleration 120 is mounted between the acceleration detection unit 112, 114 detects the vehicle body lateral acceleration according to the contact relationship with the acceleration detection unit (112, 114).

각속도 감지부(130)는 횡 가속도용 변환기(120)의 중심부에서 구형의 내주면에 일정 간격으로 다수개의 포토 센서가 배열되어 구성된다.The angular velocity detection unit 130 is configured by arranging a plurality of photo sensors at regular intervals on a spherical inner circumferential surface at the center of the transverse acceleration converter 120.

각속도(Yaw-Rate) 변환기(140)는 각속도 감지부(130)의 중심부에서 구형의 회전체로 형성되어 차량의 차체 각속도를 검출한다.Yaw-rate converter 140 is formed of a spherical rotating body in the center of the angular velocity detection unit 130 to detect the vehicle body angular velocity.

횡 가속도용 변환기(120)와 각속도(Yaw-Rate) 변환기(140)는 도 1에 도시된 바와 같이 일체형으로 형성한다.The transverse acceleration converter 120 and the yaw-rate converter 140 are integrally formed as shown in FIG. 1.

즉, 본 발명의 실시예는 차량에 사용되고 있는 횡 가속도 센서(G Sensor)와각속도 센서(Yaw-Rate Sensor)에서 각각의 검출된 신호를 별도로 받아서 차량의 자세를 제어할 수 있도록 하나로 통합한 센서를 구성한다.That is, an embodiment of the present invention is to integrate a sensor to control the attitude of the vehicle by separately receiving each detected signal from the lateral acceleration sensor (G Sensor) and Yaw-Rate Sensor used in the vehicle Configure.

도 1과 도 2를 참조하여 본 발명의 실시예에 따른 차량의 차체 자세 검출장치의 동작을 설명한다.1 and 2, the operation of the vehicle body position detecting apparatus according to the embodiment of the present invention will be described.

도 2는 본 발명의 실시예에 따른 차량의 차체 자세 검출장치의 신호흐름을 도시한 블록도이다.2 is a block diagram illustrating a signal flow of a vehicle body position detection apparatus according to an exemplary embodiment of the present invention.

횡 가속도용 변환기(120)와 각속도(Yaw-Rate) 변환기(140)는 가속도 감지부(112, 114) 및 각속도 감지부(130)와의 사이에서 발생되는 신호들을 입력 인터페이스를 통해 제어부(210)로 입력하고, 제어부(210)는 차량의 차체 가속도와 각속도 변화를 연산하여 차체 자세 제어장치(220)(VDC)로 전달한다.The transverse acceleration converter 120 and the yaw-rate converter 140 transmit signals generated between the acceleration detectors 112 and 114 and the angular velocity detector 130 to the controller 210 through an input interface. The controller 210 calculates the vehicle acceleration and the angular velocity change of the vehicle and transmits the calculated vehicle body attitude controller 220 (VDC).

먼저, 가속도(G) 연산방법을 설명한다.First, the acceleration G calculation method will be described.

차량의 전후방 충격 또는 저감속시 횡 가속도용 변환기(120)는 도 1의 X방향으로 관성에 의하여 회전하게 되어 가속도 감지부(112)에 접촉을 하게 된다.The transverse acceleration converter 120 rotates by inertia in the X direction of FIG. 1 when the front and rear shocks or decelerations of the vehicle are in contact with the acceleration detecting unit 112.

이러한 상태에서 횡 가속도용 변환기(120)가 가속도 감지부(112)에 접촉하게 되면 제어부(210)는 횡 가속도용 변환기(120)와 입력 인터페이스를 통해 입력되는 신호들을 분석하여 포토 센서의 변화량을 통해 차량의 X방향과 포토 센서의 변화 속도를 환산하여 가속도를 연산한다.In this state, when the transverse acceleration converter 120 comes into contact with the acceleration detecting unit 112, the controller 210 analyzes signals input through the transverse acceleration converter 120 and an input interface and changes the amount of change in the photo sensor. The acceleration is calculated by converting the vehicle's X direction and the speed of change of the photo sensor.

한편, 차량의 전후방 충격 또는 가속시 횡 가속도용 변환기(120)는 도 1의 Y방향으로 관성에 의하여 회전하게 되어 가속도 감지부(114)에 접촉을 하게 된다.On the other hand, when the front and rear shock or acceleration of the vehicle, the transverse acceleration converter 120 is rotated by the inertia in the Y direction of Figure 1 is in contact with the acceleration sensing unit 114.

횡 가속도용 변환기(120)와 가속도 감지부(114)가 접촉하게 되면제어부(210)는 횡 가속도용 변환기(120)와 입력 인터페이스를 통해 입력되는 신호들을 분석하여 포토 센서의 변화량을 통해 차량의 Y방향과 포토 센서의 변화 속도를 환산하여 가속도를 연산한다.When the transverse acceleration converter 120 and the acceleration sensing unit 114 come into contact with each other, the control unit 210 analyzes signals input through the transverse acceleration converter 120 and an input interface and changes the Y of the vehicle through the change amount of the photo sensor. The acceleration is calculated by converting the direction and the speed of change of the photo sensor.

이어서, 각속도(Yaw-Rate) 연산방법을 설명한다.Next, a yaw rate calculation method will be described.

횡 가속도용 변환기(120)의 중앙부에 있는 각속도(Yaw-Rate) 변환기(140)는 차량의 자세를 알 수 있도록 어느 각도로도 움직일 수 있는 구형의 회전체 형태로 구성되어 있다.Yaw-rate transducer 140 in the center portion of the transverse acceleration converter 120 is configured in the form of a spherical rotating body that can move at any angle to know the attitude of the vehicle.

그리고, 각속도(Yaw-Rate) 변환기(140)는 차량의 흔들림에 따라 각도를 산출 할 수 있는 구조로 중심부의 회전체가 관성에 의하여 움직이면 제어부(210)는 차량의 흔들림에 연동되어 움직이는 회전체와 각속도 감지부(130)와의 상관관계를 각속도(Yaw-Rate) 변환기(140)로부터 입력받아 관성에 의한 위치변화 및 포토 센서 변화 속도를 분석하여 각속도를 연산한다.And, the yaw-rate converter 140 is a structure that can calculate the angle according to the shaking of the vehicle, when the rotating body of the center moves by inertia, the control unit 210 and the rotating body moving in conjunction with the shaking of the vehicle The correlation with the angular velocity detection unit 130 is input from the yaw-rate converter 140, and the angular velocity is calculated by analyzing the position change and the photo sensor change velocity due to inertia.

차량의 X/Y 방향을 제외한 Z방향 및 타방향의 속도 변화는 각속도(Yaw-Rate) 변환기(140)의 회전체 방향에 따라서 요잉(Yawing), 바운스(Bounce), 피치(Pitch), 롤(Roll) 등의 자세를 감지할 수 있다.Speed changes in the Z direction and the other direction except for the X / Y direction of the vehicle may be changed by yawing, bounce, pitch, and roll according to the rotational direction of the yaw-rate transducer 140. Postures such as rolls can be detected.

본 발명의 실시예는 가속도가 변화하면서도 각속도 변화를 감지할 수 있는 이중 구조로 하여 제어부(210)를 통해 도 2에 도시된 바와 같이 차체 자세 제어장치(220)(VDC)에 차량 자세를 전달할 수 있다.According to the embodiment of the present invention, the vehicle posture can be transmitted to the vehicle body attitude control device 220 (VDC) as shown in FIG. have.

상술한 바와 같이 본 발명에 따른 차량의 차체 자세 검출장치는 가속도센서(G Sensor)와 각속도 센서(Yaw-Rate Sensor)를 하나의 센서로 통합하여 차량의 전반적인 방향의 자세를 감지할 수 있다.As described above, the vehicle body posture detection apparatus according to the present invention may detect the posture of the overall direction of the vehicle by integrating an acceleration sensor (G sensor) and an angular velocity sensor (Yaw-Rate Sensor) into one sensor.

또한, 차량의 자세를 검출하는 부품이 하나로 축소 가능하며, 무게를 감소시킬 수 있다.In addition, the component for detecting the attitude of the vehicle can be reduced to one, and the weight can be reduced.

또한, 차량의 장착위치 선정이 유리하여 작업자의 편의성을 도모할 수 있는 효과가 있다.In addition, it is advantageous to select a mounting position of the vehicle to facilitate the convenience of the operator.

Claims (2)

차량의 차체 자세 검출장치에 있어서,In the vehicle body position detection device, 일정 간격으로 다수개의 포토 센서가 배열되어 구성되는 가속도 감지부와;An acceleration sensing unit configured to arrange a plurality of photo sensors at regular intervals; 상기 가속도 감지부 사이에 장착되어 상기 가속도 감지부와의 접촉관계에 따라 상기 차량의 차체 횡 가속도를 검출하는 횡 가속도용 변환기와;A transverse acceleration converter mounted between the acceleration detection units to detect a vehicle body lateral acceleration according to a contact relationship with the acceleration detection unit; 상기 횡 가속도용 변환기의 중심부에서 구형의 내주면에 일정 간격으로 다수개의 포토 센서가 배열되는 각속도 감지부와;An angular velocity sensor configured to arrange a plurality of photo sensors at regular intervals on a spherical inner circumferential surface at the center of the transverse acceleration converter; 상기 각속도 감지부의 중심부에서 구형의 회전체로 형성되어 상기 차량의 차체 각속도를 검출하는 각속도(Yaw-Rate) 변환기를 포함하여 구성하는 것을 특징으로 하는 차량의 차체 자세 검출장치.And a yaw-rate converter formed of a spherical rotor at the center of the angular velocity detecting unit to detect an angular velocity of the vehicle body. 제1항에 있어서, 상기 횡 가속도용 변환기와 각속도(Yaw-Rate) 변환기는 일체형으로 형성하는 것을 특징으로 하는 차량의 차체 자세 검출장치.The vehicle body attitude detection device according to claim 1, wherein the transverse acceleration transducer and the yaw-rate transducer are integrally formed.
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