KR20080057598A - Method for controlling turning stability in a vehicle - Google Patents

Method for controlling turning stability in a vehicle Download PDF

Info

Publication number
KR20080057598A
KR20080057598A KR1020060131081A KR20060131081A KR20080057598A KR 20080057598 A KR20080057598 A KR 20080057598A KR 1020060131081 A KR1020060131081 A KR 1020060131081A KR 20060131081 A KR20060131081 A KR 20060131081A KR 20080057598 A KR20080057598 A KR 20080057598A
Authority
KR
South Korea
Prior art keywords
vehicle
turning
reference value
controlling
stability
Prior art date
Application number
KR1020060131081A
Other languages
Korean (ko)
Inventor
백종탁
Original Assignee
주식회사 만도
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 만도 filed Critical 주식회사 만도
Priority to KR1020060131081A priority Critical patent/KR20080057598A/en
Publication of KR20080057598A publication Critical patent/KR20080057598A/en

Links

Images

Classifications

    • 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
    • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • 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
    • 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
    • B60G17/019—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 type of sensor or the arrangement thereof
    • 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
    • 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
    • B60G2800/01—Attitude or posture control
    • 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
    • B60G2800/01—Attitude or posture control
    • B60G2800/016—Yawing condition
    • 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
    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/213—Traction, slip, skid or slide control by applying forward/backward torque on each wheel individually
    • 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
    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/215—Traction, slip, skid or slide control by applying a braking action on each wheel individually
    • 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
    • B60G2800/95—Automatic Traction or Slip Control [ATC]
    • B60G2800/952—Electronic driving torque distribution

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

A method for controlling turning stability of a vehicle is provided to ensure turning stability of a vehicle by reducing engine torque and increasing braking pressure supplied to wheels of a turning vehicle when the turning stability of the vehicle is not ensured by adjusting driving torque distributed to front and rear wheels. A method for controlling turning stability of a vehicle comprises a step of calculating a difference between a travel course desired by a driver and a present travel course based on movement information of a vehicle collected from sensors when the vehicle runs along a curve road(24). If the difference is greater than a first reference value(26), driving torque distributed to front and rear wheels of the vehicle is controlled(28). After controlling the driving torque, if the difference is greater than the second reference value greater than the first reference value(32), engine torque is reduced and braking pressure supplied to inner wheels of the vehicle is increased(34,36).

Description

차량의 선회 안정성 제어방법{Method For Controlling Turning Stability In A Vehicle}Method For Controlling Turning Stability In A Vehicle

도 1은 본 발명에 따라 4륜 구동 차량에 적용하는 제어 블록도이다.1 is a control block diagram applied to a four-wheel drive vehicle according to the present invention.

도 2는 선회 주행하는 차량이 원하는 주행코스를 벗어나는 경우를 나타낸 도면이다.2 is a diagram illustrating a case in which a vehicle traveling in a turning direction departs from a desired driving course.

도 3은 본 발명에 따른 차량의 선회 안정성 제어방법을 나타낸 순서도이다.3 is a flowchart illustrating a method for controlling turning stability of a vehicle according to the present invention.

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

1-4 : 바퀴 속도센서1-4: Wheel Speed Sensor

8 : ESP 컨트롤러8: ESP controller

9 : 바퀴 제동부9: wheel brake

10 : 엔진 컨트롤러10: engine controller

11 : 4WD 컨트롤러11: 4WD Controller

본 발명은 선회하는 차량이 원하는 주행코스를 과도하게 벗어나지 않도록 하는 차량의 선회 안정성 제어방법에 관한 것이다.The present invention relates to a turning stability control method for a vehicle such that the turning vehicle does not deviate excessively from a desired driving course.

차량의 주행 상태를 안정적으로 유지하기 위한 차량자세 제어시스템(ESP)에서는 차속을 감지하기 위한 바퀴 속도 센서, 요레이트 센서, 횡가속도 센서, 그리고 조향각 센서 등으로부터 차량의 거동 정보를 수집한다.The vehicle attitude control system (ESP) for stably maintaining the driving state of the vehicle collects vehicle behavior information from wheel speed sensors, yaw rate sensors, lateral acceleration sensors, and steering angle sensors to detect vehicle speeds.

차량 자세 제어시스템을 적용하는 전자식 4WD(4륜 구동) 차량은 차량의 주행 안정성을 확보하기 위해 전륜과 후륜에 분배하는 구동 토크를 제어하도록 하고 있다. 그렇지만, 전륜과 후륜에 분배하는 구동 토크를 제어하는 것만으로는 차량의 자세 제어를 완전하게 확보하기 어려운 점이 있다. 더욱이 차량 선회 시 운전자가 원하는 주행코스에서 차량이 벗어나지 않도록 차량 자세 제어하는 과정에서는 전륜과 후륜에 대한 구동 토크를 제어하여도 차량 주행 상태가 불안정해진다.An electronic 4WD (four-wheel drive) vehicle employing a vehicle attitude control system is configured to control the driving torque distributed to the front wheels and the rear wheels to secure driving stability of the vehicle. However, it is difficult to completely secure the attitude control of the vehicle only by controlling the drive torque distributed to the front wheels and the rear wheels. Furthermore, in the process of controlling the vehicle attitude so that the vehicle does not deviate from the driving course desired by the driver when turning the vehicle, the driving state of the vehicle becomes unstable even if the driving torque of the front wheel and the rear wheel is controlled.

본 발명은 상기와 같은 문제를 고려하여 창안한 것으로, 본 발명의 목적은 전륜과 후륜에 분배되는 구동 토크를 제어한 후에도 차량의 자세 안정성이 불안정하면 엔진 토크를 제어함과 아울러 선회 차량의 내측 바퀴에 공급하는 제동압을 증가하여 차량이 주행코스를 지나치게 벗어나는 현상을 방지할 수 있도록 한 차량의 선회 안정성 제어방법을 제공함에 있다.The present invention has been made in view of the above problems, and an object of the present invention is to control the engine torque if the posture stability of the vehicle is unstable even after controlling the driving torque distributed to the front and rear wheels, and also to the inner wheel of the turning vehicle. It is to provide a method for controlling the stability of the turning of the vehicle to increase the braking pressure supplied to the vehicle to prevent the vehicle from deviating too much from the driving course.

상기 목적을 달성하기 위한 본 발명은, 차량에 설치한 센서들로부터 수집한 차량의 거동 정보를 이용하여 차량의 자세를 제어하는 차량의 선회 안정성 제어방법에 있어서, 선회 주행 시 상기 센서들로부터 수집한 차량의 거동 정보로부터 운전자가 원하는 주행코스와 현재 주행코스의 오차를 연산하고; 연산한 오차가 제1기 준값 보다 크면 차량의 전륜과 후륜에 분배하는 구동 토크를 제어하며; 및 상기 전륜과 후륜에 분배하는 구동 토크를 제어한 이후에 상기 오차가 제1기준값보다 큰 제2기준값 보다 크면 엔진 토크를 저감하고 선회 차량의 내측 바퀴에 공급하는 제동압을 증가하는 것을 특징으로 한다.In order to achieve the above object, the present invention relates to a vehicle stability control method for controlling a vehicle attitude using vehicle behavior information collected from sensors installed in a vehicle. Calculating an error between a driving course desired by the driver and a current driving course from the vehicle behavior information; If the calculated error is greater than the first reference value, controlling the drive torque distributed to the front and rear wheels of the vehicle; And after controlling the driving torque distributed to the front wheel and the rear wheel, if the error is greater than the second reference value larger than the first reference value, the engine torque is reduced and the braking pressure supplied to the inner wheel of the turning vehicle is increased. .

상기 차량의 거동 정보는 바퀴 속도센서, 요레이트 센서, 횡가속도 센서, 조향각 센서로부터 제공받은 각 차륜 속도, 요레이트, 횡가속도, 조향각을 포함한다.The behavior information of the vehicle includes wheel speed, yaw rate, lateral acceleration, and steering angle provided from a wheel speed sensor, a yaw rate sensor, a lateral acceleration sensor, and a steering angle sensor.

이하, 본 발명에 따른 바람직한 실시 예를 첨부 도면에 따라 상세히 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 4륜 구동 차량에 적용하는 제어 블록도로서, 차량의 거동 정보를 수집하여 차량 자세 제어시스템을 채용한다.1 is a control block diagram applied to a four-wheel drive vehicle, and collects behavior information of a vehicle and employs a vehicle attitude control system.

ESP 컨트롤러(8)는 센서들(1~7)로부터 차량의 거동 정보를 수집한다.The ESP controller 8 collects the vehicle's behavior information from the sensors 1-7.

바퀴 속도센서(1~4)는 전륜과 후륜의 양측에 각각 설치되고, 해당 바퀴의 속도를 검출하여 ESP 컨트롤러(8)에 제공한다.The wheel speed sensors 1 to 4 are respectively installed on both sides of the front wheel and the rear wheel, and detect the speed of the corresponding wheel and provide them to the ESP controller 8.

요레이트 센서(5)와 횡가속도 센서(6) 및 조향각 센서(7)는 검출한 요레이트, 횡가속도 및 조향각을 ESP 컨트롤러(8)에 각각 제공한다.The yaw rate sensor 5, the lateral acceleration sensor 6 and the steering angle sensor 7 provide the detected yaw rate, the lateral acceleration and the steering angle to the ESP controller 8, respectively.

바퀴 제동부(9)는 각 바퀴에 제동압을 공급하기 위한 유압 라인에 솔레노이드 밸브를 구비한다. 주행 차량의 자세 제어를 위한 ESP 컨트롤러(8)의 제어에 따라 솔레노이드 밸브를 작동시켜 각 바퀴에 공급하는 제동압을 조절한다.The wheel brake 9 has a solenoid valve in a hydraulic line for supplying brake pressure to each wheel. According to the control of the ESP controller 8 for controlling the attitude of the traveling vehicle, the solenoid valve is operated to adjust the braking pressure supplied to each wheel.

ESP 컨트롤러(8)는 센서들(1~7)로부터 수집한 차량의 거동 정보를 바탕으로 차량의 안정성을 판단하고, 그 판단 결과 불안정한 경우 전륜과 후륜에 분배하는 구동 토크를 제어한다. 도 2에 도시한 바와 같이, 선회하는 차량(100)이 운전자가 원하는 주행코스(T1) 벗어나는 경우가 발생한다. 벗어난 차량(100-1)의 현재 주행코스(T2)와 원하는 주행코스(T1) 사이에 오차(E1)가 발생한다. 이러한 오차는 ESP 컨트롤러(8)에서 수집된 차량의 거동 정보로부터 연산되며, 그 오차(E1)가 과도하게 발생할 수 있으면 차량이 안정성을 회복하기 위한 제어신호를 4WD 컨트롤러(11)와 통신하여(CAN) 전달한다. 이에 따라 4WD 컨트롤러(11)는 전륜과 후륜에 분배되는 구동 토크의 비율을 조절한다.The ESP controller 8 determines the stability of the vehicle based on the behavior information of the vehicle collected from the sensors 1-7, and controls the driving torque distributed to the front wheels and the rear wheels when the determination is unstable. As shown in FIG. 2, a case in which the turning vehicle 100 deviates from the driving course T1 desired by the driver occurs. An error E1 occurs between the current travel course T2 and the desired travel course T1 of the off-vehicle 100-1. This error is calculated from the behavior information of the vehicle collected by the ESP controller 8, and if the error E1 can occur excessively, the vehicle communicates with the 4WD controller 11 a control signal for restoring stability (CAN ) To pass. Accordingly, the 4WD controller 11 adjusts the ratio of the drive torque distributed to the front wheel and the rear wheel.

이러한 전륜과 후륜에 대한 구동 토크를 조절한 이후 차량의 안정성이 회복되지 못하고 더욱 악화되는 경우, ESP 컨트롤러(8)는 엔진 컨트롤러(10)와 통신하여(CAN) 엔진 토크를 저감하는 동작을 수행하과 동시에 바퀴 제동부(9)를 통하여 선회 차량의 4바퀴(110)(120)(130)(140) 중 내측 바퀴(110)(130)에 공급하는 제동압을 증가시킴으로서 차량이 주행코스(T1)로부터 과도하게 벗어나는 것을 방지할 수 있도록 한다.If the stability of the vehicle is not restored and worsens after adjusting the driving torques for the front wheels and the rear wheels, the ESP controller 8 communicates with the engine controller 10 (CAN) to perform an operation of reducing engine torque. At the same time, by increasing the braking pressure supplied to the inner wheels 110, 130 of the four wheels 110, 120, 130, 140 of the turning vehicle through the wheel braking unit 9, the vehicle travels course T1. Prevent excessive deviation from

상기 구성에 따른 차량의 선회 안정성 제어방법을 도 3에 따라 설명한다.A turning stability control method of the vehicle according to the above configuration will be described with reference to FIG. 3.

차량 시동되어 시스템에 전원이 공급되면, ESP 컨트롤러(8)는 바퀴 속도센서(1~4), 요레이트 센서(5), 횡가속도 센서(6), 조향각 센서(7)로부터 차량의 거동 정보에 해당하는 각 차륜 속도, 요레이트, 횡가속도, 조향각을 제공받는다(20).When the vehicle is started and power is supplied to the system, the ESP controller 8 supplies the vehicle's behavior information from the wheel speed sensors 1 to 4, the yaw rate sensor 5, the lateral acceleration sensor 6, and the steering angle sensor 7. Each wheel speed, yaw rate, lateral acceleration, and steering angle are provided (20).

ESP 컨트롤러(8)는 제공받은 차량의 거동 정보에 따라 선회 중인지 판단하고(22), 그 판단 결과 선회 중인 제공받은 차량의 거동 정보로부터 운전자가 원하는 주행코스(T1)와 현재 주행코스(T2)를 연산하고(24), 그 연산 결과 운전자가 원 하는 주행코스(T1)와 현재 주행코스(T2)의 오차(E1)가 제1기준값(Er1)보다 큰지 판단하고(26), 그 판단 결과 오차(E1)가 제1기준값(Er1)보다 크면 그에 상응하는 토크 분배 제어 신호를 ESP 컨트롤러(8)가 4WD 컨트롤러(11)에 전달하고, 이에 따라 4WD 컨트롤러(11)가 전륜과 후륜에 분배되는 구동 토크의 비율을 조절한다(28).The ESP controller 8 determines whether the vehicle is turning according to the received vehicle behavior information (22). As a result, the ESP controller 8 determines the driving course T1 and the current driving course T2 desired by the driver from the behavior information of the vehicle provided. (24), the operation determines whether the error E1 between the driving course T1 and the current driving course T2 desired by the driver is greater than the first reference value Er1 (26), and the determination result error ( When E1) is greater than the first reference value Er1, the torque distribution control signal corresponding thereto is transmitted by the ESP controller 8 to the 4WD controller 11, whereby the drive torque distributed by the 4WD controller 11 to the front wheels and the rear wheels. Adjust the ratio of (28).

이후 ESP 컨트롤러(8)는 차량의 거동 정보로부터 운전자가 원하는 주행코스(T1)와 현재 주행코스(T2)를 연산하고(30), 그 오차(E1)가 제1기준값보다 큰 제2기준값(Er2)보다 큰 지를 판단하고(32), 그 판단 결과 오차(E1)가 제2기준값(Er2)보다 크지 않은 경우 동작 24로 돌아간다.Thereafter, the ESP controller 8 calculates the driving course T1 and the current driving course T2 desired by the driver from the behavior information of the vehicle (30), and the second reference value Er2 having an error E1 greater than the first reference value. If it is determined that the error E1 is not larger than the second reference value Er2, the operation returns to operation 24.

동작 32의 판단 결과 오차(E1)가 제2기준값(Er2)보다 큰 경우, 즉 전륜과 후륜에 대한 구동 토크를 조절한 이후에도 차량의 안정성이 회복되지 못하고 더욱 악화되는 경우, ESP 컨트롤러(8)는 엔진 토크 제어신호를 엔진 컨트롤러(10)에 전달하여, 엔진 컨트롤러(10)로 하여금 엔진 토크를 저감시키도록 하고(34), 동시에 바퀴 제동부(9)에 솔레노이드 제어신호를 인가하여 차량 내측의 바퀴에 공급하는 제동압을 증가한다(36). 이후 동작 24로 진행한다.If the error E1 is larger than the second reference value Er2, that is, the stability of the vehicle does not recover even after adjusting the driving torque for the front wheel and the rear wheel, the ESP controller 8 deteriorates. The engine torque control signal is transmitted to the engine controller 10 to cause the engine controller 10 to reduce the engine torque (34), and at the same time, the solenoid control signal is applied to the wheel braking unit (9) to the wheels inside the vehicle. Increase the braking pressure to supply (36). The operation then proceeds to operation 24.

상술한 바와 같이 차량의 전륜과 후륜에 분배되는 구동 코르를 조절하는 동작만으로 차량의 자세 안정성을 확보할 수 없는 경우에 엔진 토크의 저감과 선회 차량의 바퀴에 공급하는 제동압을 증가함으로서 차량의 선회 안정성을 확보할 수 있다.As described above, in the case where the attitude stability of the vehicle cannot be secured only by adjusting the driving cor distributed to the front and rear wheels of the vehicle, the engine torque is reduced and the braking pressure supplied to the wheels of the turning vehicle is increased. Stability can be secured.

이상과 같이 본 발명에 따르면, 4륜 구동 차량에 대해 구동 토크 제어에만 의존하지 않고 엔지 토크 및 바퀴의 제동압 조절을 병행함으로써 선회하는 주행 차량이 원하는 주행코스를 과도하게 벗어나는 것을 방지할 수 있고, 이로서 차량의 선회 안정성을 확보할 수 있다. As described above, according to the present invention, it is possible to prevent the turning vehicle from deviating excessively from the desired driving course by simultaneously adjusting the engine torque and the braking pressure of the wheels without depending on the driving torque control for the four-wheel drive vehicle. As a result, the turning stability of the vehicle can be secured.

Claims (2)

차량에 설치한 센서들로부터 수집한 차량의 거동 정보를 이용하여 차량의 자세를 제어하는 차량의 선회 안정성 제어방법에 있어서,In the vehicle stability stability control method for controlling the attitude of the vehicle using the vehicle's behavior information collected from the sensors installed in the vehicle, 선회 주행 시 상기 센서들로부터 수집한 차량의 거동 정보로부터 운전자가 원하는 주행코스와 현재 주행코스의 오차를 연산하고;Calculating an error between a driving course desired by the driver and a current driving course from the behavior information of the vehicle collected from the sensors during the turning driving; 연산한 오차가 제1기준값 보다 크면 차량의 전륜과 후륜에 분배하는 구동 토크를 제어하며; 및If the calculated error is greater than the first reference value, controlling the drive torque distributed to the front and rear wheels of the vehicle; And 상기 전륜과 후륜에 분배하는 구동 토크를 제어한 이후에 상기 오차가 제1기준값보다 큰 제2기준값 보다 크면 엔진 토크를 저감하고 선회 차량의 내측 바퀴에 공급하는 제동압을 증가하는 것을 특징으로 하는 차량의 선회 안정성 제어방법.After controlling the driving torque distributed to the front and rear wheels, if the error is greater than the second reference value larger than the first reference value, the engine torque is reduced and the braking pressure supplied to the inner wheel of the turning vehicle is increased. How to control the swing stability. 제1항에 있어서, 상기 차량의 거동 정보는 바퀴 속도센서, 요레이트 센서, 횡가속도 센서, 조향각 센서로부터 제공받은 각 차륜 속도, 요레이트, 횡가속도, 조향각을 포함하는 것을 특징으로 하는 차량의 선회 안정성 제어방법.According to claim 1, wherein the behavior information of the vehicle, wheel speed sensor, yaw rate sensor, lateral acceleration sensor, the turning wheel of the vehicle, characterized in that each wheel speed, yaw rate, lateral acceleration, steering angle provided from the steering angle sensor. Stability Control Method.
KR1020060131081A 2006-12-20 2006-12-20 Method for controlling turning stability in a vehicle KR20080057598A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020060131081A KR20080057598A (en) 2006-12-20 2006-12-20 Method for controlling turning stability in a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020060131081A KR20080057598A (en) 2006-12-20 2006-12-20 Method for controlling turning stability in a vehicle

Publications (1)

Publication Number Publication Date
KR20080057598A true KR20080057598A (en) 2008-06-25

Family

ID=39803357

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020060131081A KR20080057598A (en) 2006-12-20 2006-12-20 Method for controlling turning stability in a vehicle

Country Status (1)

Country Link
KR (1) KR20080057598A (en)

Similar Documents

Publication Publication Date Title
US8886410B2 (en) Methods of controlling four-wheel steered vehicles
US9296424B2 (en) Vehicle motion control apparatus and method
US7331642B2 (en) Method for applying torque overlay during split-mu braking conditions
JP5160138B2 (en) Steering control method
US20060100766A1 (en) Method for increasing the stability of a motor vehicle
CN101208224B (en) Driving dynamic control device adapted to the driving state based on steering engagement
JP2015523272A (en) How to stabilize a motorcycle when driving on a curve
US20040015284A1 (en) Method for controlling yaw and transversal dynamics in a road vehicle
JP2002127886A (en) Attitude control device of vehicle
JP2009096307A (en) Steering control device for vehicle
KR101997429B1 (en) Control method for lane keeping assist of vehicle and Apparatus for lane keeping assist implementing the same
JP2002127887A (en) Attitude control device of vehicle
JP2009006873A (en) Vehicular drive control apparatus
JP4821185B2 (en) Vehicle steering control device
KR101459459B1 (en) Torque vectoring control system for vehicle and method thereof
CN108025713A (en) Method and electronic brake control unit for the control for performing motor vehicles
EP4289654A1 (en) Motion control device for left and right independent drive vehicle
JP2006187047A (en) Driving force controller for four-wheel independent drive vehicle
KR20090100846A (en) Electronic stability program system and controlling method of the same
JP5460325B2 (en) A device for correcting the course of an automobile, comprising: first means for selectively braking the wheel; and second means for turning the rear wheel.
GB2428754A (en) Vehicle yaw control with tyre-road friction estimator
KR20080057598A (en) Method for controlling turning stability in a vehicle
KR20220068264A (en) Control Units for Autonomous Vehicles
KR100826812B1 (en) Method for detecting failure signal of steering sensor when a vehicle is j-turned on ice road
JP4123955B2 (en) Steering angle control device for vehicle

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application