KR20080098176A - Estimation of road friction coefficient using torque sensor - Google Patents

Estimation of road friction coefficient using torque sensor Download PDF

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KR20080098176A
KR20080098176A KR1020070043525A KR20070043525A KR20080098176A KR 20080098176 A KR20080098176 A KR 20080098176A KR 1020070043525 A KR1020070043525 A KR 1020070043525A KR 20070043525 A KR20070043525 A KR 20070043525A KR 20080098176 A KR20080098176 A KR 20080098176A
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road
friction coefficient
torque sensor
vehicle
steering angle
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이진구
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주식회사 만도
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    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/202—Steering torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

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  • Automation & Control Theory (AREA)
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  • Transportation (AREA)
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  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

본 발명은 토크센서를 이용한 노면마찰계수 추정방법에 관한 것으로서, 보다 상세하게는 차량의 동적거동 상황이나 횡경사 노면과 같은 상황에서도 정확한 노면마찰계수를 측정할 수 있도록 한 토크센서를 이용한 노면마찰계수 추정방법에 관한 것이다.The present invention relates to a method for estimating road friction coefficient using a torque sensor, and more particularly, road friction coefficient using a torque sensor to measure an accurate road friction coefficient even in a dynamic behavior of a vehicle or in a situation such as a transverse slope road. The estimation method.

본 발명의 목적은, 차량의 동적거동 시 또는 횡경사 노면에서의 주행 시에도 정확한 노면 마찰계수를 측정할 수 있도록 함과 아울러 실시간으로 노면마찰계수를 측정할 수 있도록 함으로써, 차량 주행 안정성을 대폭 향상시킬 수 있는 토크센서를 이용한 노면마찰계수 추정방법을 제공함에 있다.SUMMARY OF THE INVENTION An object of the present invention is to significantly improve the vehicle running stability by enabling accurate road surface friction coefficients to be measured in real time and in real time, even when driving on a lateral slope road. To provide a road friction coefficient estimation method using a torque sensor that can be made.

상기한 목적을 실현하기 위하여 본 발명은, 차량 선회 시 조향 토크센서(2)에서 출력된 토크값(Ts)을 조향각 센서(1)에서 출력된 조향각(θ)으로 나눈 값을 일정한 상수 A 값과 비교하여 상수 A보다 작으면 저마찰노면으로 판단하고, 크면 고마찰노면으로 판단하는 것을 특징으로 한다.In order to achieve the above object, the present invention provides a constant constant A value obtained by dividing the torque value Ts output from the steering torque sensor 2 by the steering angle sensor 1 output from the steering angle sensor 1 when the vehicle is turned. In comparison, if it is less than the constant A, it is determined as a low friction road surface, and when it is large, it is determined as a high friction road surface.

Description

토크센서를 이용한 노면마찰계수 추정방법{method to estimate road surface coefficient using torque sensor}Method to estimate road surface coefficient using torque sensor

도1은 본 발명에 따른 토크센서를 이용한 노면마찰계수 추정방법을 나타낸 블록도,1 is a block diagram showing a road friction coefficient estimation method using a torque sensor according to the present invention;

도2는 본 발명에 따른 토크센서를 이용한 노면마찰계수 추정방법에서 조향각과 조향토크의 관계를 도시한 개략도.Figure 2 is a schematic diagram showing the relationship between the steering angle and the steering torque in the road friction coefficient estimation method using a torque sensor according to the present invention.

* 도면의 주요 부분에 대한 부호의 설명      * Explanation of symbols for the main parts of the drawings

1: 조향각센서 2: 조향토크센서1: steering angle sensor 2: steering torque sensor

3: ECU3: ECU

본 발명은 토크센서를 이용한 노면마찰계수 추정방법에 관한 것으로서, 보다 상세하게는 차량의 동적거동 상황이나 횡경사 노면과 같은 상황에서도 정확한 노면마찰계수를 측정할 수 있도록 한 토크센서를 이용한 노면마찰계수 추정방법에 관한 것이다.The present invention relates to a method for estimating road friction coefficient using a torque sensor, and more particularly, road friction coefficient using a torque sensor to measure an accurate road friction coefficient even in a dynamic behavior of a vehicle or in a situation such as a transverse slope road. The estimation method.

일반적으로, 차량의 주행중에 안정성을 향상시키기 위한 장치로서는 제동 시 슬립 방지를 위한 ABS(ANTI-LOCK BRAKE SYSTEM)과, 급발진 시 슬립을 방지하기 위한 TCS(TRACTION CONTROL SYSTEM)와, 전자식 조향 장치인 EPS(ELECTRONIC POWER STEERING SYSTEM)등을 많이 사용하게 된다.In general, devices for improving stability while driving a vehicle include ABS (ANTI-LOCK BRAKE SYSTEM) for preventing slip during braking, TCS (TRACTION CONTROL SYSTEM) for preventing slip during sudden start, and EPS for electronic steering system. (ELECTRONIC POWER STEERING SYSTEM) is used a lot.

또한, 차량의 주행중 차량 자세를 안정적으로 유지하여 주행 안정성을 향상시키는 안정성 시스템 ESP(ELECTRONIC STABILITY PROGRAM)을 사용하게 된다.In addition, the stability system ESP (ELECTRONIC STABILITY PROGRAM) is used to maintain the vehicle attitude while driving the vehicle and improve driving stability.

상기한 ESP 시스템은 휠 속도 센서, 브레이크 압력 센서, 조향각 센서, 요레이트 센서, 횡가속도 센서등과 같은 다수의 센서를 통해 차량 상태를 판단하고, 이에 따라 차량 상태가 언더스티어인지 또는 오버스티어인지를 파악하여 각각 내외측휠에 브레이킹 동작을 수행하여 차량 자세가 안정적이 되도록 하는 것이다. The ESP system determines a vehicle state through a plurality of sensors such as a wheel speed sensor, a brake pressure sensor, a steering angle sensor, a yaw rate sensor, a lateral acceleration sensor and the like, and accordingly determines whether the vehicle state is understeer or oversteer. By grasping and braking the inner and outer wheels respectively, the vehicle's posture is stabilized.

여기서, 상기한 차량 상태를 안정적으로 유지하기 위해서는 현재 차량이 주행중인 노면의 상태가 매우 중요한 바, 상기한 노면의 상태가 고마찰노면인지 저마찰노면인지에 따라 차량 제어가 달라져야 한다.Here, in order to maintain the vehicle state stably, the state of the road surface on which the vehicle is currently driving is very important, and the vehicle control must be changed depending on whether the state of the road surface is a high friction road or a low friction road.

즉, 노면이 저마찰노면일 경우에는 노면이 정상 상태일 때에 비해 미끄럽기 때문에 이에 적합하도록 제어를 해야 하는 바, 상기한 노면마찰계수는 선회 주행시 횡가속도 센서에서의 출력값을 이용하여 노면마찰계수를 추정하게 된다.That is, when the road surface is low friction, the road surface is slippery compared to when the road surface is normal. Therefore, the road friction coefficient is controlled by using the output value of the lateral acceleration sensor during turning. Estimate.

그러나, 상기한 바와 같이 횡가속도 센서에서의 출력값을 통해 노면마찰계수를 추정하게 되면, 차량의 동적거동시 또는 횡경사 노면에서의 주행등과 같은 상황에서 정확한 노면마찰계수의 추정이 어렵게 되고 이로 인해 차량 안정성이 저하되는 문제점이 있다.However, when the road friction coefficient is estimated through the output value of the lateral acceleration sensor as described above, it is difficult to accurately estimate the road friction coefficient in a situation such as dynamic movement of the vehicle or driving on a road slope. There is a problem that the vehicle stability is lowered.

따라서, 본 발명의 목적은 상기한 문제점을 해결하기 위한 것으로서, 차량의 동적거동 시 또는 횡경사 노면에서의 주행 시에도 정확한 노면 마찰계수를 측정할 수 있도록 함과 아울러 실시간으로 노면마찰계수를 측정할 수 있도록 함으로써, 차량 주행 안정성을 대폭 향상시킬 수 있는 토크센서를 이용한 노면마찰계수 추정방법을 제공함에 있다.Accordingly, an object of the present invention is to solve the above problems, it is possible to measure the road surface friction coefficient in real time and to measure the road friction coefficient in real time even during the dynamic behavior of the vehicle or when driving on the lateral slope road surface. The present invention provides a method for estimating road friction coefficient using a torque sensor that can greatly improve vehicle running stability.

상기한 목적을 실현하기 위하여 본 발명은, 차량 선회 시 조향 토크센서에서 출력된 토크값(Ts)을 조향각 센서에서 출력된 조향각(θ)으로 나눈 값을 일정한 상수 A 값과 비교하여 상수 A보다 작으면 저마찰노면으로 판단하고, 크면 고마찰노면으로 판단하는 것을 특징으로 한다. In order to achieve the above object, the present invention provides a method that compares a value obtained by dividing a torque value (Ts) output from a steering torque sensor by a steering angle sensor (θ) output from a steering angle sensor to a constant constant A value, which is smaller than the constant A. If it is determined to be a low friction road surface, if it is large, it is characterized by a high friction road surface.

도1과 도2는 본 발명에 따른 토크센서를 이용한 노면마찰계수 추정방법을 도시한 블록도이고, 노면마찰계수 추정방법에 따른 조향각과 조향토크의 관계를 도시한 개략도로서, 차량의 선회 동작 시 운전자가 스티어링 휠을 조향하게 되면, EPS 시스템에서 차량의 조향 정보를 위해 사용하는 조향토크센서(2)와 조향각센서(1)가 조향에 따른 조향각도(θ)와 조향토크(Ts)를 측정하게 된다.1 and 2 are block diagrams showing a road friction coefficient estimation method using a torque sensor according to the present invention, a schematic diagram showing the relationship between the steering angle and the steering torque according to the road friction coefficient estimation method, when turning the vehicle When the driver steers the steering wheel, the steering torque sensor 2 and the steering angle sensor 1 used for steering information of the vehicle in the EPS system can measure the steering angle θ and the steering torque Ts according to the steering. do.

조향 토크와 조향각을 측정하게 되면 상기한 각 값을 ECU(3)에 전송하게 되고, ECU(3)에서는 상기한 조향토크(θ)와 조향각(Ts)을 비교하여 현재 차량이 주행중인 노면이 고마찰노면인지 아니면 저마찰노면인지를 판단하게 된다.When the steering torque and the steering angle are measured, the above-mentioned values are transmitted to the ECU 3, and the ECU 3 compares the steering torque θ and the steering angle Ts to determine the road surface on which the vehicle is currently driving. It is determined whether it is a friction road or a low friction road.

즉, 미리 ECU(3)에 저장되어 있는 상수 A 값과 조향토크(Ts)/조향각(θ)의 값을 비교하여 상수 A보다 작으면 저마찰노면으로 판단하고, 크면 고마찰노면으로 판단하게 되는 것이다.That is, by comparing the value of the constant A stored in the ECU 3 with the value of the steering torque Ts / steering angle θ, if it is smaller than the constant A, it is determined as a low friction surface, and if it is large, it is determined as a high friction surface. will be.

이를 식으로 표현하면 하기한 수학식1과 같다.This is expressed by the following equation (1).

[수학식1][Equation 1]

Figure 112007033519822-PAT00001
Figure 112007033519822-PAT00001

Figure 112007033519822-PAT00002
Figure 112007033519822-PAT00002

상기한 노면마찰계수에 따른 조향각과 조향토크의 관계는, 저마찰 노면일 경우에는 접지 마찰력이 작기 때문에 동일한 조향입력을 가할 때 조향토크가 작아도 동일한 조향각을 형성하고, 고마찰노면일 경우에는 접지 마찰력이 크기 때문에 동일한 조향입력을 가할 때 조향토크가 커야 한다.The relationship between the steering angle and the steering torque according to the above-mentioned road friction coefficient has a small ground friction force in the case of a low friction road surface, so that the same steering angle is formed even when the steering torque is small when the same steering input is applied, and the ground friction force in the case of a high friction road surface. Because of this size, the steering torque should be large when applying the same steering input.

따라서, 상기한 조향각 대비 조향토크의 크기만으로도 현재 노면의 마찰계수를 추정할 수 있게 되는 것이다.Therefore, the friction coefficient of the current road surface can be estimated only by the magnitude of the steering torque relative to the steering angle.

상기한 바와 같이 조향토크(Ts)와 조향각(θ)과의 관계로 노면마찰계수를 추정하게 되면, 차량이 동적 거동 상태이거나 횡경사 노면을 주행중일 때에도 정확하게 노면마찰계수를 측정하여 현재 고마찰노면인지 저마찰노면인지를 판단할 수 있고, 이에 따라 차량 자세를 안정적으로 유지할 수 있게 된다.As described above, when the road friction coefficient is estimated by the relationship between the steering torque Ts and the steering angle θ, the road friction coefficient is accurately measured even when the vehicle is in a dynamic behavior or when driving on a transverse slope road. It is possible to determine whether it is a low friction road surface, thereby stably maintaining the vehicle posture.

특히, 상기한 노면마찰계수를 실시간으로 알고자 할 경우에는 상기한 조향토크/조향각의 값에 일정한 비례상수 K값을 곱해서 이를 아날로그값으로 변환시켜 실시간으로 노면마찰계수를 알 수 있게 된다.In particular, when the road friction coefficient is to be known in real time, it is possible to know the road friction coefficient in real time by multiplying the value of the steering torque / steering angle by a constant proportional constant K value and converting it to an analog value.

즉, 상기한 조향토크(Ts)/조향각(θ)의 값을 아날로그화하여 여기에 적절한 보상값인 비례상수 K 값을 가해주게 되면, 실시간으로 노면마찰계수를 알 수 있게 됨으로써, 보다 효과적으로 차량 자세 제어를 할 수 있게 된다.That is, when the value of the steering torque (Ts) / steering angle (θ) is analogized and a proportional constant K value, which is an appropriate compensation value, is applied thereto, the road friction coefficient can be known in real time, so that the vehicle attitude is more effectively. You can control it.

이상과 같이 본 발명은 조향토크/조향각의 출력값이 일정값이상이면 고마찰노면으로 판단하고 그 이하이면 저마찰노면으로 판단하여 노면마찰계수를 판단함으로써, 차량의 외적 상황에 관계없이 정확한 노면마찰계수의 측정이 가능하게 되어 차량의 안정적인 제어를 할 수 있게 되는 잇점이 있는 것이다.As described above, the present invention determines the high friction road surface when the output value of the steering torque / steering angle is above a certain value, and determines the road friction coefficient by determining it as the low friction road surface, and thus, accurate road friction coefficient regardless of the external situation of the vehicle. The advantage of being able to measure the vehicle is that it enables stable control of the vehicle.

Claims (2)

차량 선회 시 조향 토크센서에서 출력된 토크값(Ts)을 조향각 센서에서 출력된 조향각(θ)으로 나눈 값을 일정한 상수 A 값과 비교하여 상수 A보다 작으면 저마찰노면으로 판단하고, 크면 고마찰노면으로 판단하는 것을 특징으로 하는 토크센서를 이용한 노면마찰계수 추정방법.When turning the vehicle, the torque value (Ts) output from the steering torque sensor divided by the steering angle (θ) output from the steering angle sensor is compared with a constant constant A value. Road friction coefficient estimation method using a torque sensor, characterized in that determined by the road surface. 제1항에 있어서,The method of claim 1, 상기한 토크값(Ts)을 조향각(θ)으로 나눈 값에 비례상수 K 값을 곱해서 아날로그값으로 변환시켜 실시간으로 노면마찰계수를 판단할 수 있도록 하는 것을 특징으로 하는 토크센서를 이용한 노면마찰계수 추정방법.Estimation of road friction coefficient using a torque sensor, characterized in that to determine the road friction coefficient in real time by multiplying the torque value (Ts) by the steering angle (θ) multiplied by a proportional constant K value to an analog value Way.
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CN105711594A (en) * 2016-03-10 2016-06-29 清华大学 Road adhesion coefficient estimating method based on resonant frequency of steering system
CN105711594B (en) * 2016-03-10 2017-12-19 清华大学 Coefficient of road adhesion method of estimation based on steering resonant frequency
US10967849B2 (en) 2017-04-06 2021-04-06 Hyundai Motor Company Vehicle and method of controlling the same
CN115071723A (en) * 2021-03-12 2022-09-20 现代自动车株式会社 Method and system for detecting driver's hand holding/releasing steering wheel during driving
US12448035B2 (en) 2021-04-16 2025-10-21 Volvo Truck Corporation Method for in-motion friction estimation based on steering pulses, computer program, computer readable medium, control device and vehicle
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KR20250008343A (en) 2023-07-07 2025-01-14 이래에이엠에스 주식회사 Vehicle stability control method

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