KR20090008514A - Electronic control apparatus for vehicle and method therefor - Google Patents

Abstract

An electronic control unit for the vehicles and control method is provided to improve ride comfort and control stability of the vehicles by installing a suspended controller controlling the damping force of damper. An electronic control unit for the vehicles comprises an electronics control controller(10) which receives the horizontal acceleration and which transmits a message to outside, and which calculates the mu(mu) value and transmitted a message to outside; a suspended controller(20) controlling the damping force of damper according to the low friction road surface when roll motion is occurred, determines whether it is satisfied the horizontal acceleration received from the electronics control controller and each baseline condition in which the mu/mu value is set up in advance or not; and an interface unit(30) performing data communications between the suspended controller and the electronics control controller.

Description

Electronic control apparatus for vehicle and its control method {Electronic control apparatus for vehicle and method therefor}

1 is a block diagram illustrating a vehicle electronic control apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating the suspension controller shown in FIG. 1. FIG.

3 is an operation flowchart for explaining a roll control method of an electronic control apparatus for a vehicle according to an embodiment of the present invention.

4 is a flowchart illustrating a squat control method of an electronic control apparatus for a vehicle according to an exemplary embodiment of the present invention.

5 is an operation flowchart for explaining a dive control method of an electronic control apparatus for a vehicle according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

10: electronic controller 20: suspension controller

20a: receiving unit 20b: roll determining unit

20c: squat determination unit 20d: dive determination unit

20e: road surface determining unit 20f: damping force providing unit

20g: calculation unit 30: interface unit

The present invention relates to an electronic control apparatus for a vehicle and a control method thereof, in particular, by recognizing low friction road surfaces such as snow roads and ice roads, and providing dampers with damping force suitable for low friction road surfaces, thereby ensuring a ride comfort and steering stability of the vehicle. An electronic control apparatus for a vehicle and a control method thereof.

CDC (Continuous Damping Control), a suspension device installed in a vehicle, determines the road surface by receiving information about the road through the vehicle acceleration sensor and the wheel acceleration sensor, and adjusts the damping force of the damper according to each road surface.

However, road information only provides information about irregular road surfaces such as bumps, waves, and pot holes, and low-mu roads with low coefficients of friction, such as snow and ice. Information is not available.

Accordingly, since it is not recognized as a low friction road surface during dive or roll control on snow roads or ice roads, damping force applied to high friction road surfaces having a high coefficient of friction, such as dry asphalt, is output to the damper. In other words, despite the low friction road surface, the damping force applied to the damper is made hard even though the change of the vehicle motion is not large, which is disadvantageous in terms of ride comfort and steering stability of the vehicle.

An object of the present invention is to recognize a low friction road surface while driving to provide a damper suitable for the low friction road surface, to ensure a ride comfort and steering stability of the vehicle.

An electronic control apparatus for a vehicle according to an embodiment of the present invention for achieving the above object is an electronic control controller for receiving the lateral acceleration and transmitting to the outside, calculating the mu value to transmit to the outside; It is determined whether the roll motion is generated based on the steering angle received from the steering angle sensor. When the roll motion is generated, it is determined whether the lateral acceleration and the mu value received from the electronic control controller satisfy each preset reference condition. A suspension controller for determining a low friction road surface and adjusting the damping force of the damper according to the low friction road surface; And an interface unit for performing data communication between the electronic control controller and the suspension controller.

Preferably, the suspension controller receives an operation flag of a transaction control system (TCS) from the electronic control controller, and determines whether squat motion is generated based on a sensing value received from a throttle position sensor. It is determined whether the TCS is in operation according to the activated operation flag, and if it is determined that the TCS is in operation, it is determined that the low friction road surface provides the damper with a squatting damping force corresponding to the low friction road surface.

More preferably, the suspension controller receives the master pressure from the electronic control controller through the interface unit, calculates the skid pressure, and compares the calculated skid pressure with preset dive reference values when there is a brake input. It is determined whether the motion is dive motion at the time of low friction road, and a damping force corresponding to the determination result is provided to the damper.

Still more preferably, the suspension controller provides a damper with a dive damping force corresponding to a high friction road surface in the case of dive motion during the high friction road surface, and a low friction road surface in the case of dive motion during the low friction road surface. Providing a corresponding dive damping force to the damper.

In addition, the roll control method of an electronic control apparatus for a vehicle according to an embodiment of the present invention comprises the steps of receiving a lateral acceleration and a mu value; Determining whether a roll motion has occurred based on a steering angle received from the steering angle sensor; When the roll motion is generated, determining whether the received lateral acceleration and the mu value satisfy a preset reference condition; Determining a low friction road surface when the reference condition is satisfied; And providing the damper with a roll damping force corresponding to the determined low friction road surface.

Preferably, after the determining step, determining that the high friction road surface if the reference conditions are not satisfied; And providing a damping force applied to the high friction road surface to a damper.

In addition, the squat control method of the on-vehicle electronic control apparatus according to an embodiment of the present invention includes the steps of receiving an operation flag of the TCS; Determining whether a squat motion occurs based on a sensing value received from a throttle position sensor; Determining whether the TCS is in operation based on the received operation flag when the squat motion occurs; Determining that the friction surface is low when the TCS is in operation; And providing the damper with a squat damping force corresponding to the determined low friction road surface.

Preferably, after the step of determining whether the TCS is in operation, determining that the high friction road surface when the TCS is not in operation; And providing a damper with damping force applied to the determined high friction road surface.

In addition, the dive control method of the vehicle electronic control apparatus according to an embodiment of the present invention includes the steps of receiving a master pressure; Calculating skid pressure using the received master pressure; Determining whether there is a driver's brake input; Comparing the skid pressure with a preset dive reference value when the brake input is present to determine whether it is a dive motion on a high friction road surface or a dive motion on a low friction road surface; And as a result of the determination, in the case of the dive motion during the high friction road surface, the dive damping force corresponding to the high friction road surface is provided to the damper, and in the case of the dive motion in the low friction road surface, the dive damping force corresponding to the low friction road surface is applied to the damper. It characterized by including the step of providing.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram illustrating an electronic control apparatus for a vehicle according to an exemplary embodiment of the present invention, and FIG. 2 is a block diagram illustrating the suspension controller illustrated in FIG. 1.

Referring to FIG. 1, an electronic control apparatus for a vehicle according to the present invention includes an electronic control controller 10, a suspension controller 20, and an interface unit 30 for performing communication between the controllers 10 and 20. It is configured by. Here, the interface unit 30 refers to a controller area network (CAN).

The electronic control controller 10 receives the input of the wheel speed sensor 1, the vehicle speed sensor 2, the yaw rate sensor 3, the lateral acceleration sensor 4, and the steering angle sensor 8, and the braking control unit 6 and the engine. The control unit 7 is controlled. At this time, the electronic control controller 10 receives the steering angle received by the steering angle sensor 8 via the interface unit 30.

In particular, the electronic control controller 10 transmits the lateral acceleration received by the lateral acceleration sensor 4 to the suspension controller 20 via the interface unit 30. In addition, the electronic control controller 10 uses the longitudinal deceleration calculated by the vehicle speed received from the vehicle speed sensor 2 and the lateral acceleration received from the lateral acceleration sensor 4 to be referred to as a friction coefficient (hereinafter, 'mu value'). Calculate The mu value calculated as described above is provided to the suspension controller 20 via the interface unit 30 and used as data for determining the low friction Low_Mu road surface.

Suspension controller 20 is a damper independent control device configured for each wheel, the input of the vehicle body vertical acceleration sensor 21, the wheel vertical acceleration sensor 22, the lateral acceleration sensor 4, the steering angle sensor 8 Control the damper control unit 24. In this case, the suspension controller 20 receives the value sensed by the lateral acceleration sensor 4 through the electronic control controller 10 and the interface unit 30, and receives the value sensed by the steering angle sensor 8. Receive via 30).

The suspension controller 20 will be further described with reference to FIG. 2. The suspension controller 20 includes a repair 20a, a roll determination unit 20b, a squat determination unit 20c, a dive determination unit 20d, and a road surface plate. And a part 20e, a damping force providing part 20f, and a calculating part 20g.

The receiver 20a receives lateral acceleration, steering angle, and mu value during roll control. Here, the lateral acceleration and the mu value are received from the electronic control controller 10 via the interface unit 30, and the steering angle is received from the steering angle sensor 8 via the interface unit 30.

In the present exemplary embodiment, the suspension controller 20 receives the mu value calculated by the electronic control controller 10. However, the present invention is not limited thereto, and the suspension controller 20 receives the vehicle speed and the lateral acceleration. Of course, the mu value can be calculated sufficiently.

In addition, the receiver 20a receives a sensed value from the operation flag of the TCS (Traction Control System) and the throttle position sensor 9 during squat control. Here, the operation flag of the TCS is received from the electronic control controller 10 via the interface unit 30, and the throttle position is received from the throttle position sensor 9 via the interface unit 30. The operation flag of the TCS is judged by itself under the control of the electronic control controller 10 to operate the TCS. Accordingly, the electronic control controller 10 sets the TCS flag to '1' when the TCS is operating and sets the TCS flag to '0' when the TCS is not operating.

In addition, the receiver 20a receives the master pressure (that is, the brake pressure) from the electronic control controller 10 via the interface unit 30 during the dive control. Here, the master pressure receives the master pressure by a pressure sensor embedded in the HECU (Hydraulic Electronic Control Unit) of the electronic control controller 10.

The roll determiner 20b determines whether a roll motion has occurred using the steering angle received by the receiver 20a. That is, the roll determination unit 20b determines whether the roll motion is generated by comparing the steering angle with a preset threshold. In this case, when the steering angle is larger than the preset threshold, it is determined that the roll motion is generated. When the steering angle is smaller than the preset threshold, it is determined that the roll motion is not generated. However, the present invention is not limited thereto.

The squat determination unit 20c determines whether the squat motion has occurred using the throttle position value received by the receiver 20a.

The calculation unit 20g calculates the skid pressure (that is, the brake pressure at the time of ABS operation) using the master pressure received by the pressure sensor installed in the master cylinder of the brake. In the present embodiment, the skid pressure is described as being calculated by the calculation unit 20g of the suspension controller 20. However, the present invention is not limited thereto, and thus the skid pressure calculated by the electronic control controller 10 may be received. Can be.

The dive determination unit 20d determines whether the dive motion is generated by comparing the skid pressure calculated by the calculation unit 20g with preset dive reference values when the brake input is present. That is, the dive determination unit 20d determines that the dive motion is generated at the high friction when the skid pressure is greater than the first preset dive reference value, and the dive motion at the low friction when the skid pressure is greater than the preset second dive reference value. If it is determined that the skid pressure is less than the second dive reference value, it is determined that the dive motion is not generated. At this time, the dive determination unit 20d may simultaneously determine whether the dive motion has occurred and the road surface determination.

When the roll motion is generated by the roll determining unit 20b, the road surface determination unit 20e determines whether the lateral acceleration and the mu value received from the electronic control controller 10 satisfy each preset reference condition. If the condition is satisfied, the road is judged as low friction road surface. At this time, the road surface determination unit 20e determines that the high friction road surface is not satisfied.

Here, the reference condition refers to a condition in which the lateral acceleration is smaller than the preset first roll reference value and the mu value is smaller than the preset second roll reference value, but the present invention is not limited thereto. Accordingly, the road surface determination unit 20e determines that the road surface determination unit 20e is a low friction road surface when the lateral acceleration is smaller than the first roll reference value and the mu value is smaller than the preset second roll reference value.

Further, when the squat motion is generated by the squat determination unit 20c, the road surface determination unit 20e operates the TCS based on the operation flag of the TCS received from the electronic control controller 10 via the interface unit 30. If the TCS is in operation, it is determined as a low friction road surface. At this time, the road surface determination unit 20e determines that the high friction road surface is not in operation.

When the damping force providing unit 20f determines the low friction road surface by the road surface determination unit 20e during roll control, the damping force providing unit 20f provides a roll damping force corresponding to the low friction road surface to the damper (not shown), and provides high friction (High_Mu). In case it is determined as a road surface, the damper is provided with a predetermined damping force applied to the high friction road surface. At this time, the roll damping force corresponding to the low friction road surface and the roll damping force corresponding to the high friction road surface are previously stored in a memory (not shown). Then, the damping force applied to the low friction road surface and the high friction road surface is provided to the damper control unit 24, the damper control unit 24 is output to the damper to adjust the damping force of the damper.

In addition, the damping force providing unit 20f provides the damper with a squatting damping force corresponding to the low friction road surface when it is determined as the low friction road surface by the road surface determination unit 20e during squat control, and high friction when the high friction road surface is determined. It provides the damper with a predetermined damping force applied to the road surface. Similarly, the squat damping force applied to the low friction road surface and the high friction road surface, respectively, is stored in advance in the memory.

In addition, the damping force providing unit 20f provides a damping force corresponding to the low friction road surface to the damper when it is determined that the dive motion occurs during the low friction road surface by the dive determination unit 20d during the dive control, and the high friction road surface When it is determined that the dive motion is generated at the time, the dive damping force corresponding to the high friction road surface is provided. The dive damping force applied to the low friction road surface and the high friction road surface, respectively, is also stored in the memory in advance.

In this way, the damping force is provided to the damper corresponding to the low friction road surface when driving on snow roads or ice roads, thereby improving the riding comfort and stability of the vehicle.

Referring to the control method of the vehicle electronic control apparatus according to the present invention having such a configuration as follows.

3 is a flowchart illustrating a roll control method of an electronic control apparatus for a vehicle according to an exemplary embodiment of the present invention.

First, the receiver 20a of the suspension controller 20 receives the lateral acceleration and the mu value from the electronic control controller 10 via the interface unit 30 (S11). The mu value may be calculated by the suspension controller 20 using the vehicle speed and the lateral acceleration received from the electronic control controller 10, but in this embodiment, the mu value is calculated and received by the electronic control controller 10.

Next, the roll determining unit 20b of the suspension controller 20 determines whether the roll motion is generated by comparing the steering angle received from the steering angle sensor 8 via the interface unit 30 with a preset threshold. (S13).

As a result of the determination in step S13, when no roll motion is generated, the damping force providing unit 20f of the suspension controller 20 provides the damper with a damping force corresponding to the road surface input (S14).

As a result of the determination in step S13, when the roll motion occurs, the road surface determination unit 20e of the suspension controller 20 determines whether the received lateral acceleration is smaller than the first roll reference value and whether the mu value is smaller than the second roll reference value. It is determined (S15).

As a result of the determination in step S15, when the lateral acceleration is smaller than the first roll reference value but the mu value is larger than the second roll reference value or the mu value is smaller than the second reference value, but the lateral acceleration is larger than the first roll reference value, the road surface determination unit 20e It determines with high friction road surface (S16).

Next, the damping force providing unit 20f moves the process to the above-described step S18 to provide the damper with a predetermined damping force applied to the high friction road surface. That is, the damping force providing unit 20f provides the damping control unit 24 with a predetermined damping force. The damper control unit 24 then outputs the damping force to the damper to hardly adjust the damping force of the damper.

As a result of the determination in step S15, when the lateral acceleration is smaller than the first roll reference value and the mu value is smaller than the second reference value, the road surface determination unit 20e determines that the road surface is low friction (S17).

Next, the damping force providing unit 20f provides the damper with a roll damping force corresponding to the determined low friction road surface (S19). That is, the damping force providing unit 20f detects the roll damping force corresponding to the low friction road surface in the memory (not shown) and provides the damper control unit 24 with the roll damping force applied to the detected low friction road surface. Then, the damper providing unit 24 outputs the roll damping force to the damper to softly adjust the damping force of the damper.

By doing so, the damping force of the damper can be softly adjusted when the roll motion occurs on the low friction road surface.

4 is a flowchart illustrating a squat control method of an electronic control apparatus for a vehicle according to an exemplary embodiment of the present invention.

The receiving unit 20a of the suspension controller 20 receives the operation flag of the TCS from the electronic control controller 10 via the interface unit 30 (S21).

Next, the squat determination unit 20c of the suspension controller 20 determines whether the squat motion is generated by comparing the throttle position value received from the throttle position sensor 9 through the interface unit 20 with a preset threshold. Determine (S23).

As a result of the determination in step S23, when the squat motion is not generated, the damping force providing unit 20f of the suspension controller 20 provides the damper with the damping force corresponding to the road surface input (S24).

 That is, the damping force providing unit 20f provides the damping control unit 24 with a predetermined damping force. The damper controller 24 then outputs the damping force to the damper to adjust the damping force of the damper.

As a result of the determination in step S23, when the squat motion occurs, the road surface determination unit 20e of the suspension controller 20 determines whether the TCS is in operation based on the operation flag of the received TCS (S25).

As a result of the determination in step S25, when the TCS is in operation, the road surface determination unit 20e determines that the road surface is low friction (S27).

The damping force providing unit 20f of the suspension controller 20 provides the damper with the squat damping force corresponding to the determined low friction road surface (S29). That is, the damping force providing unit 20f detects the squat damping force corresponding to the low friction road surface in the memory (not shown) and provides the detected squat damping force to the damper controller 24. Then, the damper providing unit 24 outputs the squat damping force to the damper to softly adjust the damping force of the damper.

As a result of the determination in step S25, when the TCS is not in operation, the road surface determination unit 20e determines that the road surface is high friction (S26).

Next, the damping force providing unit 20f moves the process to the above-described step S28 to provide the damper with a predetermined roll damping force applied to the high friction road surface.

By doing so, the damping force of the damper can be softly adjusted when squat motion occurs on the low friction road surface.

5 is a flowchart illustrating a dive control method of an electronic control apparatus for a vehicle according to an exemplary embodiment of the present invention.

The receiver 20a of the suspension controller 20 receives a master input from the electronic control controller 10 via the interface unit 30 (S31). Here, the master pressure refers to the brake pressure, and is a value received by the pressure sensor embedded in the HECU (Hydraulic Electronic Control Unit) of the electronic control controller 10.

Next, the calculation unit 20g of the suspension controller 20 calculates the skid pressure based on the received master pressure (S33). Here, the skid pressure refers to the brake pressure at the time of ABS operation.

Next, the dive determination unit 20d of the suspension controller 20 determines whether there is a brake input (S35).

As a result of the determination in step S35, when there is no brake input, the damping force providing unit 20f provides the damper with a damping force corresponding to the road surface input (S36). The damper controller 24 then outputs the damping force to the damper to adjust the damping force of the damper.

As a result of the determination in step S35, when there is a brake input, the dive determination unit 20d of the suspension controller 20 compares the calculated skid pressure with a preset first dive reference value and determines whether the skid pressure is greater than the first dive reference value. Determine (S37).

As a result of the determination in step S37, when the skid pressure is greater than the first dive reference value, the dive determination unit 20d determines the dive motion at the high friction road surface (S39).

Next, the damping force providing unit 20f of the suspension controller 20 provides the damper with a dive damping force corresponding to the determined high friction road surface (S41). That is, the damping force providing unit 20f detects the dive damping force corresponding to the high friction road surface in a memory (not shown) and provides the detected dive damping force to the damper controller 24. Then, the damper providing unit 24 outputs the corresponding dive damping force to the damper to adjust the damping force of the damper.

As a result of the determination in step S37, when the skid pressure is less than the first dive reference value, the dive determination unit 20d determines whether the skid pressure is greater than the preset second dive reference value (S38).

As a result of the determination in step S38, when the skid pressure is greater than the second dive reference value, the dive determination unit 20d determines the dive motion at the low friction road surface (S40).

Next, the damping force providing unit 20f provides the damper with a dive damping force corresponding to the determined low friction road surface (S42). That is, the damping force providing unit 20f detects the dive damping force corresponding to the low friction road surface in a memory (not shown) and provides the detected dive damping force to the damper controller 24. Then, the damper providing unit 24 outputs the corresponding dive damping force to the damper to softly adjust the damping force of the damper.

By doing so, the damping force of the damper can be softly adjusted when the dive motion occurs on the low friction road surface, and the damping force of the damper can be adjusted by the dive attenuation force of the high friction road surface when the dive motion occurs on the high friction road surface.

In this way, the damper can be adjusted with a damping force corresponding to a low friction road surface, a high friction road surface, or a dive motion when the dive control is not performed.

The present invention is not limited to the embodiments described above, and various modifications and changes can be made by those skilled in the art, which are included in the spirit and scope of the present invention as defined in the appended claims.

According to the present invention as described above by adjusting the damping force of the damper when the roll, squat, dive motion occurs on the low friction road surface by the roll, squat, dive damping force, it is possible to improve the ride comfort and steering stability of the vehicle even when driving on snow or ice It works.

In addition, according to the present invention as described above, even when the dive motion occurs on the high friction road surface by providing a dive damping force corresponding to the dive motion during the high friction road surface, it is also possible to secure a ride comfort of the vehicle during sudden braking.

In addition, according to the present invention as described above there is an effect that can share information between each other by performing communication between the electronic control controller and the suspension controller.

Claims (9)

An electronic control controller which receives the lateral acceleration and transmits it to the outside and calculates and transmits the mu value to the outside; It is determined whether the roll motion is generated based on the steering angle received from the steering angle sensor. When the roll motion is generated, it is determined whether the lateral acceleration and the mu value received from the electronic control controller satisfy each preset reference condition. A suspension controller for determining a low friction road surface and adjusting the damping force of the damper according to the low friction road surface; And And an interface unit for performing data communication between the electronic control controller and the suspension controller. The method according to claim 1, The suspension controller receives an operation flag of a transaction control system (TCS) from the electronic control controller and determines whether squat motion is generated based on a sensing value received from a throttle position sensor, and if the squat motion is generated, the received operation. And determining whether the TCS is in operation according to the flag, and if the TCS is in operation, determines that the low friction road surface provides a damping force corresponding to the low friction road surface to the damper. The method according to claim 1, The suspension controller receives the master pressure from the electronic control controller through the interface unit to calculate the skid pressure, and if there is a brake input, compares the calculated skid pressure with preset dive reference values to determine whether it is dive motion at high friction road surface or It is determined whether the dive motion at low friction road surface, and the damping force corresponding to the determination result is provided to the damper. The method according to claim 3, As a result of the determination, the suspension controller provides a damper with a dive damping force corresponding to a high friction road surface in the case of dive motion during the high friction road surface, and a dive damping force corresponding to a low friction road surface in the case of dive motion during the low friction road surface. The electronic control device for a vehicle, characterized by providing a damper. In the roll control method of the vehicle electronic control device, Receiving a lateral acceleration and a mu value; Determining whether a roll motion has occurred based on a steering angle received from the steering angle sensor; When the roll motion is generated, determining whether the received lateral acceleration and the mu value satisfy a preset reference condition; Determining a low friction road surface when the reference condition is satisfied; And And providing the damper with a roll damping force corresponding to the determined low friction road surface. The method according to claim 5, After the determining, determining that the high friction road surface is not satisfied; And Roll damping method of the electronic control device for a vehicle comprising the step of providing a damper to the damper applied to the high friction road surface. In the squat control method of the vehicle electronic control device, Receiving an operation flag of the TCS; Determining whether a squat motion occurs based on a sensing value received from a throttle position sensor; Determining whether the TCS is in operation based on the received operation flag when the squat motion occurs; Determining that the friction surface is low when the TCS is in operation; And And providing a damper damping force corresponding to the determined low friction road surface to a damper. The method according to claim 7, After determining whether the TCS is in operation, determining that the high friction road surface is in the case that the TCS is not in operation; And And a damping force applied to the determined high friction road surface to a damper. In the dive control method of the vehicle electronic control device, Receiving a master pressure; Calculating skid pressure using the received master pressure; Determining whether there is a driver's brake input; Comparing the skid pressure with a preset dive reference value when the brake input is present to determine whether it is a dive motion on a high friction road surface or a dive motion on a low friction road surface; And As a result of the determination, the dive damping force corresponding to the high friction road surface is provided to the damper in the case of the dive motion during the high friction road surface, and the dive damping force corresponding to the low friction road surface is provided to the damper in the case of the dive motion during the low friction road surface. Dive control method for an electronic control device for a vehicle comprising the step of.

Images