KR20100032517A - An electronic stability control system of vehicle - Google Patents

An electronic stability control system of vehicle Download PDF

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KR20100032517A
KR20100032517A KR1020080091440A KR20080091440A KR20100032517A KR 20100032517 A KR20100032517 A KR 20100032517A KR 1020080091440 A KR1020080091440 A KR 1020080091440A KR 20080091440 A KR20080091440 A KR 20080091440A KR 20100032517 A KR20100032517 A KR 20100032517A
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South Korea
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vehicle
sensor
stability control
mass
engine torque
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KR1020080091440A
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Korean (ko)
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KR101308355B1 (en
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김세웅
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/107—Longitudinal acceleration
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/114—Yaw movement

Abstract

PURPOSE: An electronic stability control system of a vehicle is provided to measure the mass of the vehicle regardless of a road surface incline, and to rapidly and accurately perform a vehicle stability control. CONSTITUTION: An electronic stability control system of a vehicle comprises the following: an engine torque sensor sensing an engine torque of the vehicle; a sensor unit(30) sensing a wheel speed of the vehicle, a vertical acceleration, a brake pressure and a yaw rate; a braking power controlling unit(50) adjusting a brake oil pressure supplied to a wheel cylinder of the vehicle; and a controller measuring the mass of the vehicle by the data sensed from the engine torque sensor and the sensor unit, and performing a controlling of the vehicle by a vehicle stability control model by generating the vehicle stability control model.

Description

차량 안정성 제어 시스템 {An Electronic Stability Control System of Vehicle}{An Electronic Stability Control System of Vehicle}

본 발명은 차량 안정성 제어 시스템에 관한 것으로, 더욱 상세하게는 차량의질량에 따라 제동제어를 수행하는 차량 안정성 제어 시스템에 관한 것이다.The present invention relates to a vehicle stability control system, and more particularly to a vehicle stability control system for performing a braking control in accordance with the mass of the vehicle.

일반적으로, 차량 안정성 제어(Electronic Stability Control;이하 ESC라 한다) 시스템은 차량의 전반적인 주행자세를 안정적으로 제어하기 위한 시스템으로 기존의 ABS(Anti-lock Brake System)와 TCS(Traction Control System)와 연계하여 운전자가 별도의 제동을 하지 않아도 차량의 각 휠을 독립적으로 자동 제어해서 차량의 주행 안정성을 확보하는 것이다.In general, the electronic stability control (ESC) system is a system for stably controlling the overall driving posture of a vehicle and is connected with the existing anti-lock brake system (ABS) and the transaction control system (TCS). Therefore, even if the driver does not apply a separate braking to automatically control each wheel of the vehicle to ensure the driving stability of the vehicle.

ESC 시스템에서 일반적으로 사용되는 모델은 2차원 선형 차량 모델이다. 이 모델은 차량의 CAN 신호에서 제공하는 엔진정보(엔진 토크, 엔진 RPM, 토크 컨버터 RPM 등)와 차량 트랜스미션 기어비 정보를 이용하여 차량 바퀴에 전달되는 토크를 산정하고, 이 산정된 차량 토크와 속도정보를 이용하여 가속 상황 시 현재 차량의 질량을 추정한다.A model commonly used in ESC systems is a two-dimensional linear vehicle model. This model calculates the torque transmitted to the vehicle wheels using engine information (engine torque, engine RPM, torque converter RPM, etc.) and vehicle transmission gear ratio information provided by the CAN signal of the vehicle, and calculates the estimated vehicle torque and speed information. Estimate the mass of the current vehicle under acceleration using.

또한, ESC 시스템에 필수로 장착하는 마스터 압력센서 정보를 이용하여 운전자의 브레이크 작동에 의한 제동력과 차량의 가감속도를 통한 차량의 질량 추정도 가능하다. 이와 같이 ESC 시스템에서 차량의 질량을 추정하는 이유는 추정된 차량의 질량에 따른 제어모델을 생성하고, 이렇게 생성된 제어모델에 따라 차량의 주행 안정성을 확보하기 위함이다.In addition, it is also possible to estimate the mass of the vehicle through the braking force and acceleration and deceleration of the vehicle by using the master pressure sensor information that is essential to the ESC system. The reason for estimating the mass of the vehicle in the ESC system is to generate a control model according to the estimated mass of the vehicle and to secure driving stability of the vehicle according to the generated control model.

그러나, 차량의 질량은 노면의 기울기 즉, 노면구배에 따라 변하기 때문에, 종래의 ESC 시스템은 노면구배를 구하여 차량의 질량을 추정해야 함에 따라 차량의 안정성 제어를 수행하는데 시간이 오래 걸리는 문제점이 있었다.However, since the mass of the vehicle changes according to the inclination of the road surface, that is, the slope of the road, the conventional ESC system has a problem in that it takes a long time to perform the stability control of the vehicle as it is necessary to obtain the road slope to estimate the mass of the vehicle.

본 발명은 전술한 문제점을 해결하기 위한 것으로, 본 발명의 목적은 노면 구배와 무관하게 차량의 질량을 추정하여 차량의 안정성을 제어하는 차량 안정성 제어 시스템을 제공함에 있다.The present invention is to solve the above-mentioned problems, an object of the present invention to provide a vehicle stability control system for controlling the stability of the vehicle by estimating the mass of the vehicle irrespective of the road surface gradient.

전술한 목적을 달성하기 위한 본 발명은 차량의 엔진 토크를 감지하는 엔진토크 감지부, 상기 차량의 휠 속도, 종가속도, 제동압력, 요레이트를 감지하는 센서부, 상기 차량의 휠 실린더에 공급되는 브레이크 액압을 조절하는 제동력 조절부, 상기 엔진토크 감지부 및 센서부에서 감지된 데이터들을 이용하여 차량의 질량을 추정하고, 상기 추정된 질량에 따른 차량 안정성 제어 모델을 생성하고, 상기 생성된 차량 안정성 제어 모델에 따라 상기 제동력 조절부를 제어하여 차량의 제어를 수행하는 제어부를 포함한다.The present invention for achieving the above object is an engine torque detection unit for detecting the engine torque of the vehicle, the wheel speed, longitudinal acceleration, braking pressure, the sensor unit for detecting the yaw rate of the vehicle, which is supplied to the wheel cylinder of the vehicle Estimates the mass of the vehicle by using the braking force control unit for adjusting the brake hydraulic pressure, the engine torque sensor and the sensor unit, generates a vehicle stability control model according to the estimated mass, and generates the vehicle stability And a controller configured to control the braking force controller according to a control model to control the vehicle.

또한, 상기 센서부는 차량의 휠 속도를 감지하는 휠 속도센서, 상기 차량의 종가속도를 감지하는 종가속도센서, 상기 차량의 제동압력을 감지하는 제동압력센서, 상기 차량의 요레이트를 감지하는 요레이트센서로 구성된다.In addition, the sensor unit is a wheel speed sensor for detecting the wheel speed of the vehicle, a longitudinal acceleration sensor for detecting the longitudinal acceleration of the vehicle, a braking pressure sensor for detecting the braking pressure of the vehicle, yaw rate for detecting the yaw rate of the vehicle It consists of a sensor.

또한, 상기 제어부는 하기 수학식을 이용하여 차량의 질량을 추정하는 차량 안정성 제어 시스템.In addition, the control unit is a vehicle stability control system for estimating the mass of the vehicle using the following equation.

[수학식][Equation]

M =

Figure 112008065606443-PAT00001
M =
Figure 112008065606443-PAT00001

(여기에서,T w : 엔진에서 차량 휠로 전달되는 토크, r w : 차량 회전반경, I eff : 차량 부가 관성모멘트, a sensor : 종가속도 센서값, F brk : 브레이크 제동력, F aero : 주행 중 차량의 공기 저항력, μ rr : 노면 마찰계수, sinθ: 노면 구배, g: 중력, M: 차량의 질량)Where T w is the torque transmitted from the engine to the vehicle wheel, r w is the radius of rotation of the vehicle, I eff is the moment of inertia of the vehicle, a sensor is the longitudinal acceleration sensor value, F brk : brake braking force, F aero : air resistance of the vehicle while driving, μ rr : road surface friction coefficient, sin θ : road surface gradient, g: gravity, M: mass of the vehicle)

이상에서 상세히 설명한 바와 같이, 본 발명은 종가속도 센서를 사용하여 노면 구배와 무관하게 차량의 질량을 구할 수 있으며, 이에 따라 차량 안정성 제어를 더 빠르고 정확하게 수행할 수 있는 효과가 있다.As described in detail above, the present invention can obtain the mass of the vehicle irrespective of the road surface gradient using the longitudinal acceleration sensor, thereby having an effect of performing the vehicle stability control more quickly and accurately.

이하에서는 본 발명의 바람직한 실시예를 본 도면을 참조하여 상세하게 설명 하도록 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

도 1 은 본 발명의 일실시예에 따른 차량 안정성 제어 시스템을 도시한 블록도로써, 엔진정보 입력부(10), 센서부(30), 제동력 조절부(50), 제어부(70)를 포함하여 구성된다. 1 is a block diagram showing a vehicle stability control system according to an embodiment of the present invention, comprising an engine information input unit 10, the sensor unit 30, the braking force control unit 50, the control unit 70 do.

엔진 정보 입력부(10)는 차량의 CAN 신호에서 제공하는 엔진토크, 엔진RPM,토크 컨버터 RPM 등의 엔진 정보를 제어부(70)로 전송한다.The engine information input unit 10 transmits engine information, such as engine torque, engine RPM, torque converter RPM, provided by the CAN signal of the vehicle, to the controller 70.

센서부(30)는 차량의 휠 속도를 감지하는 휠속도센서(32), 차량의 종가속도를 감지하는 종가속도센서(34), 유압제동장치(미도시)의 차량의 제동압력을 감지하기 위한 제동압력감지센서(36), 차량의 요레이트를 감지하는 요레이트센서(38)로 구성되며, 각 센서에서 감지된 정보는 제어부(70)로 전송한다.The sensor unit 30 is a wheel speed sensor 32 for detecting the wheel speed of the vehicle, a longitudinal acceleration sensor 34 for detecting the longitudinal acceleration of the vehicle, and for detecting the braking pressure of the vehicle of the hydraulic braking device (not shown). The braking pressure sensor 36, the yaw rate sensor 38 for detecting the yaw rate of the vehicle, and the information detected by each sensor is transmitted to the control unit 70.

제동력 조절부(50)는 제어부(70)로부터 출력되는 제동신호에 따라 휠 실린더에 공급되는 브레이크 액압을 제어하여 차량의 안정성을 최대한 확보하도록 한다.The braking force control unit 50 controls the brake hydraulic pressure supplied to the wheel cylinder according to the braking signal output from the control unit 70 to ensure maximum stability of the vehicle.

제어부(70)는 차량의 질량에 따라 적합한 차량 안정성 제어 모델을 생성하며, 생성된 차량 안정성 제어 모델에 따라 제동력 조절부(50)를 제어하여 차량의 안정성 제어를 수행하도록 설정된다. 상기 차량 안정성 제어 모델이란, 차량의 제동제어시 차량의 질량에 따라 감속 및 가속되는 차량의 속도를 보완하기 위한 방법으로, 예를 들어 차량의 질량이 큰 경우의 가속도는 차량의 질량이 작은 경우보다 더 높으므로, 질량이 큰 차량의 제동제어시에는 차륜의 휠 실린더로 브레이크 액압을 좀더 많이 유출하여 질량차에 따른 차량의 제동을 보완하는 것이다. The controller 70 generates a suitable vehicle stability control model according to the mass of the vehicle, and controls the braking force adjusting unit 50 according to the generated vehicle stability control model to perform stability control of the vehicle. The vehicle stability control model is a method for compensating for the speed of a vehicle decelerating and accelerating according to the mass of the vehicle during braking control of the vehicle. For example, the acceleration in the case where the mass of the vehicle is large is smaller than the case in which the mass of the vehicle is smaller. Therefore, in braking control of a large mass vehicle, the brake hydraulic pressure flows out more to the wheel cylinder of the wheel to compensate for the braking of the vehicle according to the mass difference.

제어부(70)는 전술한 차량의 안정성 제어 모델을 생성하기 위하여, 센서 부(30) 및 엔진 정보 입력부(10) 및 센서부(30)에서 입력받은 정보를 이용하여 하기 수학식 2의 우측항에 필요한 각 인자값들을 산출하고, 상기 산출된 값들과 입력받은 정보를 이용하여 차량의 질량을 구하도록 설정된다.The control unit 70 uses the information received from the sensor unit 30, the engine information input unit 10, and the sensor unit 30 to generate the stability control model of the vehicle described above. It is set to calculate the required factor values, and to calculate the mass of the vehicle by using the calculated values and the received information.

후술할 수학식 1 및 2 는 뉴튼 제 2 법칙인 힘과 가속도의 관계식을 이용하여 입력받은 엔진 토크와 차량 가속도의 관계식으로부터 차량의 질량을 추정하는 것이다. Equations 1 and 2 to be described later are to estimate the mass of the vehicle from the relationship between the engine torque and the vehicle acceleration received using the relationship between the force and the acceleration of Newton's second law.

Figure 112008065606443-PAT00002
Figure 112008065606443-PAT00002

Figure 112008065606443-PAT00003
Figure 112008065606443-PAT00003

(여기에서,T w : 엔진에서 차량 휠로 전달되는 토크, r w : 차량 회전반경, I eff : 차량 부가 관성모멘트, a v : 차량 가속도, a sensor : 종가속도 센서값, F brk : 브레이크 제동력, F aero : 주행 중 차량의 공기 저항력, μ rr : 노면 마찰계수, sinθ: 노면 구배, g: 중력, M: 질량 )Where T w is the torque transmitted from the engine to the vehicle wheel, r w is the radius of rotation of the vehicle, I eff is the moment of inertia of the vehicle, a v is the acceleration of the vehicle, a sensor is the value of the longitudinal acceleration sensor, F brk : Brake braking force, F aero : Air resistance of the vehicle while driving, μ rr : Road friction coefficient, sin θ : Road slope, g: Gravity, M: Mass)

수학식 1 은 차량의 종방향 동역학식으로써, 차량 질량에 대한 관계식으로 정리하면 수학식 2가 된다. 수학식 2에서 차량 가속도와 노면 구배 정보는 종가속도 센서값으로 치환(즉, 종가속도 센서값 = 차량 가속도+ sinθ.g) 될 수 있으므로 수학식 2의 우측항이 최종적으로 성립된다.Equation 1 is a longitudinal dynamics of the vehicle, which can be summarized as Equation 2 with respect to the vehicle mass. In Equation 2, vehicle acceleration and road slope information may be replaced with a longitudinal acceleration sensor value (ie, the longitudinal acceleration sensor value = vehicle acceleration + sin θ.g). Therefore, the right term of Equation 2 is finally established.

제어부(70)에는 차량의 회전반경 및 차량의 부가 관성 모멘트와 같은 차량 제원이 기 설정되어 있으며, 노면의 마찰저항계수, 차량 가속도, 주행에 따른 공기저항력 등은 엔진정보 입력부(10) 및 센서부(30)에서 입력된 데이터들을 이용하여 산출한다. The control unit 70 has preset vehicle specifications such as the radius of rotation of the vehicle and additional moments of inertia of the vehicle. It calculates using the data input in (30).

제어부(70)는 수학식 2의 우측항에 존재하는 각각의 인자값에 해당하는 데이터를 입력하여 차량의 질량을 추정하면, 상기 추정된 차량의 질량에 다른 차량 안정성 제어 모델을 생성하고, 상기 생성된 제어 모델에 따라 차량의 안정성 제어를 수행한다. When the controller 70 estimates the mass of the vehicle by inputting data corresponding to each factor value in the right term of Equation 2, the controller 70 generates a vehicle stability control model different from the estimated mass of the vehicle, and generates the generated vehicle. Carry out stability control of the vehicle according to the control model.

이하에서는 도 2 를 참조하여 본 발명의 일실시예에 따른 차량 안정성 제어 시스템의 제어 방법을 간략히 설명하도록 한다.Hereinafter, a control method of a vehicle stability control system according to an embodiment of the present invention will be briefly described with reference to FIG. 2.

차량의 주행중 제어부(70)는 일정시간마다 엔진정보 입력부(10)로부터 엔진정보(엔진토크), 센서부(30)로부터 차량의 제동력(제동토크), 휠속도, 종가속도, 요레이트 등의 데이터를 입력받는다(200).While the vehicle is running, the control unit 70 stores data such as engine information (engine torque) from the engine information input unit 10 and braking force (braking torque), wheel speed, longitudinal acceleration, yaw rate, etc. of the vehicle from the sensor unit 30 at a predetermined time. To receive the input (200).

제어부(70)는 입력된 데이터를 이용하여 전술한 수학식 1 및 2 에 필요한 인자값을 구하고, 입력받은 데이터 및 상기 구한 인자값을 수학식 2의 우측항에 적용하여 차량의 질량을 추정한다(210).The controller 70 obtains the factor values necessary for the above Equations 1 and 2 using the input data, and estimates the mass of the vehicle by applying the received data and the obtained factor values to the right term of Equation 2 ( 210).

210 단계에서 차량의 질량이 추정되면, 제어부(70)는 추정된 차량의 질량에 따른 적합한 차량 안정성 제어 모델을 생성한다(220).If the mass of the vehicle is estimated in step 210, the controller 70 generates a suitable vehicle stability control model according to the estimated mass of the vehicle (220).

220 단계에서 차량 안정성 제어 모델이 생성되면, 제어부(70)는 생성된 차량 안정성 제어 모델에 따라 제동력 조절부(50)를 제어하여 차량의 안정성 제어를 수행한다(230). When the vehicle stability control model is generated in step 220, the controller 70 controls the braking force adjusting unit 50 according to the generated vehicle stability control model to perform stability control of the vehicle (230).

도 1 은 본 발명의 일실시예에 따른 차량 안정성 제어 시스템의 제어 블록도이다.1 is a control block diagram of a vehicle stability control system according to an embodiment of the present invention.

도 2 는 본 발명의 일실시예에 따른 차량 안정성 제어 시스템의 제어 방법을 도시한 흐름도이다.2 is a flowchart illustrating a control method of a vehicle stability control system according to an embodiment of the present invention.

* 도면의 주요 부분에 대한 부호 설명 *Explanation of symbols on the main parts of the drawings

10: 엔진정보 입력부 30: 센서부10: engine information input unit 30: sensor unit

32: 휠속도센서 34: 종가속도센서32: wheel speed sensor 34: longitudinal acceleration sensor

36: 제동압력감지센서 38: 요레이트센서36: braking pressure sensor 38: yaw rate sensor

50: 제동력 조절부 70: 제어부50: braking force control unit 70: control unit

Claims (3)

차량의 엔진 토크를 감지하는 엔진토크 감지부;An engine torque detector configured to detect engine torque of the vehicle; 상기 차량의 휠 속도, 종가속도, 제동압력, 요레이트를 감지하는 센서부;Sensor unit for detecting the wheel speed, longitudinal acceleration, braking pressure, yaw rate of the vehicle; 상기 차량의 휠 실린더에 공급되는 브레이크 액압을 조절하는 제동력 조절부;A braking force control unit for adjusting a brake hydraulic pressure supplied to the wheel cylinder of the vehicle; 상기 엔진토크 감지부 및 센서부에서 감지된 데이터들을 이용하여 차량의 질량을 추정하고, 상기 추정된 질량에 따른 차량 안정성 제어 모델을 생성하고, 상기 생성된 차량 안정성 제어 모델에 따라 상기 제동력 조절부를 제어하여 차량의 제어를 수행하는 제어부를 포함하는 차량 안정성 제어 시스템. Estimates the mass of the vehicle using the data detected by the engine torque sensor and the sensor, generates a vehicle stability control model according to the estimated mass, and controls the braking force adjuster according to the generated vehicle stability control model. Vehicle stability control system comprising a control unit for controlling the vehicle. 제 1 항에 있어서, 상기 센서부는The method of claim 1, wherein the sensor unit 차량의 휠 속도를 감지하는 휠 속도센서,Wheel speed sensor to detect the wheel speed of the vehicle, 상기 차량의 종가속도를 감지하는 종가속도센서,A longitudinal acceleration sensor for detecting a longitudinal acceleration of the vehicle; 상기 차량의 제동압력을 감지하는 제동압력센서,Braking pressure sensor for detecting the braking pressure of the vehicle, 상기 차량의 요레이트를 감지하는 요레이트센서로 구성되는 차량의 안정성 제어 시스템. Stability control system of the vehicle consisting of a yaw rate sensor for detecting the yaw rate of the vehicle. 제 2 항에 있어서,The method of claim 2, 상기 제어부는 하기 수학식을 이용하여 차량의 질량을 추정하는 차량 안정성 제어 시스템.The control unit estimates the mass of the vehicle by using the following equation. [수학식][Equation] M =
Figure 112008065606443-PAT00004
M =
Figure 112008065606443-PAT00004
 (여기에서,T w : 엔진에서 차량 휠로 전달되는 토크, r w : 차량 회전반경, I eff : 차량 부가 관성모멘트, a sensor : 종가속도 센서값, F brk : 브레이크 제동력, F aero : 주행 중 차량의 공기 저항력, μ rr : 노면 마찰계수, sinθ: 노면 구배, g: 중력, M: 차량의 질량)Where T w is the torque transmitted from the engine to the vehicle wheel, r w is the radius of rotation of the vehicle, I eff is the moment of inertia of the vehicle, a sensor is the longitudinal acceleration sensor value, F brk : brake braking force, F aero : air resistance of the vehicle while driving, μ rr : road surface friction coefficient, sin θ : road surface gradient, g: gravity, M: mass of the vehicle)
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9297297B2 (en) 2011-12-01 2016-03-29 Hyundai Motor Company Washer for reducing noise and system for reducing noise of wastegate valve apparatus by using the same
KR20190097829A (en) * 2018-02-13 2019-08-21 주식회사 만도 Apparatus for prevention of vehilce roll-back and control method thereof
KR102173984B1 (en) * 2019-06-27 2020-11-05 현대모비스 주식회사 Apparatus for controlling brake of autonomous driving vehicle

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JP2002013620A (en) * 2000-06-29 2002-01-18 Hino Motors Ltd Device for estimating vehicle mass
US20060076741A1 (en) 2000-11-22 2006-04-13 Lim Howard T S Vehicle stability system: using active tilting mechanism as a counter measure to natural tilt
JP2008535712A (en) * 2005-02-22 2008-09-04 ケルシ・ヘイズ、カムパニ Vehicle stability control using static tire data
KR101225536B1 (en) * 2006-09-07 2013-01-23 주식회사 만도 Automobile Safety System Controlling Method of 4-Wheel Drive Vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9297297B2 (en) 2011-12-01 2016-03-29 Hyundai Motor Company Washer for reducing noise and system for reducing noise of wastegate valve apparatus by using the same
KR20190097829A (en) * 2018-02-13 2019-08-21 주식회사 만도 Apparatus for prevention of vehilce roll-back and control method thereof
KR102173984B1 (en) * 2019-06-27 2020-11-05 현대모비스 주식회사 Apparatus for controlling brake of autonomous driving vehicle

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