KR20120061413A - Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid - Google Patents

Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid Download PDF

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KR20120061413A
KR20120061413A KR1020100122728A KR20100122728A KR20120061413A KR 20120061413 A KR20120061413 A KR 20120061413A KR 1020100122728 A KR1020100122728 A KR 1020100122728A KR 20100122728 A KR20100122728 A KR 20100122728A KR 20120061413 A KR20120061413 A KR 20120061413A
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South Korea
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vehicle
braking
center
gravity
steering
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KR1020100122728A
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Korean (ko)
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KR101709177B1 (en
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오종국
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현대모비스 주식회사
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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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
    • B60T8/1837—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution characterised by the load-detecting arrangements
    • 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
    • B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

PURPOSE: Braking and steering method and apparatus are provided to improve the safety of a driver by using braking force and steering auxiliary force according to the center change of gravity. CONSTITUTION: A braking and steering method includes the following: whether products are loaded on a vehicle is verified(S110). If the vehicle is loaded with the products, braking force is calculated according to the load of the products(S120). If the center of gravity is moved from the rear part to the front part of the vehicle, steering auxiliary force is increased. If the center of gravity is moved, the steering auxiliary force is calculated(S150). The braking force is increased according to the load increase of the products. Based on the braking force and the steering auxiliary force, the vehicle is controlled(S170).

Description

차량의 무게와 무게중심의 변화에 대한 보상을 적용한 제동 및 조향 방법 및 장치{Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid}Braking and steering method and apparatus applying compensation for weight and center of gravity change of vehicle {Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid}

본 발명은 차량의 제동 및 조향 방법 및 장치에 관한 것으로서, 더 구체적으로는 차량의 무게와 무게중심의 변화에 대한 보상을 적용한 차량의 제동 및 조향 방법 및 장치에 관한 것이다.The present invention relates to a method and apparatus for braking and steering a vehicle, and more particularly, to a method and apparatus for braking and steering a vehicle to which compensation for a change in weight and a center of gravity of the vehicle is applied.

종래에는 화물의 적재유무에 관계없이 브레이크 페달의 입력에 의한 제동을 하였고, 적재 차량의 무게중심에 상관없는 동일한 조향 보조력을 인가하여 조향 장치를 작동하였다.Conventionally, braking is performed by input of a brake pedal regardless of whether cargo is loaded, and steering device is operated by applying the same steering assistance force regardless of the center of gravity of the loading vehicle.

그러나, 적재무게가 증가함에 따라 차량의 운동량은 증가하고, 과적의 경우 제동력의 저하를 초래하여 제동거리를 증가시켜 대형사고의 원인이 되기도 한다.However, as the loading weight increases, the amount of momentum of the vehicle increases, and in the case of overloading, the braking force decreases, thereby increasing the braking distance and causing large accidents.

또한, 차량 거동에 영향을 주는 무게중심이 변화할 경우, 조향 보조력에 영향을 주어 운전자가 큰 불편을 느낄 수 있는 요인이 있었다.In addition, when the center of gravity that affects the vehicle behavior changes, there is a factor that can affect the steering assistance force, the driver can feel a great inconvenience.

본 발명은 상술한 바와 같은 기술적 배경에서 안출된 것으로서, 적재 무게와 무게중심의 변화를 반영하여 제동력 및 조향 보조력을 조절할 수 있는 차량의 제동 및 조향 방법 및 장치를 제공하는 것을 그 목적으로 한다.An object of the present invention is to provide a braking and steering method and apparatus for a vehicle that can adjust the braking force and the steering assistance force by reflecting a change in loading weight and a center of gravity.

이와 같은 과제를 해결하기 위하여 본 발명에서는 적재 무게에 비례하여 제동력을 증가시키고, 무게중심이 후방에서 전방으로 이동하는 것에 비례하여 조향 보조력을 증가시켜 적절한 제동력 및 조향 보조력을 인가할 수 있도록 한다.In order to solve the above problems, the present invention increases the braking force in proportion to the load weight and increases the steering assist force in proportion to the movement of the center of gravity from the rear to the front so that the appropriate braking force and the steering assistance force can be applied. .

본 발명에 따른 차량의 제동 및 조향 방법은, 차량의 화물 적재 여부를 판단하는 단계; 상기 차량이 화물을 적재한 것으로 판단되면 적재 하중에 따른 제동력을 산출하는 단계; 상기 차량의 무게중심 이동 여부를 판단하는 단계; 상기 차량의 무게중심이 이동된 것으로 판단되면 무게중심 이동에 따른 조향 보조력을 산출하는 단계; 및 산출된 상기 제동력 및 조향 보조력에 의하여 상기 차량을 제어하는 단계를 포함하여 이루어진다.Braking and steering method of the vehicle according to the invention, the step of determining whether the vehicle loads; Calculating a braking force according to a loading load when it is determined that the vehicle has loaded cargo; Determining whether the center of gravity of the vehicle moves; Calculating a steering assistance force according to the movement of the center of gravity when it is determined that the center of gravity of the vehicle is moved; And controlling the vehicle by the calculated braking force and steering assistance force.

상기 적재 하중에 따른 제동력 산출 단계에서는 적재 하중의 증가에 따라 제동력을 증가시키고, 상기 무게중심의 이동에 따른 조향 보조력 산출 단계에서는 무게중심이 상기 차량의 후방에서 전방으로 이동함에 따라 조향 보조력을 증가시키는 것이 바람직하다.In the calculating of the braking force according to the loading load, the braking force is increased according to the increase of the loading load, and in the calculating of the steering assistance force according to the movement of the gravity center, the steering assistance force is increased as the center of gravity moves forward from the rear of the vehicle. It is desirable to increase.

본 발명에 따른 차량의 제동 및 조향 장치는, 차량의 화물 적재 여부 및 무게중심 이동 여부를 판단하는 판단부; 상기 차량의 화물 적재량에 따른 제동력과 무게중심 이동에 따른 조향 보조력을 산출하는 계산부; 및 상기 계산부에 의하여 산출된 상기 제동력 및 조향 보조력에 따라 상기 차량을 제어하는 제어부를 포함한다.The braking and steering apparatus for a vehicle according to the present invention includes: a determination unit for determining whether a vehicle is loaded with cargo and whether the center of gravity is moved; A calculation unit configured to calculate a braking force according to the cargo load of the vehicle and a steering assistance force according to the movement of the center of gravity; And a controller for controlling the vehicle according to the braking force and the steering assistance force calculated by the calculator.

본 발명에 따르면, 적재무게나 적재에 따른 무게중심의 이동에 따라 적절한 제동력과 조향보조력을 인가함으로써 운전자의 의도에 맞는 차량 제어가 가능하게 되어 운전자의 안전성이 향상될 수 있다. According to the present invention, by applying the appropriate braking force and steering assistance force in accordance with the movement of the center of gravity according to the loading weight or loading, it is possible to control the vehicle in accordance with the driver's intention can improve the driver's safety.

도 1은 본 발명의 실시예에 따른 제동 및 조향 방법을 나타내는 흐름도이다.
도 2는 적재무게와 적재위치에 따른 무게와 무게중심의 변화를 예시하는 도면이다.
도 3은 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 적재 무게에 따른 제동력의 변화를 나타내는 그래프이다.
도 4는 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 무게중심이 후방에서 전방으로 이동하는 것에 따른 조향 보조력의 변화를 나타내는 그래프이다.1 is a flowchart illustrating a braking and steering method according to an exemplary embodiment of the present invention.
2 is a diagram illustrating the change in weight and center of gravity according to the loading weight and the loading position.
3 is a graph showing a change in braking force according to the load weight in the braking and steering apparatus and method according to an embodiment of the present invention.
4 is a graph showing a change in steering assistance force as the center of gravity moves from rear to front in the braking and steering apparatus and method according to an embodiment of the present invention.

본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 한편, 본 명세서에서 사용된 용어는 실시예들을 설명하기 위한 것이며 본 발명을 제한하고자 하는 것은 아니다. 본 명세서에서, 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 명세서에서 사용되는 "포함한다(comprises)" 및/또는 "포함하는(comprising)"은 언급된 구성요소, 단계, 동작 및/또는 소자는 하나 이상의 다른 구성요소, 단계, 동작 및/또는 소자의 존재 또는 추가를 배제하지 않는다. Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, “comprises” and / or “comprising” refers to the presence of one or more other components, steps, operations and / or elements. Or does not exclude additions.

이하에서, 첨부한 도면을 참고로 하여 본 발명의 실시예에 따른 차량의 제동 및 조향 장치 및 방법에 대하여 상세히 설명하기로 한다.Hereinafter, a braking and steering apparatus and method for a vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명의 실시예에 따른 차량의 제동 및 조향 방법을 나타내는 흐름도이다. 1 is a flowchart illustrating a braking and steering method of a vehicle according to an exemplary embodiment of the present invention.

도 1에 나타난 바와 같이, 본 발명의 실시예에 따른 차량의 제동 및 조향 방법에서는, 먼저 화물의 적재 여부를 판단한다(S110). 화물을 적재하기 않은 것으로 판단되면 기본 제동력을 제공하고(S130), 화물을 적재한 경우에는 적재하중에 따른 제동력을 산출한다(S120). 적재하중에 따른 제동력 산출에 대해서는 도 3을 참조하여 후술하기로 한다.As shown in Figure 1, in the braking and steering method of the vehicle according to an embodiment of the present invention, it is first determined whether or not to load the cargo (S110). When it is determined that the cargo is not loaded, the basic braking force is provided (S130), and when the cargo is loaded, the braking force according to the load is calculated (S120). The braking force calculation according to the load will be described later with reference to FIG. 3.

다음, 차량의 무게중심이 이동하였는지를 판단한다(S140). 무게중심이 이동하지 않은 것으로 판단되면, 기본 조향 보조력을 제공하고(S160), 무게중심이 이동한 경우에는 무게중심 이동에 따른 조향 보조력을 산출한다(S150). 무게중심 이동에 따른 조향 보조력 산출에 대해서는 도 4를 참조하여 후술하기로 한다.Next, it is determined whether the center of gravity of the vehicle has moved (S140). If it is determined that the center of gravity has not moved, the basic steering assistance force is provided (S160), and when the center of gravity is moved, the steering assistance force according to the movement of the center of gravity is calculated (S150). Steering assistance force calculation according to the center of gravity movement will be described later with reference to FIG. 4.

이제, 차량의 무게와 무게중심의 변화에 따른 제동력과 조향 보조력이 산출되었으므로 산출된 제동력 및 조향 보조력에 따른 제어를 제공한다(S170).Now, since the braking force and the steering assistance force according to the change in the weight and the center of gravity of the vehicle are calculated, the control according to the calculated braking force and the steering assistance force is provided (S170).

도 2는 적재무게와 적재위치에 따른 무게와 무게중심의 변화를 예시하는 도면이다.2 is a diagram illustrating the change in weight and center of gravity according to the loading weight and the loading position.

도 2의 (A)는 적재하중이 크지만 무게중심은 여전히 가운데에 위치하는 경우를 나타낸다. 이와 같은 경우에는 제동력은 크게 하되, 조향 보조력은 기본 조향 보조력을 사용할 수 있다.2 (A) shows a case where the load is large but the center of gravity is still located at the center. In this case, the braking force is increased, but the steering assistance force may use the basic steering assistance force.

도 2의 (B)는 적재하중이 중간 정도의 무게이고, 무게중심은 가운데에 위치하는 경우를 나타낸다. 이와 같은 경우에는 제동력을 기본보다 약간 크게 하고, 기본 조향 보조력을 사용한다.2 (B) shows a case where the load is about the middle weight and the center of gravity is located at the center. In this case, the braking force is slightly larger than the base and the basic steering assistance is used.

도 2의 (C)는 적재하중이 중간 정도의 무게이지만, 무게중심이 뒤쪽으로 이동하여 있는 경우를 나타낸다. 이 경우에는 제동력을 기본보다 약간 크게 하고, 조향 보조력은 기본 조향 보조력에 비하여 약간 작게 할 수 있다.2 (C) shows a case where the load is medium weight, but the center of gravity is moved backwards. In this case, the braking force may be slightly larger than the basic, and the steering assistance may be slightly smaller than the basic steering assistance.

도 2의 (D)는 적재하중이 중간 정도의 무게이지만, 도 2의 (C)와는 반대로 무게중심이 앞쪽으로 이동하여 있는 경우를 나타낸다. 이 경우에는 제동력을 기본보다 약간 크게 하고, 조향 보조력 역시 기본 조향 보조력에 비하여 약간 크게 할 수 있다. 2 (D) shows a case where the load is medium, but the center of gravity is moved forward as opposed to FIG. 2 (C). In this case, the braking force may be slightly larger than the basic, and the steering assistance may also be slightly larger than the basic steering assistance.

이제, 적재하중과 무게중심의 이동에 따른 제동력 및 조향 보조력의 산출에 대하여 도 3 및 도 4를 참고로 하여 좀 더 자세히 설명한다.Now, the calculation of the braking force and the steering assistance force according to the loading load and the movement of the center of gravity will be described in more detail with reference to FIGS. 3 and 4.

도 3은 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 적재 무게에 따른 제동력의 변화를 나타내는 그래프이다.3 is a graph showing a change in braking force according to the load weight in the braking and steering apparatus and method according to an embodiment of the present invention.

도 3에 나타난 바와 같이, 적재를 하지 않은 상태에서의 기본 제동력에 비하여 적재무게가 늘어날수록 적재무게에 비례하여 제동력이 증가하도록 한다. 이 때의 기울기를 a로 나타내었는데, 기본 제동력, 기울기 a, 및 최대 제동력의 값은 튜닝을 통하여 최적화할 수 있다. As shown in FIG. 3, the braking force increases in proportion to the loading weight as the loading weight increases as compared with the basic braking force in the non-loading state. The slope at this time is represented by a. The values of the basic braking force, the slope a, and the maximum braking force can be optimized through tuning.

도 4는 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 무게중심이 후방에서 전방으로 이동하는 것에 따른 조향 보조력의 변화를 나타내는 그래프이다.4 is a graph showing a change in steering assistance force as the center of gravity moves from rear to front in the braking and steering apparatus and method according to an embodiment of the present invention.

도 4에 나타난 바와 같이, 조향 보조력은 무게중심이 뒤쪽에서 앞쪽으로 이동함에 따라 증가하게 되며, 제동력의 경우와 마찬가지로, 기본 조향 보조력, 기울기 b, 및 최대 조향 보조력의 값은 튜닝을 통하여 최적화할 수 있다. 또한, 본 실시예에서는 무게 중심이 전후로 이동하는 경우만을 예를 들어 설명하였지만, 무게 중심이 좌우로 이동하는 경우에도 좌우 방향의 조향에 따라 다른 조향 보조력을 인가할 수도 있다. As shown in FIG. 4, the steering assistance force increases as the center of gravity moves from the rear to the front, and as in the case of the braking force, the values of the basic steering assistance force, the slope b, and the maximum steering assistance force are adjusted through tuning. Can be optimized In addition, in the present embodiment, only the case where the center of gravity moves back and forth has been described by way of example, even when the center of gravity moves to the left and right, it is also possible to apply different steering assistance force in accordance with the left and right steering.

이와 같이 본 발명의 실시예에 따르면 적재무게나 적재에 따른 무게중심의 이동에 따라 적절한 제동력과 조향보조력을 인가함으로써 운전자의 의도에 맞는 차량 제어가 가능하게 되어 운전자의 안전성이 향상될 수 있다. Thus, according to the embodiment of the present invention by applying the appropriate braking force and the steering assistance force in accordance with the movement of the center of gravity according to the loading weight or loading it is possible to control the vehicle in accordance with the driver's intention can improve the driver's safety.

한편, 상술한 실시예에서는 화물차량에 화물을 적재함으로써 전체 무게와 무게중심이 변하는 상황을 예로 하여 설명하였지만, 화물차량이 아닌 승용차나 승합차의 경우에도 유사한 방식으로 본 발명을 적용할 수 있음은 물론이다. Meanwhile, in the above-described embodiment, the overall weight and the center of gravity are changed by loading a cargo in a freight vehicle as an example. However, the present invention can be applied to a passenger vehicle or a van in a similar manner. to be.

이상에서 바람직한 실시예를 기준으로 본 발명을 설명하였지만, 본 발명의 장치 및 방법은 반드시 상술된 실시예에 제한되는 것은 아니며 발명의 요지와 범위로부터 벗어남이 없이 다양한 수정이나 변형을 하는 것이 가능하다. 따라서, 첨부된 특허청구의 범위는 본 발명의 요지에 속하는 한 이러한 수정이나 변형을 포함할 것이다. Although the present invention has been described above with reference to preferred embodiments, the apparatus and method of the present invention are not necessarily limited to the above-described embodiments, and various modifications and variations can be made without departing from the spirit and scope of the invention. Accordingly, the appended claims will include such modifications and variations as long as they fall within the spirit of the invention.

Claims (6)

차량의 화물 적재 여부를 판단하는 단계;
상기 차량이 화물을 적재한 것으로 판단되면 적재 하중에 따른 제동력을 산출하는 단계;
상기 차량의 무게중심 이동 여부를 판단하는 단계;
상기 차량의 무게중심이 이동된 것으로 판단되면 무게중심 이동에 따른 조향 보조력을 산출하는 단계; 및
산출된 상기 제동력 및 조향 보조력에 의하여 상기 차량을 제어하는 단계를 포함하는 차량의 제동 및 조향 방법.Determining whether a vehicle is loaded with cargo;
Calculating a braking force according to a loading load when it is determined that the vehicle has loaded cargo;
Determining whether the center of gravity of the vehicle moves;
Calculating a steering assistance force according to the movement of the center of gravity when it is determined that the center of gravity of the vehicle is moved; And
And controlling the vehicle by the calculated braking force and steering assistance force. 제1항에 있어서, 상기 적재 하중에 따른 제동력 산출 단계에서는,
상기 적재 하중의 증가에 따라 상기 제동력을 증가시키는 차량의 제동 및 조향 방법.According to claim 1, In the step of calculating the braking force according to the load load,
Braking and steering method of a vehicle for increasing the braking force in accordance with the increase in the load load. 제1항에 있어서, 상기 무게중심의 이동에 따른 조향 보조력 산출 단계에서는,
상기 무게중심이 상기 차량의 후방에서 전방으로 이동함에 따라 상기 조향 보조력을 증가시키는 차량의 제동 및 조향 방법.According to claim 1, In the step of calculating the steering assistance force according to the movement of the center of gravity,
Braking and steering method for increasing the steering assistance force as the center of gravity moves forward from the rear of the vehicle. 차량의 화물 적재 여부 및 무게중심 이동 여부를 판단하는 판단부;
상기 차량의 화물 적재량에 따른 제동력과 무게중심 이동에 따른 조향 보조력을 산출하는 계산부; 및
상기 계산부에 의하여 산출된 상기 제동력 및 조향 보조력에 따라 상기 차량을 제어하는 제어부를 포함하는 차량의 제동 및 조향 장치.Determination unit for determining whether the vehicle is loaded with cargo and moving the center of gravity;
A calculation unit configured to calculate a braking force according to the cargo load of the vehicle and a steering assistance force according to the movement of the center of gravity; And
And a control unit for controlling the vehicle according to the braking force and the steering assistance force calculated by the calculator. 제4항에 있어서, 상기 제동력은,
상기 적재 하중의 증가에 따라 증가하도록 산출되는 차량의 제동 및 조향 장치.The method of claim 4, wherein the braking force,
Braking and steering apparatus of the vehicle calculated to increase with the increase in the load load. 제4항에 있어서, 상기 조향 보조력은,
상기 무게중심이 상기 차량의 후방에서 전방으로 이동함에 따라 증가하도록 산출되는 차량의 제동 및 조향 장치.The method of claim 4, wherein the steering assistance force,
And a braking and steering apparatus of the vehicle, which is calculated to increase as the center of gravity moves forward from the rear of the vehicle.
KR1020100122728A 2010-12-03 2010-12-03 Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid KR101709177B1 (en)

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