KR20120064220A - Malfunction avoiding apparatus of vehicle stability management system and method of the same - Google Patents

Abstract

PURPOSE: Malfunction preventing device and method for a vehicle stability management system are provided to improve the stability of a vehicle during the coordination control of an ESC and an MDPS of the vehicle stability management system. CONSTITUTION: A malfunction preventing device for a vehicle stability management system comprises the following: an MDPS fail safe logic unit(12) receiving a VSM command packet from an ESC ECU, and preventing the system down from the malfunction of another separate MDPS fail safe logic unit; a torque validity detecting logic unit(14) receiving the VSM command packet for determining whether the VSM torque is valid, and including a gradient judgment logic unit(18) reducing the difference sense of a sudden application of the torque by determining whether the absolute value of a torque limit judgment logic unit(16) and the vehicle gradient is bigger than the threshold value; and a communication validity detection logic unit(20) determining the validity of the communication between an ESC and an MDPS, and including a checksum comparison unit(22) and a VSM control will detection unit(24).

Description

Malfunction prevention device of vehicle attitude management system and method thereof {MALFUNCTION AVOIDING APPARATUS OF VEHICLE STABILITY MANAGEMENT SYSTEM AND METHOD OF THE SAME}

The present invention relates to a device for preventing malfunction of a vehicle attitude management system and a method thereof, and more particularly, to cooperate with a vehicle attitude control device (ESC) and an electric power steering system (MDPS) of a vehicle attitude management system for improving stability of vehicle driving. An apparatus and method for preventing malfunction of a vehicle attitude management system which further improves convenience and stability by preventing the vehicle attitude from being disturbed due to a driver's malfunction during control.

As is well known, there are many examples in which a power steering pump is generally used to easily rotate a steering wheel in a steering device of a vehicle, and the power steering pump is usually used to control the flow of oil during rotation by driving the engine. Easy to rotate left and right using the system is applied.

Recently, some models have adopted the Motor Drive Power Steering (MDPS) system that plays this role.

The electric power steering system (MDPS) is a system that can easily rotate the steering wheel by using the rotation of the motor instead of using the flow of oil by the rotation of the engine, and has an excellent effect on improving fuel economy by reducing the load on the engine. .

The electric power steering system (MDPS) described above is equipped with an MDPS unit (UNIT) for controlling a motor and transmitting a steering angle signal.

In addition, recently, some vehicle models have been applied to vehicle stability management system (VSM). The vehicle stance management system (VSM) is a vehicle attitude control device (ESC) under extreme instability during acceleration, braking or cornering. The Electronic Stability Control (MDPS) generates steering assistance torque to stabilize the vehicle's posture and correct driver's mistakes.

As such, when the electric power steering system (MDPS) and the vehicle attitude control device (ESC) are mounted, CAN communication is basically applied to exchange data between the systems.

That is, as shown in FIG. 1, the vehicle attitude management system VSM applies a steering assist torque command signal to the MDPS ECU by the ESC ECU during acceleration, braking, or oversteering of the vehicle, and the MDPS. The ECU is a cooperative control system that improves vehicle running stability by estimating the command torque directly or indirectly.

At this time, the vehicle attitude management system (VSM) is divided into a torque sensor overlay mode and a torque reference overlay mode according to the control mode, and the selection of the mode is a control mode selection message sent by the ESC ECU. Or by software definition.

On the other hand, the torque sensor value of the MDPS system is input to the system control logic and used to calculate the torque complement amount. The torque bot amount means the bota torque value, and more accurately means the column bota torque. The column bota torque is a force required to maintain a constant steering wheel steering angle during driving or stopping. Therefore, as the steering wheel is bent at the sharp corner, more force for maintaining the steering wheel is also required, thereby increasing the column botat torque.

In addition, the torque sensor overlapping mode of the vehicle attitude management system (VSM) is a mode in which an artificial torque sensor signal is superimposed on a physical torque value detected by the torque sensor, and the value is input to the MDPS control logic so that the signal overlaps.

In addition, the amount of bow torque that is an output of the MDPS control logic is input to the MDPS motor torque controller, and the vehicle attitude control system (VSM) torque command superimposition mode superimposes an artificial torque command signal on the amount of bow torque and the value of the MDPS motor torque controller is increased. This mode allows input to

In addition, the ESC ECU and the MDPS ECU perform cooperative control by exchanging VSM messages through CAN.

However, the conventional vehicle attitude management system (VSM) does not use physical signal values but superimposes an artificial value on a torque sensor or torque command, and thus does not modify the existing MDPS estimator and failsafe logic calculation logic. There was a problem that an unexpected error occurs during operation of the vehicle attitude management system (VSM), which may cause the system to stop.

In other words, the existing MDPS fail-safe logic has a part that increases the stability of the system by comparing the actual column torque value and the torque value output through its own internal calculation, which is added due to the vehicle attitude management system (VSM). When the added torque value is different, the theoretical calculated value and the actual torque value are different, so the MDPS failsafe logic stops the system.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described prior art, and a malfunction of a driver during cooperative control of an vehicle attitude control device (ESC) and an electric power steering system (MDPS) of a vehicle attitude management system that improves the stability of vehicle driving. It is an object of the present invention to provide a malfunction prevention device and method of the vehicle attitude management system which further improves convenience and stability by preventing the vehicle attitude from being disturbed.

In order to achieve the above object, according to a preferred embodiment of the present invention, in the vehicle attitude management system equipped with an ESC ECU for generating arithmetic processing and command signals for controlling the attitude of the vehicle, a VSM command packet from the ESC ECU An MDPS failsafe logic unit for preventing a system stop due to a malfunction of the independent MDPS failsafe logic; A torque validity detection logic unit which receives the VSM command packet from the ESC ECU and determines the validity of the VSM torque; A communication validity detection logic unit for determining whether communication between the ESC and MDPS is proper; A VSM signal applying logic unit which receives an output value from the MDPS failsafe logic unit, a torque validity detection logic unit, and a communication validity detection logic unit to detect a VSM error and apply VSM torque to the MDPS steering logic unit; Provided is a malfunction prevention device for a vehicle attitude management system, comprising: an MDPS steering logic unit configured to receive VSM torque from the VSM signal application logic unit and generate torque to the MDPS.

Preferably, the torque validity detection logic unit includes a torque limit determination logic unit that determines whether an absolute value of torque is greater than a limit value; There is provided a malfunction prevention device for a vehicle attitude management system, characterized in that the inclination determination logic portion for determining whether the absolute value of the vehicle tilt is greater than the threshold value.

Preferably, the communication validity detection logic unit comprises a checksum comparison unit for comparing an input value and an output value; A VSM control intention detecting unit which determines whether the VSM is in operation; Provided is a malfunction prevention device for a vehicle attitude management system, comprising a VSM control validity detection logic unit for selecting a VSM control mode input from an ESC.

Preferably, the VSM signal applying logic unit comprises an error detection logic unit for detecting a VSM error; Provided is a malfunction prevention apparatus for a vehicle attitude management system, characterized in that the VSM torque applying logic unit applies the VSM torque to the MDPS steering logic unit.

Preferably, the MDPS fail-safe logic unit processes to prevent the system stop of the MDPS by subtracting the torque value superimposed by the request of the VSM to the measured torque value when the VSM operates in the fail-safe logic. Preventing system malfunction is provided.

Meanwhile, the present invention provides a method of preventing malfunction in a vehicle attitude management system equipped with an ESC ECU that generates arithmetic processing and command signals for controlling the attitude of a vehicle, comprising: a first step of receiving a VSM command packet from an ESC ECU; ; A second step of processing in the failsafe logic to prevent a system hang when the VSM is operating; Determining a validity of the VSM torque; A fourth step of determining whether communication between the ESC and the MDPS is justified; A fifth step of determining whether an error exists in the VSM torque; A sixth step of applying VSM torque to the MDPS steering logic unit is sequentially performed, thereby providing a method of preventing malfunction of the vehicle attitude management system.

Preferably, the second step is a malfunction of the vehicle attitude management system, characterized in that the VSM torque is applied by subtracting the torque value superimposed by the VSM request to the measured torque value when the VSM is operated in the failsafe logic. Prevention methods are provided.

Preferably, the third step includes determining whether the absolute value of the torque is greater than the limit value; There is provided a method of preventing malfunction of a vehicle attitude management system, characterized in that the step of determining whether the absolute value of the vehicle inclination is greater than a threshold is sequentially performed to apply VSM torque.

Preferably, the fourth step includes determining whether the checksum is valid; A step of determining whether the VSM is in operation is provided, thereby providing a method of preventing malfunction of the vehicle attitude management system, wherein the VSM torque is applied.

The malfunction prevention device and method of the vehicle attitude management system according to the present invention are VSM command packets for cooperative control of the vehicle attitude control system (ESC) and the electric power steering system (MDPS) of the vehicle attitude management system to improve the stability of vehicle driving. Add logic to further determine the validity of the communication and torque at the time of reception, and add more logic to detect errors, enabling more accurate torque overlay to prevent malfunctions, thereby improving convenience and stability. Can be improved.

1 is a view showing cooperative control logic of MDPS in a vehicle attitude management system according to a conventional embodiment;
2 is a block diagram showing the configuration of a malfunction prevention apparatus of a vehicle posture management system according to an embodiment of the present invention;
3 is a view illustrating an MDPS failsafe logic unit included in a malfunction preventing apparatus of a vehicle posture management system according to an exemplary embodiment of the present invention;
4 and 5 are views showing the operating state of the torque and communication validity detection logic included in the malfunction prevention device of the vehicle attitude management system according to an embodiment of the present invention,
FIG. 6 is a diagram illustrating an operation state of a VSM signal applying logic unit included in a malfunction preventing apparatus of a vehicle attitude management system according to an exemplary embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of a malfunction preventing apparatus and method of the vehicle attitude management system according to the present invention. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout the specification.

Figure 2 is a block diagram showing the configuration of the malfunction prevention apparatus of the vehicle attitude management system according to an embodiment of the present invention, Figures 3, 4, 5, 6 is a malfunction of the vehicle attitude management system according to an embodiment of the present invention The operation state of each logic unit included in the prevention device is shown.

Referring to this, the malfunction prevention device 10 of the vehicle attitude management system according to an embodiment of the present invention by preventing the malfunction during the cooperative control in the vehicle posture maintaining device and the electric power steering system to improve the stability of the vehicle driving The device further improves convenience and stability.

More specifically, the malfunction prevention device 10 of the vehicle posture management system according to an embodiment of the present invention overlaps during cooperative control of ESC and MDPS for improving heterogeneity due to overlapping torque and improving steering stability. The malfunction of the determination of the torque may cause an unintended stop of the system, and is an apparatus for preventing this, and is an apparatus capable of preventing the system stop by accurately determining whether or not signals overlap.

To this end, the malfunction prevention device 10 of the vehicle attitude management system according to an embodiment of the present invention improves the discrimination performance of arithmetic and signal overlap by adding an improved logic unit.

More specifically, the malfunction prevention apparatus 10 of the vehicle posture management system according to an embodiment of the present invention includes the MDPS failsafe logic unit 12, the torque validity detection logic unit 14, and the communication validity detection logic unit 20. And a VSM signal application logic unit 28 and an MDPS steering logic unit 34.

The MDPS failsafe logic unit 12 receives a VSM command packet from the ESC ECU to prevent a system stop due to a malfunction of the independent MDPS failsafe logic.

In this case, as shown in FIG. 3, when the VSM operates in the failsafe logic, the MDPS failsafe logic unit 12 subtracts the torque value superimposed on the measured torque value by the request of the VSM to prevent system shutdown of the MDPS. Do it.

That is, the MDPS fail-safe logic unit 12 is modified to consider the VSM torque signal as in the block-processed part, so that when the VSM is operated in the fail-safe logic (when VSM assist active flag = 1), the VSM is applied to the measured torque value. The required torque is subtracted from the system to prevent MDPS from shutting down.

The torque validity detection logic unit 14 receives a VSM command packet from the ESC ECU to determine whether the VSM torque is valid. That is, the torque validity detection logic unit 14 determines whether the absolute value of the torque limit determination logic unit 16 and the inclination of the vehicle is greater than the threshold value to determine whether the absolute value of the torque is greater than the limit value. It includes a tilt judgment logic portion 18 for reducing the sense of heterogeneity that the torque suddenly enters.

As shown in FIG. 4, the torque validity detection logic unit 14 receives VSM torque through the torque limit determination logic unit 16 and the slope determination logic unit 18 to determine whether the absolute value of the torque is greater than the limit value. It is determined whether the absolute value of the inclination of the vehicle is greater than the threshold value and outputs the torque validity flag as 1. However, if the above conditions are not met, the VSM does not operate.

The communication validity detection logic unit 20 determines whether the communication between the ESC and the MDPS is proper.

That is, the communication validity detection logic unit 20 includes a checksum comparison unit 22, a VSM control determination detector 26, and a VSM control validity detection logic unit 26.

At this time, the checksum comparison unit 22 compares the input value with the output value and determines that an output value outside the error range is measured as a communication error.

In addition, the VSM control determination detector 24 detects whether the VSM is operating because the torque overlay is not required when the VSM is not operating.

The VSM control validity detection logic unit 26 selects whether to overlay the torque sensor (torque sensor mode) or the torque command (torque overlap mode) according to the VSM control mode input from the ESC.

Through the checksum comparison unit 22, the VSM control determination detector 26, and the VSM control validity detection logic unit 26 of the communication validity detection logic unit 20, as shown in FIG. 5, the checksum validity and operation counter validity are shown. The communication validity flag is output as 1 by comparing control mode validity, ESC operation validity, and ESC defect validity. However, if this condition is not satisfied, it is determined that the VSM does not operate.

The VSM signal application logic section 28 includes an error detection logic section 30 for detecting VSM errors and a VSM torque application logic section 32 for applying VSM torque to the MDPS steering logic section 34. The output value is received from the serial portion 14 and the communication validity detection logic portion 20, respectively, to detect a VSM error, and apply the VSM torque to the MDPS steering logic portion 34.

That is, as shown in FIG. 6, when the VSM signal applying logic unit 28 satisfies the output values from the torque validity detection logic unit 14 and the communication validity detection logic unit 20, the steering according to the set VSM mode is performed. Perform axial torque overlay (Mode = 2) or torque sensor overlay (Mode = 1).

At this time, when the mode in which the torque sensor overlay (Mode = 1) can be performed is selected, the VSM signal applying logic unit 28 applies the torque signal to the MDPS steering logic unit 34.

The MDPS steering logic unit 24 receives the VSM torque from the VSM signal applying logic unit 28 to generate torque in the MDPS.

Accordingly, in the vehicle attitude management system according to the embodiment of the present invention, when the ESC applies the appropriate torque to the MDPS, the MDPS torque may overlap with the input torque of the motor, so that the malfunction prevention device 10 may receive a VSM command even if the driver turns the steering wheel in a malfunction. By adding logic to further determine the validity of the communication and torque when receiving the packet, and adding logic to detect an error, it is possible to prevent the vehicle posture from being disturbed, thereby enabling more accurate torque overlay.

On the other hand, the malfunction prevention device and method of the vehicle attitude management system according to an embodiment of the present invention is not limited to the above-described embodiment, but various modifications can be made without departing from the technical gist thereof.

12: MDPS failsafe logic section 14: Torque validity detection logic section
16: torque limit judgment logic section 18: tilt determination logic section
20: Communication validity detection logic unit 22: Checksum comparison unit
24: VSM control determination detector 26: VSM control validity detection logic
28: VSM signal applying logic section 34: MDPS steering logic section

Claims (9)

In a vehicle attitude management system equipped with an ESC (Electronic Stability Control) ECU (Electronic Control Unit) for generating arithmetic processing and command signals for controlling the attitude of the vehicle,
Motor Stability Management (VSM) command packet is received from the Electronic Stability Control (ESC) Electronic Control Unit (ECC) to prevent system shutdown due to malfunction of independent Motor Drive Power Steering (MDPS) fail-safe logic. Drive Power Steering) fail-safe logic unit;
A torque validity detection logic unit receiving the vehicle stability command (VSM) command packet from the electronic stability control (ECS) electronic control unit (ECS) and determining the validity of the vehicle stability torque (VSM);
A communication validity detection logic unit for determining whether communication between the electronic stability control (ESC) and the motor drive power steering (MDPS) is appropriate;
The motor drive power steering (MDPS) fail-safe logic unit, the torque validity detection logic unit, and the communication validity detection logic unit are respectively supplied with output values to detect VSM (Vehicle Stability Management) errors and detect MDPS (Motor Drive Power Steering) steering logic. A VSM (Vehicle Stability Management) signal applying logic unit for applying the VSM (Vehicle Stability Management) torque;
A vehicle comprising a Motor Drive Power Steering (MDPS) steering logic unit configured to generate torque to a Motor Drive Power Steering (MDPS) by receiving VSM (Vehicle Stability Management) torque from the VSM (Vehicle Stability Management) signal applying logic unit Malfunction prevention device of posture management system.
The method of claim 1,
The torque validity detection logic unit includes a torque limit determination logic unit that determines whether an absolute value of torque is greater than a limit value;
An inclination preventing device of a vehicle posture management system, characterized in that it comprises a tilt determination logic part for determining whether the absolute value of the vehicle tilt is greater than the threshold value.
The method of claim 1,
The communication validity detection logic unit includes a checksum comparison unit for comparing an input value and an output value;
A vehicle stability management (VSM) control intention detection unit for determining whether or not vehicle stability management (VSM) is operating;
And a vehicle stability management (VSM) control validity detection logic unit for selecting a vehicle stability management (VSM) control mode inputted from the electronic stability control (ESC).
The method of claim 1,
The VSM (Vehicle Stability Management) signal applying logic unit includes an error detection logic unit for detecting the vehicle stability management (VSM) error;
And the vehicle stability management (VSM) torque application logic unit for applying the vehicle stability management (VSM) torque to the motor drive power steering (MDPS) steering logic unit.
The method of claim 1,
The motor drive power steering (MDPS) fail-safe logic unit subtracts the torque value superimposed by the request of vehicle stability management (VSM) to the measured torque value when VSM (Vehicle Stability Management) operates in the fail-safe logic. Device for preventing malfunction of the vehicle attitude management system, characterized in that the processing to prevent the system stop.
In the method of preventing malfunction in a vehicle attitude management system equipped with an electronic stability control (ECS) electronic control unit (ECS) for generating arithmetic processing and command signals for controlling the attitude of the vehicle,
A first step of receiving a Vehicle Stability Management (VSM) command packet from the Electronic Stability Control (ESC) Electronic Control Unit (ECS);
A second step of processing to prevent a system stop when VSM (Vehicle Stability Management) operates in the failsafe logic;
Determining a validity of the vehicle stability management (VSM) torque;
A fourth step of determining whether communication between ESC (Electronic Stability Control) and MDPS (Motor Drive Power Steering) is legitimate;
A fifth step of determining whether an error exists in the vehicle stability management (VSM) torque;
A vehicle comprising a sixth step of applying the vehicle stability management (VSM) torque to a steering drive power steering (MDPS) steering logic part sequentially to thereby apply the vehicle stability management (VSM) torque. How to prevent malfunction of posture management system.
The method according to claim 6,
The second step is to apply the VSM torque by subtracting the torque value superimposed by the request of the vehicle stability management (VSM) to the measured torque value when the vehicle stability management (VSM) operation in the fail-safe logic Method for preventing malfunction of the vehicle attitude management system, characterized in that.
The method according to claim 6,
The third step includes determining whether the absolute value of the torque is greater than the limit value;
And determining whether the absolute value of the inclination of the vehicle is greater than the threshold value by sequentially processing the vehicle stability management (VSM) torque to be applied.
The method according to claim 6,
The fourth step includes determining whether the checksum is valid;
And determining whether the vehicle stability management (VSM) is in operation so that the vehicle stability management (VSM) torque is applied.

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