KR20120069842A - Controlling method and apparatus of adaptive cruise control system for vehicles - Google Patents

Controlling method and apparatus of adaptive cruise control system for vehicles Download PDF

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KR20120069842A
KR20120069842A KR1020100131157A KR20100131157A KR20120069842A KR 20120069842 A KR20120069842 A KR 20120069842A KR 1020100131157 A KR1020100131157 A KR 1020100131157A KR 20100131157 A KR20100131157 A KR 20100131157A KR 20120069842 A KR20120069842 A KR 20120069842A
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vehicle
wheel
pressure
target
control
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KR101243075B1 (en
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오성민
문형태
문태경
허건행
손홍엽
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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
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W40/105—Speed
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control

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

Abstract

PURPOSE: A control method and control apparatus of adaptive cruise control system for vehicles are provided to accurately follow wheel target pressure by calculating wheel target pressure during stop and compensating proportionately to gradient of road. CONSTITUTION: A control method of adaptive cruise control system for vehicles comprises the following steps: determining slop of road by using wheel speed and vertical acceleration by a sensor part(220); calculating target torque in order to follow the proposed acceleration of the vehicles detected by the sensor unit(230); compensating the target torque calculated in accordance with gradient of the determined road; converting the compensated target torque into engine torque or brake pressure and sending the information to the engine control unit and a brake control unit(240); detecting needs of stop by a radar sensor; calculating wheel targeting pressure if the vehicle needs to be stopped; and transmitting the compensated wheel target pressure to the brake control unit after converting to brake pressure(260); and compensating the wheel target pressure calculated according to gradient of the determined road(270).

Description

차량의 적응형 순항제어시스템의 제어방법 및 제어장치{Controlling method and apparatus of adaptive cruise control system for vehicles}Controlling method and apparatus of adaptive cruise control system for vehicles

본 발명은 차량의 적응형 순항제어시스템의 제어방법 및 제어장치에 관한 것으로서, 보다 상세하게는 목표가속도를 정확하게 추종할 수 있는 적응형 순항제어시스템의 제어방법 및 제어장치에 관한 것이다.The present invention relates to a control method and a control apparatus of an adaptive cruise control system of a vehicle, and more particularly, to a control method and a control apparatus of an adaptive cruise control system capable of accurately following a target acceleration.

일반적으로 차량의 적응형 순항제어 시스템은 운전자가 설정한 목표속도에 추종하도록 차량의 가속제어를 통해 적응순항 제어를 수행한다. 그리고 적응 순항제어 중 전방의 차량이나 물체 환경을 인지할 수 있는 전방 감지 센서를 이용하여 선행하고 있는 차량과 적당한 간격을 유지하기 위하여 감속 및 가속제어가 이루어진다.In general, the adaptive cruise control system of the vehicle performs the adaptive cruise control through the acceleration control of the vehicle to follow the target speed set by the driver. During the adaptive cruise control, deceleration and acceleration control is performed to maintain a proper distance from the preceding vehicle by using a front sensor that can recognize the vehicle or object environment in front.

그러나 종래의 적응형 순항제어 시스템은 자동 주행 중에 노면의 경사도에 따라 운전자가 설정한 목표속도에 이르지 못하는 문제점이 있다.However, the conventional adaptive cruise control system does not reach the target speed set by the driver according to the inclination of the road surface during automatic driving.

본 발명의 일 측면은 레이더 센서로부터 감지된 차량의 목표가속도를 추종하기 위한 목표토크를 노면의 경사도에 따라 보상하고 이를 환산하여 엔진과 브레이크를 각각 제어하는 차량의 적응형 순항제어시스템의 제어방법 및 제어장치를 제공하고자 한다.One aspect of the present invention provides a control method of an adaptive cruise control system for a vehicle that compensates a target torque for tracking a target acceleration of a vehicle detected by a radar sensor according to a slope of a road surface and controls the engine and the brake by converting the target torque to the vehicle. To provide a control device.

전술한 목적을 달성하기 위한 본 발명의 일 실시예에 따른 차량의 적응형 순항제어시스템의 제어방법은 차량의 목표가속도를 감지하는 레이더센서, 차량의 종가속도를 감지하는 종가속도센서, 휠압력을 감지하는 휠압력센서 및 휠속도를 감지하는 휠속도센서를 포함하는 센서부, 차량의 엔진을 제어하는 엔진제어부 및 유압조절유닛의 압력을 제어하는 브레이크제어부를 포함하는 차량의 적응형 순항제어 시스템의 제어방법으로서, 감지된 차량의 종가속도와 휠속도를 이용하여 차량이 주행하는 노면의 경사도를 판단하고, 레이더센서로부터 감지된 차량의 목표가속도를 추종하기 위한 목표토크를 산출하고, 판단된 노면의 경사도에 따라 산출된 목표토크를 보상하고, 보상된 목표토크를 엔진토크 또는 제동압력으로 환산하여 엔진제어부와 브레이크 제어부에 각각 전송한다.Control method of the adaptive cruise control system of a vehicle according to an embodiment of the present invention for achieving the above object is a radar sensor for detecting the target acceleration of the vehicle, longitudinal acceleration sensor for detecting the longitudinal acceleration of the vehicle, wheel pressure An adaptive cruise control system for a vehicle including a sensor unit including a wheel pressure sensor for sensing and a wheel speed sensor for sensing a wheel speed, an engine control unit for controlling an engine of the vehicle, and a brake control unit for controlling pressure of a hydraulic control unit. As a control method, the inclination of the road surface on which the vehicle travels is determined using the detected longitudinal acceleration speed and the wheel speed, a target torque for tracking the target acceleration speed of the vehicle detected by the radar sensor is calculated, and the determined Compensate the target torque calculated according to the inclination, and convert the compensated target torque into engine torque or braking pressure to braking the engine control unit. Each transmission to the control unit.

한편, 레이더센서는 차량의 정지 필요여부를 감지하고, 레이더센서에 의해 차량의 정지가 필요함이 감지되면, 휠목표압력을 산출하고, 판단된 노면의 경사도에 따라 산출된 휠목표압력을 보상하고, 보상된 휠목표압력을 제동압력으로 환산하여 브레이크 제어부에 전송할 수 있다.On the other hand, the radar sensor detects whether the vehicle needs to be stopped, and if it is detected that the vehicle is required to be stopped by the radar sensor, the wheel target pressure is calculated, and the wheel target pressure calculated according to the determined slope of the road surface, The compensated wheel target pressure may be converted into a braking pressure and transmitted to the brake controller.

또한, 바퀴의 편제동을 방지하기 위해 휠압력센서에서 감지된 현재 휠압력을 기초로 환산된 제동압력을 보상할 수 있다.In addition, the braking pressure converted based on the current wheel pressure sensed by the wheel pressure sensor may be compensated for preventing the wheel braking.

또한, 노면의 경사도를 판단하는 것은 휠속도로부터 차량의 가속도를 산출하고, 차량의 종가속도와 산출된 가속도와의 차이를 기초로 노면의 경사도를 판단할 수 있다.In addition, determining the inclination of the road surface may calculate the acceleration of the vehicle from the wheel speed, and determine the inclination of the road surface based on the difference between the longitudinal acceleration of the vehicle and the calculated acceleration.

또한, 휠목표압력을 보상하는 것은 추정된 노면의 경사도에 비례하게 휠 목표압력이 증가되도록 보상할 수 있다.In addition, compensating the wheel target pressure may compensate for increasing the wheel target pressure in proportion to the estimated slope of the road surface.

전술한 목적을 달성하기 위한 차량의 적응형 순항제어시스템의 제어장치는 차량의 목표가속도를 감지하는 레이더 센서, 차량의 종가속도를 감지하는 종가속도센서, 휠압력을 감지하는 휠압력센서 및 휠속도를 감지하는 휠속도센서를 포함하는 센서부, 차량의 엔진을 제어하는 엔진제어부 및 유압조절유닛의 압력을 제어하는 브레이크 제어부를 포함하는 차량의 적응형 순항제어시스템의 제어장치로서, 종가속도센서에서 감지된 차량의 종가속도와 휠속도센서로부터의 휠속도를 기초로 차량이 주행하는 노면의 경사도를 판단하는 노면경사추정부, 레이더센서로부터 감지된 목표가속도를 추종하기 위한 목표토크를 산출하는 제어목표값 산출부, 노면경사추정부에서 추정된 노면의 경사도에 따라 목표제어값 산출부에서 산출된 목표토크를 보상하는 제어목표값 보상부 및 보상된 목표토크를 엔진토크 또는 제동압력으로 환산하는 제어목표값 환산부를 포함한다.The control device of the adaptive cruise control system of the vehicle to achieve the above object is a radar sensor for detecting the target acceleration of the vehicle, a longitudinal acceleration sensor for detecting the longitudinal acceleration of the vehicle, a wheel pressure sensor for detecting the wheel pressure and the wheel speed A control device for an adaptive cruise control system for a vehicle including a sensor unit including a wheel speed sensor for detecting a vehicle, an engine control unit for controlling an engine of a vehicle, and a brake control unit for controlling a pressure of a hydraulic control unit. A control target that calculates a target torque for following a target acceleration detected by a radar sensor and a road slope estimation unit for determining the inclination of the road on which the vehicle travels based on the detected longitudinal acceleration of the vehicle and the wheel speed from the wheel speed sensor. Compensating the target torque calculated by the target control value calculation unit according to the slope of the road surface estimated by the value calculator and the road slope estimation unit And a control target value converting unit converting the control target value compensating unit and the compensated target torque into engine torque or braking pressure.

한편, 레이더센서는 차량의 정지필요여부를 감지하고, 제어목표값 산출부는 레이더센서에 의해 차량의 정지가 필요함이 감지되면, 휠목표압력을 산출하고, 제어목표값 보상부는 노면경사추정부에서 추정된 노면의 경사도에 따라 산출된 휠목표압력을 보상하고, 제어목표값 환산부는 보상된 휠목표압력을 제동압력으로 환산할 수 있다.On the other hand, the radar sensor detects whether the vehicle needs to be stopped, and if the control target value calculation unit detects that the vehicle needs to be stopped by the radar sensor, the wheel target pressure is calculated, and the control target value compensator estimates the surface slope estimation unit. Compensating the wheel target pressure calculated according to the slope of the road surface, and the control target value converting unit may convert the compensated wheel target pressure into a braking pressure.

또한, 제어목표값 보상부는 추정된 노면의 경사도에 비례하게 휠목표압력이 증가되도록 보상할 수 있다.Also, the control target value compensator may compensate for increasing the wheel target pressure in proportion to the estimated slope of the road surface.

또한, 제어목표값 보상부는 휠의 편제동을 방지하기 위해 휠압력센서에서 감지된 현재 휠압력을 기초로 제어목표값 환산부에서 환산된 제동압력을 보상할 수 있다.In addition, the control target value compensator may compensate for the braking pressure converted in the control target value converting unit based on the current wheel pressure detected by the wheel pressure sensor to prevent the braking of the wheel.

또한, 노면경사추정부는 휠속도로부터 차량의 가속도를 산출하고, 차량의 종가속도와 산출된 가속도와의 차이를 기초로 노면의 경사도를 추정할 수 있다.
In addition, the road slope estimation unit may calculate the acceleration of the vehicle from the wheel speed, and estimate the slope of the road based on the difference between the longitudinal acceleration of the vehicle and the calculated acceleration.

상술한 바와 같은 본 발명의 일 실시예에 의한 차량의 적응형 순항제어시스템의 제어방법 및 제어장치에 의하면 차량의 목표토크를 노면의 경사도에 따라 보상함으로써 목표가속도를 보다 정확하게 추종할 수 있다.According to the control method and control apparatus of the adaptive cruise control system for a vehicle according to an embodiment of the present invention as described above, it is possible to follow the target acceleration more accurately by compensating the target torque of the vehicle according to the inclination of the road surface.

또한, 차량의 정지시 휠목표압력을 산출하고 이를 노면의 경사도에 비례하게 보상하여 휠목표압력을 정확하게 추종할 수 있다.In addition, it is possible to accurately follow the wheel target pressure by calculating the wheel target pressure when the vehicle is stopped and compensating it proportionally to the inclination of the road surface.

이로써 차량이 주행하는 운전 상태에 따라 자동변속기와 여타 시스템의 원활한 제어의 제공이 가능하여 승차하기에 안락한 차량의 제공이 가능하다.As a result, it is possible to provide smooth control of the automatic transmission and other systems according to the driving state of the vehicle, thereby providing a vehicle that is comfortable to ride.

도 1은 본 발명의 일 실시예에 따른 차량의 적응형 순항제어시스템의 제어장치의 블록도이다.
도 2는 본 발명의 다른 실시예에 따른 차량의 적응형 순항제어시스템의 제어방법의 순서도이다.
도 3은 본 발명의 또 다른 실시예에 따른 차량의 적응형 순항제어시스템의 제어방법의 순서도이다.1 is a block diagram of a control device of an adaptive cruise control system for a vehicle according to an embodiment of the present invention.
2 is a flowchart of a control method of an adaptive cruise control system for a vehicle according to another embodiment of the present invention.
3 is a flowchart of a control method of an adaptive cruise control system for a vehicle according to another embodiment of the present invention.

이하 첨부된 도면을 참조하여 본 발명에 따른 차량의 적응형 순항제어시스템의 제어장치 및 제어방법의 바람직한 실시예를 설명한다.Hereinafter, exemplary embodiments of a control apparatus and a control method of an adaptive cruise control system for a vehicle according to the present invention will be described with reference to the accompanying drawings.

도 1은 본 발명의 일 실시예에 따른 차량의 적응형 순항제어시스템의 제어장치의 블록도이다.1 is a block diagram of a control device of an adaptive cruise control system for a vehicle according to an embodiment of the present invention.

본 실시예에 따른 차량의 적응형 순항제어시스템의 제어장치(100)는 센서부(110), 제어부(120), 엔진제어부(131) 및 브레이크 제어부(141)를 포함한다.The control device 100 of the adaptive cruise control system for a vehicle according to the present embodiment includes a sensor unit 110, a control unit 120, an engine control unit 131, and a brake control unit 141.

센서부(110)는 레이더센서, 종가속도센서, 휠압력센서 및 휠속도센서를 포함한다.The sensor unit 110 includes a radar sensor, a longitudinal acceleration sensor, a wheel pressure sensor, and a wheel speed sensor.

레이더센서는 차량의 전방에 부착되어 차량의 목표가속도와 정지필요여부를 감지한다.The radar sensor is attached to the front of the vehicle to detect the target acceleration and the need for stopping.

구체적으로, 상기 레이더센서는 제어차량과 전방차량과의 간격과 상대 속도 및 제어차량의 진행방향과의 각도 등의 정보와 기 설정된 제어차량의 종방향 속도 및 기 설정된 가속도 한계치를 이용하여 제어차량의 목표가속도와 제어차량이 정지할 필요가 있는지 여부를 감지한다. In detail, the radar sensor may be configured by using information such as the distance between the control vehicle and the front vehicle, the relative speed, the angle of the moving direction of the control vehicle, the longitudinal speed of the control vehicle, and the preset acceleration limit value. Detect whether the target acceleration and the control vehicle need to stop.

종가속도센서는 차량의 종가속도를 감지하고, 이렇게 감지된 종가속도는 노면경사 추정부(121)에 전송되어 차량이 주행하는 노면의 경사도를 판단하는데 사용된다.The longitudinal acceleration sensor detects the longitudinal acceleration of the vehicle, and the detected longitudinal acceleration is transmitted to the road slope estimator 121 and used to determine the inclination of the road surface on which the vehicle runs.

휠압력센서는 차륜과 일체로 구성되어 있어 휠에 가해지는 압력을 감지한다. 이렇게 감지된 차량의 현재 휠압력은 휠의 편제동을 방지하기 위한 제동압력 보상에 이용된다.The wheel pressure sensor is integrated with the wheel to sense the pressure applied to the wheel. The current wheel pressure of the vehicle thus detected is used for braking pressure compensation to prevent wheel braking.

휠속도센서는 차륜과 일체로 구성되어 회전하는 로터와 폴피스로 이루어져 있으며, 로터는 외주면에 톱니형상의 치차가 형성되어 회전시 이 치차가 폴피스에 자계변화를 일으킨다. 이러한 자계변화를 전기적 신호로 변환하여 검출하게 되면 휠 속도를 산출할 수 있는데, 상기 산출된 휠속도는 노면경사 추정부(121)에 전송되어 상기 노면의 경사도를 추정하는데 이용된다.The wheel speed sensor is composed of a rotor and a pole piece which are integrally formed with the wheel, and the rotor has a tooth-shaped tooth formed on the outer circumference thereof, and this tooth causes a magnetic field change in the pole piece when rotating. When the magnetic field change is detected and converted into an electrical signal, the wheel speed may be calculated. The calculated wheel speed is transmitted to the road slope estimator 121 and used to estimate the slope of the road surface.

제어부(120)는 변화하는 노면경사등의 주행상태나 차량상태에 따라 자동변속기 등 여타 시스템의 원활한 제어를 제공하기 위해 엔진제어부(131)와 브레이크 제어부(141)에 제어값을 산출하여 전송한다. The control unit 120 calculates and transmits a control value to the engine control unit 131 and the brake control unit 141 in order to provide smooth control of other systems such as an automatic transmission according to a driving state of a changing road slope or a vehicle state.

즉, 제어부(120)는 센서부(110)의 레이더센서로부터 감지된 목표가속도와 차량의 종가속도, 휠속도, 휠압력을 기초로 엔진제어부(131)와 브레이크제어부(141)를 제어하여 차량의 속도와 가/감속도를 제어한다.That is, the controller 120 controls the engine controller 131 and the brake controller 141 based on the target acceleration detected from the radar sensor of the sensor unit 110, the longitudinal acceleration of the vehicle, the wheel speed, and the wheel pressure. Control speed and acceleration / deceleration.

이러한 제어부(120)는 노면경사추정부(121), 제어목표값 산출부(122), 제어목표값 보상부(123) 및 제어목표값 환산부(124)를 포함한다.The controller 120 includes a road slope estimating unit 121, a control target value calculating unit 122, a control target value compensating unit 123, and a control target value converting unit 124.

노면경사 추정부(121)는 센서부(110)에 의해 감지된 차량의 종가속도와 휠속도를 기초로 차량이 주행하는 노면의 경사도를 판단한다. 노면경사 추정부(121)는 휠속도로부터 차량의 가속도를 산출하고, 상기 산출된 차량의 가속도와 종가속도의 차이를 기초로 노면의 경사도를 추정한다.The road slope estimator 121 determines the inclination of the road surface on which the vehicle travels based on the longitudinal acceleration and the wheel speed of the vehicle detected by the sensor 110. The road slope estimating unit 121 calculates the acceleration of the vehicle from the wheel speed, and estimates the slope of the road based on the difference between the calculated acceleration and the longitudinal acceleration of the vehicle.

구체적으로, 노면경사 추정부(121)는 휠속도센서를 통해 감지된 휠속도로부터 차량가속도를 산출하고, 산출된 차량의 가속도와 종가속도, 차량중량 등을 이용하여 차량의 가속력을 산출한다. 또한, 노면경사 추정부(121)는 상기 산출된 차량가속력과 함께 메모리부(150)에 저장된 차량모델별 차량제동력, 차량저항력 및 차량구동력을 이용하여 노면의 경사각을 산출한다.In detail, the road slope estimator 121 calculates the vehicle acceleration from the wheel speed detected by the wheel speed sensor, and calculates the acceleration force of the vehicle using the calculated acceleration, the longitudinal acceleration, and the vehicle weight. In addition, the road slope estimator 121 calculates the inclination angle of the road surface by using the vehicle braking force, vehicle resistance force, and vehicle driving force for each vehicle model stored in the memory unit 150 together with the calculated vehicle acceleration force.

이렇게 노면의 경사각이 산출되면, 노면경사 추정부(121)는 상기 산출된 경사각과 메모리부(150)에 미리 저장된 기준각도를 비교하여 주행노면이 경사노면인지 일반노면인지 판단한다. 구체적으로, 산출된 경사각의 절대값이 상기 기준각도보다 크면 주행노면을 내리막길이나 오르막길 등의 경사노면으로 판단하고, 산출된 경사각의 절대값이 상기 기준각도보다 작으면 주행노면을 평지와 같은 일반노면으로 판단할 수 있다.When the inclination angle of the road surface is calculated, the road slope estimating unit 121 compares the calculated inclination angle with a reference angle stored in advance in the memory unit 150 to determine whether the road surface is a slope road or a general road surface. Specifically, when the calculated absolute value of the inclination angle is greater than the reference angle, the driving road surface is determined to be inclined road surface, such as a downhill road or an uphill road. You can judge by road surface.

또한, 노면경사 추정부(121)는 주행노면이 경사노면으로 판단되는 경우 산출된 경사각과 그 경사각을 유지하는 시간을 이용하여 주행노면이 오르막길인지 내리막길인지 판단할 수 있다.In addition, the road slope estimating unit 121 may determine whether the driving road is an uphill road or a downhill road by using the calculated inclination angle and the time for maintaining the inclination angle when the driving road surface is determined as the inclined road surface.

제어목표값 산출부(122)는 상기 레이더센서로부터 감지된 목표가속도를 추종하기 위한 목표토크를 산출하거나 상기 레이더센서로부터 차량의 정지가 필요함이 감지되면 휠목표압력을 산출한다.The control target value calculator 122 calculates a target torque for following the target acceleration detected by the radar sensor or calculates a wheel target pressure when it is detected that the vehicle needs to be stopped from the radar sensor.

제어목표값 보상부(123)는 제어목표값 산출부(122)로부터 산출된 목표토크 또는 휠목표압력을 노면경사 추정부(121)에서 추정된 노면의 상태에 따라 보상한다.The control target value compensator 123 compensates the target torque or the wheel target pressure calculated by the control target value calculator 122 according to the road surface estimated by the road slope estimator 121.

목표가속도가 감지되면, 이를 추종하는 목표토크는 주행노면이 오르막길이거나 내리막길일 경우 그 값이 노면의 경사에 따라 변동되어야 한다. 예컨대, 가속의 목표가속도이고 주행노면이 오르막길이면 상기 목표가속도를 추종하는 목표토크값은 더 크게 보상되어야 하고, 내리막길이면 작게 보상되어야 한다. When the target acceleration is detected, the target torque following the target acceleration should be changed according to the slope of the road when the driving road is uphill or downhill. For example, if the target acceleration of acceleration and the driving road is an uphill road, the target torque value following the target acceleration should be compensated for more, and if it is downhill, it should be compensated smaller.

제어목표값 보상부(123)는 상기와 같이 목표토크값을 노면의 경사에 맞게 보상함으로써 본 실시예에 따른 차량의 적응형 순항제어시스템이 목표가속도를 정확하게 추종하도록 제어한다.The control target value compensator 123 controls the adaptive cruise control system of the vehicle to accurately follow the target acceleration by compensating the target torque value according to the slope of the road as described above.

또한, 레이더센서로부터 차량이 정지해야함이 감지되면, 제어목표값 보상부(123)는 노면의 경사에 비례하게 휠목표압력이 증가되도록 보상한다. 주행노면의 경사도가 높으면 필요한 브레이크의 제동압력이 증가하는 주행상태를 반영한 것이다.In addition, when it is detected that the vehicle should be stopped from the radar sensor, the control target value compensator 123 compensates for the increase in the wheel target pressure in proportion to the inclination of the road surface. If the inclination of the road surface is high, it reflects the driving state in which the required braking pressure of the brake increases.

한편, 좌우 바퀴의 제동부품에 산포가 있으면 같은 브레이크 제어부(141)에 의해 유압조절유닛(142)에 같은 제동압력이 걸려도 각 바퀴마다 제동량이 다르게 걸릴 우려가 있다. On the other hand, if the brake parts of the left and right wheels are scattered, even if the same braking pressure is applied to the hydraulic control unit 142 by the same brake control unit 141, the braking amount may be different for each wheel.

따라서 본 실시예는 상기와 같은 차량 휠의 편제동을 방지하기 위해 각각의 바퀴에 부착된 휠압력센서로부터 현재휠압력을 감지하고 이를 기초로 제동압력을 보상한다. 즉, 제어목표값 보상부(123)는 제동압력에 의해 출력된 각 휠의 제동량을 검출하여 상기 제동압력을 피드백 보상하는 것이다.Therefore, the present embodiment senses the current wheel pressure from the wheel pressure sensor attached to each wheel to prevent the braking of the vehicle wheel as described above and compensates the braking pressure based on this. That is, the control target value compensator 123 detects the amount of braking of each wheel output by the braking pressure and feedback-compensates the braking pressure.

제어목표값 환산부(124)는 제어목표값 보상부(123)에서 보상된 목표토크를 엔진토크와 제동압력으로 각각 환산한다. 또한, 제어목표값 환산부(124)는 차량을 정지시키는 보상된 휠목표압력을 제동압력으로 환산한다.The control target value converting unit 124 converts the target torque compensated by the control target value compensating unit 123 into engine torque and braking pressure, respectively. In addition, the control target value converting unit 124 converts the compensated wheel target pressure for stopping the vehicle into a braking pressure.

이로써 목표가속도를 추종할 수 있는 차량의 가/감속 제어 및 정지제어가 가능하다.This enables acceleration / deceleration control and stop control of the vehicle that can follow the target acceleration.

엔진제어부(131)는 제어부(120)에 의해 제어되어 엔진의 구동을 제어한다. 구체적으로, 엔진제어부(131)는 제어부(120)에서 전송된 엔진토크를 기초로 엔진의 구동을 제어한다. 예컨대, 제어부(120)로부터 가속의 엔진토크가 전송되면 엔진의 알피엠(RPM)이 상승하도록 제어하고, 감속의 엔진토크가 전송되면 엔진의 알피엠(RPM)이 하강하도록 제어한다.The engine controller 131 is controlled by the controller 120 to control the driving of the engine. In detail, the engine controller 131 controls the driving of the engine based on the engine torque transmitted from the controller 120. For example, when the engine torque of the acceleration is transmitted from the control unit 120, the control so that the engine RPM (RPM) of the engine rises, and if the engine torque of the deceleration is transmitted, the control of the engine RPM (RPM) is controlled to fall.

브레이크 제어부(141)는 제어부(120)에 의해 제어되어 유압조절유닛(142)을 제어한다. 브레이크 제어부(141)는 제어부(120)에서 전송된 제동압력을 기초로 유압조절유닛(142)을 제어한다.The brake control unit 141 is controlled by the control unit 120 to control the hydraulic pressure control unit 142. The brake control unit 141 controls the hydraulic pressure control unit 142 based on the braking pressure transmitted from the control unit 120.

상술한 바와 같은 본 발명의 일 실시예에 의한 차량의 적응형 순항제어시스템의 제어장치(100)에 의하면 차량의 목표토크를 노면의 경사도에 따라 보상함으로써 목표가속도를 보다 정확하게 추종할 수 있다.According to the control apparatus 100 of the adaptive cruise control system for a vehicle according to an embodiment of the present invention as described above, the target acceleration of the vehicle can be compensated according to the inclination of the road surface, thereby more accurately following the target acceleration.

또한, 차량의 정지시 휠목표압력을 산출하고 이를 노면의 경사도에 비례하게 보상하여 휠목표압력을 정확하게 추종할 수 있다.In addition, it is possible to accurately follow the wheel target pressure by calculating the wheel target pressure when the vehicle is stopped and compensating it proportionally to the inclination of the road surface.

도 2는 본 발명의 다른 실시예에 따른 차량의 적응형 순항제어시스템의 제어방법의 순서도이다.2 is a flowchart of a control method of an adaptive cruise control system for a vehicle according to another embodiment of the present invention.

먼저, 레이더센서에 의해 차량의 목표가속도를 감지(210)한다. 레이더센서는 제어차량과 전방차량 간의 간격과 상대속도 등의 정보를 이용하여 제어차량이 가속할지 감속할지 여부 및 가/감속량인 목표가속도를 감지한다.First, the target acceleration of the vehicle is detected 210 by the radar sensor. The radar sensor detects whether the control vehicle accelerates or decelerates and the target acceleration, which is an acceleration / deceleration, by using information such as the distance between the control vehicle and the front vehicle and the relative speed.

차량의 목표가속도가 감지(210)하면, 노면경사 추정부는 차량이 주행하고있는 노면의 경사도를 판단한다(220). 노면경사 추정부는 노면이 오르막길인지 내리막길인지 여부와 상기 노면의 경사각을 추정하여 이를 제어목표값 보상부로 전송한다.When the target acceleration of the vehicle is detected 210, the road slope estimator determines the inclination of the road surface on which the vehicle is traveling 220. The road slope estimator estimates whether the road surface is an uphill road or a downhill road, and estimates the inclination angle of the road surface and transmits it to the control target value compensation unit.

구체적으로, 노면경사 추정부는 종가속도센서에 의해 감지된 종가속도와 휠속도센서로부터 감지된 휠속도에 의해 산출된 차량의 가속도의 차로 노면의 경사각을 추정할 수 있다.Specifically, the road slope estimating unit may estimate the inclination angle of the road surface by the difference between the acceleration of the vehicle calculated by the longitudinal acceleration detected by the longitudinal acceleration sensor and the wheel speed detected by the wheel speed sensor.

제어목표값 산출부는 레이더센서로부터 입력된 목표가속도에 기초하여 이를 추종하기 위한 차량의 목표토크를 산출한다(230).The control target value calculator calculates a target torque of the vehicle for following the target acceleration based on the target acceleration input from the radar sensor (230).

목표토크가 산출되면(230), 상기 노면경사 추정부에 의해 추정된 노면의 경사각에 따라 산출된 목표토크를 보상한다(240). 이로인해 목표토크값이 노면의 경사에 맞게 보상됨으로써 목표가속도를 정확하게 추종할 수 있다.When the target torque is calculated (230), the target torque calculated according to the inclination angle of the road surface estimated by the road surface slope estimating unit (240). As a result, the target torque value is compensated according to the inclination of the road surface, thereby accurately following the target acceleration.

목표토크가 보상되면(240), 제어목표값 환산부는 보상된 목표토크를 엔진토크와 제동압력으로 환산한다(250).When the target torque is compensated (240), the control target value converting unit converts the compensated target torque into the engine torque and the braking pressure (250).

이렇게 환산된 엔진토크는 엔진제어부로 전송되고, 제동압력은 브레이크 제어부로 전송되어 차량의 가속 및 감속제어를 할 수 있다(260).The converted engine torque is transmitted to the engine controller, and the braking pressure is transmitted to the brake controller to perform acceleration and deceleration control of the vehicle (260).

또한, 본 실시예에 따른 차량의 적응형 순항제어시스템의 제어방법은 감속제어의 경우 브레이크 제어부로 전송된 제동압력에 따른 각 휠에서의 제동량을 감지하여 환산된 제동압력을 다시 보상한다(270).In addition, in the control method of the adaptive cruise control system of the vehicle according to the present embodiment, in the case of the deceleration control, the braking pressure at each wheel is sensed according to the braking pressure transmitted to the brake control unit to compensate for the converted braking pressure again (270). ).

좌우 바퀴의 제동부품에 산포가 있으면 같은 제동압력이 걸려도 각 바퀴마다 제동량이 다르게 생성될 수 있고, 본 실시예는 이러한 편제동현상을 방지하기 위해 휠압력센서로부터 휠압력을 실시간으로 감지하고, 감지된 휠압력을 기초로 환산된 제동압력을 피드백 보상한다.If the brake parts of the left and right wheels are scattered, even if the same braking pressure is applied, the braking amount may be generated differently for each wheel, and the present embodiment may detect the wheel pressure from the wheel pressure sensor in real time in order to prevent such a braking phenomenon. The feedback compensation is based on the brake pressure converted on the basis of the wheel pressure.

도 3은 본 발명의 또 다른 실시예에 따른 차량의 적응형 순항제어시스템의 제어방법의 순서도이다.3 is a flowchart of a control method of an adaptive cruise control system for a vehicle according to another embodiment of the present invention.

먼저, 레이더센서에 의해 차량이 정지할 필요성이 있는지를 감지한다(310). First, it is detected by the radar sensor whether the vehicle needs to stop (310).

차량이 정지해야되면, 노면경사 추정부는 차량이 주행하고 있는 노면의 경사도를 판단한다(320). 노면경사 추정부는 노면이 오르막길인지 내리막길인지 여부와 상기 노면의 경사각을 추정하여 이를 제어목표값 보상부로 전송한다.If the vehicle is to be stopped, the road slope estimator determines the inclination of the road surface on which the vehicle is traveling (320). The road slope estimator estimates whether the road surface is an uphill road or a downhill road, and estimates the inclination angle of the road surface and transmits it to the control target value compensation unit.

구체적으로, 노면경사 추정부는 종가속도센서에 의해 감지된 종가속도와 휠속도센서로부터 감지된 휠속도에 의해 산출된 차량의 가속도의 차로 노면의 경사각을 추정할 수 있다.Specifically, the road slope estimating unit may estimate the inclination angle of the road surface by the difference between the acceleration of the vehicle calculated by the longitudinal acceleration detected by the longitudinal acceleration sensor and the wheel speed detected by the wheel speed sensor.

제어목표값 산출부는 차량이 정지하기 위한 차량의 휠목표압력을 산출한다(330).The control target value calculator calculates a wheel target pressure of the vehicle for stopping the vehicle (330).

구체적으로, 제어목표값 산출부는 휠속도센서와 종가속도센서로부터 감지된 차량의 속도를 기초로 차량을 정지시키기 위한 차량의 휠목표압력을 산출할 수 있다.Specifically, the control target value calculator may calculate the wheel target pressure of the vehicle for stopping the vehicle based on the speed of the vehicle detected by the wheel speed sensor and the longitudinal acceleration sensor.

휠목표압력이 산출되면(330), 상기 노면경사 추정부에 의해 추정된 노면의 경사각에 따라 산출된 휠목표압력을 보상한다(340). 구체적으로, 제어목표값 보상부는 노면의 경사에 비례하게 휠목표압력이 증가되도록 보상한다. 주행노면의 경사도가 높으면 필요한 브레이크의 제동압력이 증가하는 주행상태를 반영한 것이다.When the wheel target pressure is calculated (330), the wheel target pressure calculated according to the inclination angle of the road surface estimated by the road surface slope estimating unit is compensated (340). Specifically, the control target value compensator compensates for increasing the wheel target pressure in proportion to the inclination of the road surface. If the inclination of the road surface is high, it reflects the driving state in which the required braking pressure of the brake increases.

휠목표압력이 보상되면(340), 제어목표값 환산부는 보상된 휠목표압력을 제동압력으로 환산한다(350).When the wheel target pressure is compensated (340), the control target value converting unit converts the compensated wheel target pressure to the braking pressure (350).

이렇게 환산된 제동압력은 브레이크 제어부로 전송(360)되어 차량을 정지하는 제어가 수행된다.The converted braking pressure is transmitted to the brake control unit 360 to control the vehicle to stop.

한편, 본 실시예에 따른 차량의 적응형 순항제어시스템의 제어방법은 차량 정지제어시 브레이크 제어부로 전송된 제동압력에 따른 각 휠에서의 제동량을 감지하여 환산된 제동압력을 피드백 보상한다(370).On the other hand, the control method of the adaptive cruise control system of the vehicle according to the present embodiment detects the amount of braking at each wheel according to the braking pressure transmitted to the brake control unit during the vehicle stop control to compensate for the braking pressure converted (370) ).

구체적으로, 본 실시예는 제동부품의 산포에 따른 편제동현상을 방지하기 위해 휠 압력센서로부터 휠 압력을 각각 감지하고, 감지된 휠 압력을 기초로 좌우 바퀴의 제동량이 동일하게 작용되도록 환산된 제동압력을 보상한다(370).Specifically, in the present embodiment, in order to prevent uneven braking due to the distribution of the braking parts, the wheel pressure is respectively sensed by the wheel pressure sensor, and the braking weights are converted to be equal to the braking amount of the left and right wheels based on the detected wheel pressure. Compensate for pressure (370).

상술한 바와 같은 본 발명의 차량의 적응형 순항제어시스템의 제어방법 및 제어장치에 의하면 차량의 목표토크를 노면의 경사도에 따라 보상함으로써 목표가속도를 보다 정확하게 추종할 수 있다.According to the control method and control apparatus of the adaptive cruise control system of the present invention as described above, it is possible to follow the target acceleration more accurately by compensating the target torque of the vehicle according to the inclination of the road surface.

또한, 차량의 정지시 휠목표압력을 산출하고 이를 노면의 경사도에 비례하게 보상하여 휠목표압력을 정확하게 추종할 수 있다.In addition, it is possible to accurately follow the wheel target pressure by calculating the wheel target pressure when the vehicle is stopped and compensating it proportionally to the inclination of the road surface.

이로써 차량이 주행하는 운전 상태에 따라 자동변속기와 여타 시스템의 원활한 제어의 제공이 가능하여 승차하기에 안락한 차량의 제공이 가능하다.
As a result, it is possible to provide smooth control of the automatic transmission and other systems according to the driving state of the vehicle, thereby providing a vehicle that is comfortable to ride.

110: 센서부
120: 제어부
131: 엔진제어부
141: 브레이크제어부
150: 메모리부110: sensor unit
120: control unit
131: engine control unit
141: brake control unit
150: memory

Claims (10)

차량의 목표가속도를 감지하는 레이더센서, 종가속도를 감지하는 종가속도센서, 휠압력을 감지하는 휠압력센서 및 휠속도를 감지하는 휠속도센서를 포함하는 센서부, 상기 차량의 엔진을 제어하는 엔진제어부 및 유압조절유닛의 압력을 제어하는 브레이크제어부를 포함하는 상기 차량의 적응형 순항제어 시스템의 제어방법에 있어서,
상기 센서부에 의해 감지된 상기 종가속도와 상기 휠속도를 이용하여 상기 차량이 주행하는 노면의 경사도를 판단하고;
상기 센서부에 의해 감지된 상기 차량의 목표가속도를 추종하기 위한 목표토크를 산출하고;
상기 판단된 노면의 경사도에 따라 상기 산출된 목표토크를 보상하고;
상기 보상된 목표토크를 엔진토크 또는 제동압력으로 환산하여 상기 엔진제어부와 상기 브레이크 제어부에 각각 전송하는 차량의 적응형 순항제어시스템의 제어방법.Sensor unit including a radar sensor for detecting the target acceleration of the vehicle, the longitudinal acceleration sensor for detecting the longitudinal acceleration, the wheel pressure sensor for detecting the wheel pressure and the wheel speed sensor for detecting the wheel speed, the engine for controlling the engine of the vehicle In the control method of the adaptive cruise control system of the vehicle comprising a control unit and a brake control unit for controlling the pressure of the hydraulic control unit,
Determining the inclination of the road surface on which the vehicle travels using the longitudinal acceleration speed and the wheel speed detected by the sensor unit;
Calculating a target torque for following a target acceleration of the vehicle sensed by the sensor unit;
Compensating the calculated target torque according to the determined slope of the road surface;
And converting the compensated target torque into an engine torque or a braking pressure to be transmitted to the engine control unit and the brake control unit, respectively. 제1항에 있어서,
상기 레이더센서는 상기 차량의 정지 필요여부를 감지하고;
상기 레이더센서에 의해 상기 차량의 정지가 필요함이 감지되면, 휠목표압력을 산출하고;
상기 판단된 노면의 경사도에 따라 상기 산출된 휠목표압력을 보상하고;
상기 보상된 휠목표압력을 상기 제동압력으로 환산하여 상기 브레이크 제어부에 전송하는 차량의 적응형 순항제어시스템의 제어방법.The method of claim 1,
The radar sensor detects whether the vehicle needs to be stopped;
Calculating a wheel target pressure when the radar sensor detects that the vehicle needs to be stopped;
Compensating the calculated wheel target pressure according to the determined slope of the road surface;
The control method of the adaptive cruise control system of the vehicle for converting the compensated wheel target pressure to the braking pressure to the brake control unit. 제1항 또는 제2항에 있어서,
상기 바퀴의 편제동을 방지하기 위해 상기 휠압력센서에서 감지된 상기 현재휠압력을 기초로 상기 환산된 제동압력을 보상하는 차량의 적응형 순항제어시스템의 제어방법.
The method according to claim 1 or 2,
And a control method of an adaptive cruise control system for a vehicle that compensates for the converted braking pressure based on the current wheel pressure sensed by the wheel pressure sensor to prevent the braking of the wheel.
제1항에 있어서,
상기 노면의 경사도를 판단하는 것은
상기 휠속도로부터 상기 차량의 가속도를 산출하고;
상기 차량의 종가속도와 상기 산출된 가속도와의 차이를 기초로 상기 노면의 경사도를 판단하는 것인 차량의 적응형 순항제어시스템의 제어방법.
The method of claim 1,
Determining the inclination of the road surface
Calculate acceleration of the vehicle from the wheel speed;
And determining the inclination of the road surface based on the difference between the longitudinal acceleration of the vehicle and the calculated acceleration.
제2항에 있어서,
상기 휠목표압력을 보상하는 것은
상기 추정된 노면의 경사도에 비례하게 상기 휠 목표압력이 증가되도록 보상하는 차량의 적응형 순항제어시스템의 제어방법.
The method of claim 2,
Compensating the wheel target pressure
And a control method of an adaptive cruise control system for a vehicle that compensates for increasing the wheel target pressure in proportion to the estimated slope of the road surface.
차량의 목표가속도를 감지하는 레이더 센서, 종가속도를 감지하는 종가속도센서, 휠압력을 감지하는 휠압력센서 및 휠속도를 감지하는 휠속도센서를 포함하는 센서부, 상기 차량의 엔진을 제어하는 엔진제어부 및 유압조절유닛의 압력을 제어하는 브레이크 제어부를 포함하는 상기 차량의 적응형 순항제어시스템의 제어장치에 있어서,
상기 센서부에서 감지된 상기 차량의 종가속도와 상기 휠속도를 기초로 상기 차량이 주행하는 노면의 경사도를 판단하는 노면경사추정부;
상기 센서부로부터 감지된 상기 목표가속도를 추종하기 위한 목표토크를 산출하는 제어목표값 산출부;
상기 노면경사추정부에서 추정된 노면의 경사도에 따라 상기 제어목표값 산출부에서 산출된 목표토크를 보상하는 제어목표값 보상부; 및
상기 보상된 목표토크를 엔진토크 또는 제동압력으로 환산하는 제어목표값 환산부를 포함하는 차량의 적응형 순항제어시스템의 제어장치.Sensor unit including a radar sensor for detecting the target acceleration of the vehicle, the longitudinal acceleration sensor for detecting the longitudinal acceleration, the wheel pressure sensor for detecting the wheel pressure and the wheel speed sensor for detecting the wheel speed, the engine for controlling the engine of the vehicle In the control device of the adaptive cruise control system of the vehicle comprising a control unit and a brake control unit for controlling the pressure of the hydraulic control unit,
A road slope estimation unit determining a slope of a road surface on which the vehicle travels based on the longitudinal acceleration speed and the wheel speed of the vehicle detected by the sensor unit;
A control target value calculator for calculating a target torque for following the target acceleration detected by the sensor unit;
A control target value compensator for compensating a target torque calculated by the control target value calculator according to the road surface slope estimated by the road slope estimation unit; And
And a control target value converting unit converting the compensated target torque into an engine torque or a braking pressure. 제6항에 있어서,
상기 센서부의 레이더센서는 상기 차량의 정지필요여부를 감지하고,
상기 제어목표값 산출부는 상기 레이더센서에 의해 상기 차량의 정지가 필요함이 감지되면, 상기 휠목표압력을 산출하고,
상기 제어목표값 보상부는 상기 노면경사추정부에서 추정된 노면의 경사도에 따라 상기 산출된 휠목표압력을 보상하고,
상기 제어목표값 환산부는 상기 보상된 휠목표압력을 상기 제동압력으로 환산하는 차량의 적응형 순항제어시스템의 제어장치.The method of claim 6,
The radar sensor of the sensor unit detects whether the vehicle needs to be stopped,
The control target value calculator calculates the wheel target pressure when the radar sensor detects that the vehicle needs to be stopped.
The control target value compensator compensates the calculated wheel target pressure according to the inclination of the road surface estimated by the road surface slope estimation unit,
And the control target value converting unit converts the compensated wheel target pressure into the braking pressure. 제7항에 있어서,
상기 제어목표값 보상부는
상기 추정된 노면의 경사도에 비례하게 상기 휠목표압력이 증가되도록 보상하는 차량의 적응형 순항제어시스템의 제어장치.The method of claim 7, wherein
The control target value compensation unit
And a control device of an adaptive cruise control system for a vehicle which compensates for increasing the wheel target pressure in proportion to the estimated slope of the road surface. 제6항 또는 제7항에 있어서,
상기 제어목표값 보상부는
상기 휠의 편제동을 방지하기 위해 상기 센서부에서 감지된 현재 휠압력을 기초로 상기 제어목표값 환산부에서 환산된 제동압력을 보상하는 차량의 적응형 순항제어시스템의 제어장치.The method according to claim 6 or 7,
The control target value compensation unit
And a control device for an adaptive cruise control system for a vehicle that compensates for the braking pressure converted in the control target value converting unit based on the current wheel pressure sensed by the sensor unit to prevent the braking of the wheel. 제6항에 있어서,
상기 노면경사추정부는
상기 센서부로부터 감지된 휠속도로부터 상기 차량의 가속도를 산출하고,
상기 차량의 종가속도와 상기 산출된 가속도와의 차이를 기초로 상기 노면의 경사도를 추정하는 차량의 순항제어시스템의 제어장치.The method of claim 6,
The road slope estimation government
The acceleration of the vehicle is calculated from the wheel speed detected by the sensor unit,
And an inclination of the road surface based on the difference between the longitudinal acceleration of the vehicle and the calculated acceleration.
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