KR20130050681A - Method of calculating dynamic radius of tire - Google Patents

Method of calculating dynamic radius of tire Download PDF

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Publication number
KR20130050681A
KR20130050681A KR1020110115884A KR20110115884A KR20130050681A KR 20130050681 A KR20130050681 A KR 20130050681A KR 1020110115884 A KR1020110115884 A KR 1020110115884A KR 20110115884 A KR20110115884 A KR 20110115884A KR 20130050681 A KR20130050681 A KR 20130050681A
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KR
South Korea
Prior art keywords
value
yaw angle
tire
radius
lateral position
Prior art date
Application number
KR1020110115884A
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Korean (ko)
Inventor
이종호
전재환
Original Assignee
현대자동차주식회사
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Priority to KR1020110115884A priority Critical patent/KR20130050681A/en
Publication of KR20130050681A publication Critical patent/KR20130050681A/en

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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
    • 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
    • B60W2520/12—Lateral 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

PURPOSE: A method of calculating the dynamic radius of a tire is provided to improve a parking alignment by effectively calculating the dynamic radius of left and right tires for applying to the development of logic such as an SPAS(Smart Parking Assist System). CONSTITUTION: A method of calculating the dynamic radius of a tire comprises the following steps: comparing a yaw angle or lateral position value which is numerically calculated according to the dynamic radius of left and right tires with a sensed value form a yaw rate sensor or direction related sensor; reducing the radius of the left or right tire according to the compared result value; determining whether the absolute value of the compared result value is same or less than a reference value; and confirming the numerically calculated yaw angle or lateral position value as the dynamic radius of the left and right tires when the absolute value is same or less than the reference value. [Reference numerals] (AA) Start; (BB) End; (S10) Turn on or initialize a SPAS(or other system); (S12) Detect a space and determine whether a vehicle is moving forward?; (S14) Calculate a numerical yaw angle or lateral position; (S16) Yaw angle(Lateral position) or direction related sensor; (S18) Numerical yaw angle(Lateral position) > Sensor data ?; (S20) Slightly reduce a right radius; (S22) Slightly reduce a left radius; (S24) &brvbar;Numerical yaw angle(Lateral position) - Sensor data&brvbar; < 10^(-3) ?; (S26) Utilize for confirmation of a dynamic radius and for related systems

Description

Method of calculating dynamic radius of tire}

The present invention relates to a tire companion diameter calculation method, and more particularly, to a method for calculating the companion diameter of left and right tires due to the left and right tire pressure difference.

As is well known, tires of a vehicle may have different dynamic radius values according to their specifications, and errors may occur in the vehicle speedometer and the integrated distance meter depending on the tire companion diameter. Especially in precision electronic control equipment of braking system such as ABS / ESC, the companion diameter of the tire acts as an important factor for braking performance.

Even in the case of the same vehicle, the specifications of the wheels and tires vary according to the grade of the commercial model. Accordingly, each vehicle is equipped with an electronic control device in which the companion diameter values for several types of tires are inputted, and an electronic control device in which the companion diameter values of tires corresponding to the grade of a commercial model is input is installed. I'm doing it.

As shown in FIG. 1, the wheel speed measured in ABS / ESC uses a fixed radius (eg, 32.5 cm). However, the tire pressure difference, that is, the left and right wheel companion diameters change according to various conditions such as the number of passengers or the presence of loads, and the accuracy of the position calculation logic of the vehicle for parking becomes poor and the alignment of the automatic parking is poor. Occurs.

Such a phenomenon is performed when driving straight in a state in which the radius of the left wheel is reduced by 1 mm, but the actual trajectory of the vehicle numerically calculated is shown as being drooped to one side. If the reduced tire companion diameter is accurately calculated, parking alignment can be improved by precisely controlling the position and the yaw angle of the vehicle.

Conventionally, as a method of calculating the tire diameter of a tire, a method using a pressure sensor such as TPMS of Publication No. 1998-0056491 and a three laser sensor such as Publication No. 10-2007-0113464 are used. There is a way to measure.

However, these conventional methods have a limit of measuring only a dangerous level to a reference pressure, or are difficult to mount on expensive additional parts. In addition, due to the tire design structure, it is difficult to install the above sensors.

The present invention has been proposed to solve the above-mentioned problems, and the tire companion diameter calculation method for effectively calculating the left and right tire companion diameters and applying them to logic development such as a SPAS (parking support system) to improve parking alignment. The purpose is to provide.

In order to achieve the above object, a tire companion diameter calculation method according to a preferred embodiment of the present invention relates to a yaw rate sensor or direction associated with a yaw angle or a transverse position value numerically calculated according to different left and right tire companion diameters. Comparing the value sensed by the sensor; Reducing the radius of the left or right tire according to the comparison result; Determining whether the absolute value of the difference between the numerically calculated yaw angle or the transverse position value and the sensed value is less than the reference value after the reduction; If the absolute value of the difference between the numerically calculated yaw angle or the transverse position value and the sensed value is less than the reference value, determining the numerically calculated yaw angle or transverse position value as the left and right tire companion diameters; It includes;

Preferably, the reducing step reduces the radius of the right tire by a predetermined value when the numerically calculated yaw angle or lateral position value is greater than the sensed value, and the numerically calculated yaw angle or lateral position value is sensed. If it is smaller than the predetermined value, the radius of the left tire is reduced by a predetermined value.

In addition, when the absolute value of the difference between the numerically calculated yaw angle or the transverse position value and the sensed value is larger than the reference value, the operation returns to the comparison step and repeats the operation from that step.

The comparison step, the reduction step, the determination step, and the determination step are performed while the vehicle is driving the straight section.

According to the present invention having such a configuration, the positional accuracy of the vehicle observer is improved because the positional error is smaller than that of the vehicle observer without the numerical error applied.

When the present invention is applied to other systems such as a parking assist system in which a vehicle observer is used, it contributes to improving the parking alignment or vehicle control performance.

In the case of the tire companion diameter used in the prior art, the cost is increased according to additional parts, but the present invention can be implemented as a tire companion diameter without additional parts.

1 is a view for explaining a problem according to the conventional tire companion diameter calculation.
2 is a system configuration diagram of a vehicle to which a tire companion diameter calculation method according to an exemplary embodiment of the present invention is applied.
3 and 4 are views illustrating the concept of the tire companion diameter calculation method according to an embodiment of the present invention.
5 is a flowchart for explaining a tire companion diameter calculation method according to an embodiment of the present invention.
6 shows the results of the present invention.

Hereinafter, with reference to the accompanying drawings will be described a tire companion diameter calculation method according to an embodiment of the present invention. Prior to the detailed description of the present invention, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

2 is a system configuration diagram of a vehicle to which a tire companion diameter calculation method according to an exemplary embodiment of the present invention is applied.

The present invention is assumed and applied to a vehicle employing a SPAS (Smart Parking Assist System).

The system of FIG. 2 includes a wheel sensor 10, steering angle sensor 12, yaw rate sensor 14, cluster 16, PAS sensors 18a-18h, and SPAS sensors 20a, 20b, and a SPAS ECU ( 22).

The wheel sensor 10 detects the speed of the vehicle wheel and outputs a detection result as a signal of a pulse component.

The steering angle sensor 12 detects a steering speed, a steering direction, and a steering angle of the handle.

The yaw rate sensor 14 detects the yaw rate (rotational angular velocity) in the vertical axis direction of the vehicle.

The cluster 16 provides the driver with all the information related to the driving and operation state information of various devices such as the engine. For example, the cluster 16 includes a speedometer, an interval odometer, a totalizer, which displays the total driving distance by integrating the traveling distance of the vehicle by measuring and indicating the instantaneous speed of the vehicle. The cluster 16 is also provided with an RPM tachometer indicating the engine speed, a fuel gauge indicating the remaining amount of fuel, a cooling water thermometer indicating the temperature of the cooling water, and the like.

Parking Assistance System (PAS) sensors 18a-18d are installed in front of the vehicle. The PAS sensors 18a to 18d detect an obstacle in front of the vehicle and calculate a distance between the obstacle and the vehicle to provide sensor information and distance information.

Parking Assistance System (PAS) sensors 18e-18h are installed at the rear of the vehicle. The PAS sensors 18e to 18h detect an obstacle in front of the vehicle and calculate a distance between the obstacle and the vehicle to provide sensor information and distance information.

The SPAS sensors 20a and 20b are installed at the left and right sides of the vehicle to recognize the parking space. For example, the SPAS sensors 20a and 20b may be configured as ultrasonic sensors.

The SPAS ECU 22 receives signals from the sensors 10, 1, 14, 18a to 18h, 20a and 20b, and the cluster 16, and utilizes them for parking support. For example, when the parking space is recognized based on the signals from the SPAS sensors 20a and 20b, the vehicle is controlled to be parked automatically in the parking space. Of course, the SPAS ECU 22 controls MotorDriven Power Steering (MDPS) to control automatic parking to the parking space. At this time, the PAS sensors 18a to 18h are assisted.

In particular, the SPAS ECU 22 senses a yaw angle or a lateral position value numerically calculated according to different left and right tire companion diameters by the yaw rate sensor 14 or a direction related sensor (steering angle sensor 12). As a result of which the radius of the left or right tire is reduced.

For example, the SPAS ECU 22 decreases the radius of the right tire by a predetermined value when the numerically calculated yaw angle or transverse position value is larger than the sensed value, and the numerically calculated yaw angle or transverse direction. If the position value is smaller than the sensed value, the radius of the left tire is reduced by a predetermined value. The SPAS ECU 22 judges whether the absolute value of the difference between the numerically calculated yaw angle or the transverse position value and the sensed value is less than or equal to the reference value after reducing the numerical value of the yaw angle or the horizontal direction. If the absolute value of the difference between the position value and the sensed value is less than the reference value, the numerically calculated yaw angle or lateral position value is determined as the left and right tire companion diameters.

On the other hand, the SPAS ECU 22 returns to the step of comparing the numerically calculated value and the sensed value if the absolute value of the difference between the numerically calculated yaw angle or the transverse position value and the sensed value is larger than the reference value. To repeat the operation from that step. The SPAS ECU 22 performs this tire companion diameter calculation process when the vehicle is driving the straight section.

In FIG. 2, the wheel sensor 10, the steering angle sensor 12, the yaw rate sensor 14, and the cluster 16 communicate with the SPAS ECU 22 by CAN, and the PAS sensors 18a to 18h are connected to the Leanport ( It communicates with the SPAS ECU 22 through the LIN port.

3 and 4 are views illustrating the concept of the tire companion diameter calculation method according to an embodiment of the present invention.

When the vehicle is driving straight, the yaw angle (and lateral position) calculated numerically according to different left and right tire companion diameters is gradually increasing at zero as shown in FIG. 3, but the actual position of the vehicle (eg yaw angle, etc.) ) Hardly changes.

Analyzing this phenomenon, the yaw angle (lateral direction) error will be reduced if the tire companion diameter, which is the cause of the numerical calculation error, is updated in the straight section.

4 shows the error from the point of time when the yaw angle (lateral direction) error occurs, and gradually decreases the radius of the left wheel or the right wheel in the direction of reducing the error, and shows that the convergence to the final companion mirror.

5 is a flowchart for explaining a tire companion diameter calculation method according to an embodiment of the present invention. 6 shows the results of the present invention.

First, to turn on or initialize the SPAS (S10).

Thereafter, the parking space is detected by the signals from the SPAS sensors 20a and 20b, and when the vehicle is going straight (forward) by the wheel pulse from the wheel sensor 10 (" Yes " in S12), the SPAS ECU 22 ) Calculates the yaw angle or lateral position according to different left and right tire companion diameters (S14) together with signals from the yaw rate sensor 14 or the direction related sensor (ie, steering angle sensor 12). It receives an input (S16).

Subsequently, the SPAS ECU 22 compares whether the numerically calculated yaw angle or the lateral position value is larger than the signal from the yaw rate sensor 14 or the direction related sensor (that is, the steering angle sensor 12) (S18). ).

Here, the SPAS ECU 22 decreases the radius of the right tire by a predetermined value (with a small value) when the numerically calculated yaw angle or lateral position value is larger than the sensed value (S20). If the calculated value is smaller than the sensed value, the radius of the left tire is reduced by a predetermined value (with a small value) (S22). The reason why the minute value is a predetermined value is to correct the yaw angle error in a very small value unit for more accurate correction in reducing the error of the yaw angle.

Such after funny the yaw angle error correction, SPAS ECU (22) is numerically the absolute value (absolute value) of the difference between the calculated yaw angle or lateral position value and the sensed value is a predetermined reference value (for example, 10 - 3 ) It is determined whether or not (S24).

If the absolute value of the difference between the numerically calculated yaw angle or the lateral position value and the sensed value is larger than the reference value (“No” in S24), the SPAS ECU 22 returns to steps S14 and S16 and the step is performed. Control to repeat the operation from.

On the contrary, if the absolute value of the difference between the numerically calculated yaw angle or the transverse position value and the sensed value is less than the reference value, the numerically calculated yaw angle or transverse position value is determined as the left and right tire companion diameters (S26). ).

When the tire companion diameter is calculated as described above, when the radius of the left wheel or the right wheel is finely adjusted from the time when the lateral (corrugated angle) error occurs as shown in FIG. 6, the actual radius of the left wheel converges to 32.4 cm. It can be seen that the movement path moves the same after the actual companion compensation as the movement path.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. You must see.

10 wheel sensor 12 steering angle sensor
14 yaw rate sensor 16 cluster
18a to 18h: PAS sensor 20a, 20b: SPAS sensor
22: SPAS ECU

Claims (5)

Comparing the yaw angle or transverse position value numerically calculated according to different left and right tire companion diameters with values sensed by the yaw rate sensor or the direction related sensor;
Reducing the radius of the left or right tire according to the comparison result;
Determining whether the absolute value of the difference between the numerically calculated yaw angle or transverse position value and the sensed value is less than a reference value after the reduction;
If the absolute value of the difference between the numerically calculated yaw angle or transverse position value and the sensed value is less than or equal to the reference value, the numerically calculated yaw angle or transverse position value is determined by the left and right tires. Determining the companion diameter; tire companion diameter calculation method comprising a.
The method according to claim 1,
The reducing step may reduce the radius of the right tire by a predetermined value when the numerically calculated yaw angle or lateral position value is greater than the sensed value, and the numerically calculated yaw angle or lateral position value. If less than the sensed value, tire radius calculation method characterized in that for reducing the radius of the left tire by a predetermined value.
The method according to claim 1,
And if the absolute value of the difference between the numerically calculated yaw angle or lateral position value and the sensed value is greater than the reference value, returning to the comparison step and repeating the operation from the corresponding step. Calculation method.
The method according to any one of claims 1 to 3,
And the comparing step, the reducing step, the determining step, and the determining step are performed while the vehicle is traveling on a straight section.
The method according to claim 4, wherein the tire companion diameter calculation method is applied to a SPAS (parking support system).
KR1020110115884A 2011-11-08 2011-11-08 Method of calculating dynamic radius of tire KR20130050681A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160046324A1 (en) * 2014-07-20 2016-02-18 Hyundai Motor Company Parking steering assist system and method for correcting parking guideline
US10377191B2 (en) 2016-03-11 2019-08-13 Mando Corporation Tire pressure estimation apparatus and estimation method thereof
US10632800B2 (en) 2016-04-15 2020-04-28 Mando Corporation Parking assistance device using tire pressure monitoring system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160046324A1 (en) * 2014-07-20 2016-02-18 Hyundai Motor Company Parking steering assist system and method for correcting parking guideline
US9834208B2 (en) * 2015-07-20 2017-12-05 Hyundai Motor Company Parking steering assist system and method for correcting parking guideline
US10377191B2 (en) 2016-03-11 2019-08-13 Mando Corporation Tire pressure estimation apparatus and estimation method thereof
US10632800B2 (en) 2016-04-15 2020-04-28 Mando Corporation Parking assistance device using tire pressure monitoring system

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