KR20130053699A - Control method for rear wheel steering - Google Patents

Control method for rear wheel steering Download PDF

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Publication number
KR20130053699A
KR20130053699A KR1020110119272A KR20110119272A KR20130053699A KR 20130053699 A KR20130053699 A KR 20130053699A KR 1020110119272 A KR1020110119272 A KR 1020110119272A KR 20110119272 A KR20110119272 A KR 20110119272A KR 20130053699 A KR20130053699 A KR 20130053699A
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KR
South Korea
Prior art keywords
vehicle
wheel steering
rear wheel
steering angle
ecu
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Application number
KR1020110119272A
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Korean (ko)
Inventor
정래욱
Original Assignee
현대자동차주식회사
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Priority to KR1020110119272A priority Critical patent/KR20130053699A/en
Publication of KR20130053699A publication Critical patent/KR20130053699A/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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The present invention relates to a rear wheel steering control method of a vehicle, in which a rear wheel steering device is mounted, which prevents a collision between an obstacle located on a side of the vehicle and a vehicle while reducing a rotation radius of the vehicle.
More specifically, according to the present invention, the method comprises the steps of: (a) determining whether the vehicle's forward speed exceeds 0 km / h; (b) The ECU calculates the moving distance of the vehicle from the time when the vehicle speed exceeds 0 km / h, and sets the rear steering angle of the vehicle to 0 ° until the distance the vehicle moves is equal to the full length of the vehicle. Controlling; And (c) controlling, by the ECU, the rear wheel steering angle of the vehicle to be reversed with respect to the front wheel steering angle when the moving distance of the vehicle exceeds the full length of the vehicle. Provides a rear wheel steering control method.

Description

Control Method for Rear Wheel Steering

The present invention relates to a rear wheel steering control method of a vehicle, in which a rear wheel steering device is mounted, which prevents a collision between an obstacle located on a side of the vehicle and a vehicle while reducing a rotation radius of the vehicle.

In general, a rear wheel steering device (RWS) of a vehicle performs a role of steering a rear wheel of a vehicle according to a driving situation of a vehicle by installing a hydraulic device, a motor, and a speed reducer.

The rear wheel steering device (RSS) is generally operated to reduce the radius of rotation when the vehicle is at a low speed and to improve driving stability when the vehicle is at a high speed. That is, the rear wheel steering angle is controlled in a direction opposite to the front wheel steering angle when the vehicle is at a low speed, and the rear wheel steering angle is controlled in the same direction as the front wheel steering angle when the vehicle is at a high speed.

Referring to FIG. 1, according to an operation of a general rear wheel steering device (RWS), the turning trajectory of the rear end of the vehicle is steered because the rear wheel is steered in a direction opposite to the front wheel in a low speed driving situation such as parking or a U-turn. It is formed outside the side. Because of these characteristics, there is a possibility that a collision may occur and the vehicle may be damaged when an obstacle (wall, curb, other vehicle, etc.) is near the side of the vehicle.

Therefore, in order to prevent such a damage of the vehicle, according to the prior art, a technique for preventing a collision by detecting a presence of an obstacle and a distance to the obstacle by mounting a sensor on the side of the vehicle is disclosed.

However, there is a problem that the manufacturing cost is increased because the vehicle is provided with a separate sensor and an auxiliary device for this is required.

Accordingly, there is a need for a rear wheel steering control method of a vehicle that prevents collision with side obstacles of the vehicle and reduces the radius of rotation of the vehicle without providing a separate sensor or steering mode switch.

The present invention has been made to solve the above-mentioned problems of the prior art, the rear wheel steering control method of the vehicle for preventing collision with obstacles located on the side of the vehicle during low-speed driving of the vehicle, and at the same time to reduce the radius of rotation of the vehicle The purpose is to provide.

The technical objects to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical subjects which are not mentioned can be clearly understood by those skilled in the art from the description of the present invention .

According to the present invention for solving the above-described problems of the prior art, (a) ECU determines whether the forward speed of the vehicle exceeds 0km / h; (b) The ECU calculates the moving distance of the vehicle from the time when the vehicle speed exceeds 0 km / h, and sets the rear steering angle of the vehicle to 0 ° until the distance the vehicle moves is equal to the full length of the vehicle. Controlling; And (c) controlling, by the ECU, the rear wheel steering angle of the vehicle to be reversed with respect to the front wheel steering angle when the moving distance of the vehicle exceeds the full length of the vehicle. Provides a rear wheel steering control method.

According to the present invention, after the step (c), the ECU measures the front wheel steering angle of the vehicle; Measuring, by the ECU, the speed of the vehicle when the front wheel steering angle is not 0 °; And controlling, by the ECU, the rear wheel steering angle of the vehicle in phase with respect to the front wheel steering angle when the speed of the vehicle exceeds a predetermined predetermined speed.

In the present invention, the predetermined speed is preferably any one selected from speeds of 30 km / h to 60 km / h.

According to the present invention, after the step (c), the ECU measures the front wheel steering angle of the vehicle; Resetting the moving distance of the vehicle to '0' when the front wheel steering angle is 0 °; And performing step (b) and step (c) sequentially.

According to the present invention, after the step (c), the ECU measures the front wheel steering angle of the vehicle; Measuring, by the ECU, the speed of the vehicle when the front wheel steering angle is not 0 °; And controlling the rear wheel steering angle of the vehicle to 0 ° when the speed of the vehicle is 0 km / h.

The present invention provides a computer-readable recording medium in which a program for executing the rear wheel steering control method of the vehicle is recorded.

According to the method of controlling the rear wheel steering of the vehicle according to the present invention, the collision with the obstacle located on the side of the vehicle during the low-speed driving of the vehicle, and at the same time to reduce the radius of rotation of the vehicle to prevent damage to the vehicle and ensure safe driving There is.

In addition, according to the present invention, there is no need for a separate sensor or steering mode switch to detect the side obstacle, it is effective to reduce the manufacturing cost and the process of the vehicle.

1 is an exemplary view showing a state of vehicle movement by the rear wheel steering control method of the vehicle according to the prior art.
2 is a flow chart of a rear wheel steering control method of a vehicle according to the present invention.
3 is a configuration diagram of a control system for performing a rear wheel steering control method for a vehicle according to the present invention;
Figure 4a is an exemplary view showing a state of vehicle movement by the rear wheel steering control method of the vehicle according to the present invention.
Figure 4b is a comparison showing the change in the front wheel steering angle and the rear wheel steering angle over time by the rear wheel steering control method of the vehicle according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

1 is an exemplary view showing a state of vehicle movement by the rear wheel steering control method of the vehicle according to the prior art.

According to the operation of the rear wheel steering (RWS) of the general vehicle 100, the rear wheel 120 is steered in the opposite direction to the front wheel 110 in a low-speed driving situation such as parking or U-turn. The turning trajectory of, i.e., the rear bumper end trajectory 150 is formed outward from the side of the vehicle. Because of these characteristics, collisions are likely to occur due to collisions when obstacles (eg, walls, curbs, other vehicles, etc.) are close to the side of the vehicle.

In order to prevent such damage to the vehicle as much as possible, it is necessary to appropriately adjust the rear wheel steering while reducing the rotation radius of the vehicle.

However, in order to reduce the radius of rotation of the vehicle 100, the rear wheel 120 must be steered in the opposite direction to the front wheel 110, i.e., in reverse, and the vehicle 100 may not collide with the side obstacle 130. In order to avoid the contradiction arises that the rear wheel 120 should not be steered in reverse with respect to the front wheel 110.

In the present invention, this physical contradiction is to be applied separately from space and time. That is, i) the rear wheel steering is excluded when the side obstacle 130 of the vehicle 100 is considered, and the rear wheel steering is applied in the space without the obstacle 130 (space separation). ii) The rear wheel steering is excluded at the beginning of the turning of the vehicle, and after a predetermined time, the rear wheel steering is applied (time separation).

For example, since the risk of collision with the side obstacle 130 is large at the beginning of the turn, the rear wheel steering is prevented in advance at the beginning of the turn to prevent collision with the obstacle, and when it is determined that the collision risk has disappeared, the rear wheel steering is performed. Reduce the radius of rotation.

As described above, in the present invention, the control method is differentiated as compared with the prior art by dividing the moving area during the turning of the vehicle 100 into the spatial area and the temporal area.

2 is a flow chart of a rear wheel steering control method of a vehicle according to the present invention.

First, when the vehicle is started, the ECU (Electronic Control Unit) detects the shift lever position signal to determine whether the shift lever is in the driving (D) mode (S11), and when the shift lever is in a straight state, the ECU The vehicle speed signal is detected from the vehicle speed detecting means to determine whether the vehicle speed exceeds 0 km / h (S12).

Subsequently, if it is determined that the vehicle speed exceeds 0 km / h, the vehicle travel signal is calculated using the vehicle speed signal from that time (S13), and if the calculated travel distance is compared with the full length of the vehicle ( S14), when the moving distance is smaller than the total length, it is determined that the rear bumper end does not leave the collisionable area with the side obstacle, and the rear wheel steering angle is controlled to 0 ° (S15). That is, in order to prevent a collision with the side obstacle by suppressing rear wheel steering at the beginning of turning of the vehicle.

Comparing the calculated travel distance with the full length of the vehicle (S14), if the travel distance is greater than the full length, it is determined that the collision distance with the side obstacle of the vehicle is out of the range, and the rear wheel steering angle is reversed with respect to the front wheel from that point. It is controlled (S16).

At this time, if the rear wheel of the vehicle is suddenly controlled in reverse, the riding comfort of the driver can be reduced, so that it is desirable to steer gradually to the target rear wheel steering angle. The reverse phase control time of the rear wheel steering angle may be determined by tuning for each vehicle type. After the rear wheel reversed phase control, the rear wheel steering angle is controlled in a direction opposite to the front wheel steering angle so that the magnitude is proportional.

Subsequently, it is determined whether the front wheel steering angle of the vehicle becomes 0 ° after the rear wheel reverse phase control (S17), and when the front wheel steering angle becomes 0 °, that is, when the steering angle signal becomes 0 °, the moving distance of the vehicle After reset to 0 (S18), the process returns to the step S13 to calculate the moving distance of the vehicle.

If it is determined in step S17 that the front wheel steering angle is not 0 °, it is determined whether the vehicle is stopped after the rear wheel reverse control (S19), and if the speed of the vehicle is 0 km / h, it is correlated to the front wheel steering angle. After returning to the rear wheel steering angle to zero without starting the shift lever position signal detection (S20).

On the other hand, if the speed of the vehicle is not 0km / h, it is determined whether or not the predetermined speed (any one of 30km / h to 60km / h) is exceeded (S21), and the predetermined speed is set. If it exceeds, the rear phase in-phase control is performed without any further reverse phase control (S22).

3 is a configuration diagram of a control system for performing a rear wheel steering control method of a vehicle according to the present invention.

The control system for carrying out the present invention includes an electronic control unit (EUC) 200, a vehicle speed detecting unit 210, a front wheel steering angle detecting unit 220, a shift lever position signal detecting unit 230 and a rear wheel steering unit 240. It may be configured to include).

The vehicle speed detecting unit 210, the front wheel steering angle detecting unit 220, and the shift lever position signal detecting unit 230 may be formed of a known sensor, and the vehicle 200 may detect a vehicle speed detecting signal and a front wheel steering angle detecting signal, respectively. It supplies the gearshift lever position signal.

The rear wheel steering device 240 receives a control command from the ECU 200 to control steering of the rear wheel, and may include a steering motor, a steering gear, and the like.

Figure 4a is an exemplary view showing the state of the vehicle movement by the rear wheel steering control method of the vehicle according to the present invention, Figure 4b is the front wheel steering angle and rear wheel over time by the method of the rear wheel steering control method of the vehicle according to the present invention A comparison chart showing the change in steering angle.

Area (A) of FIG. 4A is an inner area 160 of the trajectory drawn by the front bumper end when the vehicle is turning, and is moved by the driver's steering, so that there may be no obstacle in the area. to be. Area (B) of FIG. 4A is an area 170 in which collision with a side obstacle may occur when the rear wheel 120 of the vehicle is controlled in reverse.

The present invention prevents side collision by controlling the rear wheel steering angle to 0 ° until the rear bumper end of the vehicle enters the area 160 through which the front bumper passes, and the rear bumper end of the vehicle passes through the front bumper of the vehicle. It is designed to reduce the radius of rotation as it enters the region 160 by controlling the rear wheel 120 in reverse phase relative to the front wheel 110.

In order to determine whether the end of the rear bumper of the vehicle has entered the area 160 through which the front bumper of the vehicle passes, it is calculated by comparing the total length of the vehicle 180 and the moving distance of the vehicle. Can be calculated using. That is, the moving distance is calculated from the time when the vehicle starts going straight, and the calculation method is as shown in Equation 1 below.

Figure pat00001

s: travel distance,

v i Vehicle speed at the current sampling time

v i -1 : vehicle speed at previous sampling time

Δt : Sampling time of vehicle speed signal

α: correction value

According to the present invention, since the end trajectory 150 of the rear bumper of the vehicle is not actually a straight line, it is possible to reduce the error between the actual travel distance and the calculated travel distance by adding the experimentally obtained correction value α.

When the movement distance of the vehicle is calculated as described above, it is determined that the rear bumper end of the vehicle has passed the line (C) which is the end line 190 of the battlefield where the front bumper of the vehicle is located, compared to the vehicle full length length 180. The rear wheel steering begins.

After the rear wheel reverse control of the vehicle, the rear wheel reverse control is maintained unless the vehicle is stopped or the front wheel steering angle is 0 ° .If the front wheel steering angle becomes 0 ° again in the rear wheel reverse control state, it moves again from that point on. The distance calculation process is performed, and when the vehicle is stopped in the rear wheel inverse control state, the rear wheel steering angle is controlled to 0 ° again.

On the contrary, when the vehicle starts straight and exceeds a certain speed (eg, 30 km / h to 60 km / h), the rear wheel 120 controls the front wheel 110 to be steered in phase to increase driving stability.

Referring to FIG. 4B, in the present invention, the front wheel steering angle is constantly controlled, while the rear wheel steering angle does not perform steering control for a predetermined time when the vehicle goes straight, and gradually controls steering after a predetermined time has elapsed. If it exceeds, it can be seen that the control is reversed to the front wheel steering angle.

Although the present invention has been described in connection with the specific embodiments of the present invention, it is to be understood that the present invention is not limited thereto. Those skilled in the art can change or modify the described embodiments without departing from the scope of the present invention, and within the equivalent scope of the technical spirit of the present invention and the claims to be described below. Various modifications and variations are possible.

100: vehicle 110: front wheel
120: rear wheel 130: obstacle
140: Trajectory of the end of the front bumper vehicle 150: Trajectory of the end of the front bumper vehicle
160: area where the front bumper of the vehicle passes
170: area where the side obstacle of the vehicle exists
180: full length of the vehicle
190: end of battlefield where vehicle front bumper was located
200: ECU 210: vehicle speed detecting means
220: front wheel steering angle detection means 230: shift lever position signal detection means
240: rear wheel steering

Claims (6)

(a) the ECU determining whether the vehicle's forward speed exceeds 0 km / h;
(b) The ECU calculates the moving distance of the vehicle from the time when the vehicle speed exceeds 0 km / h, and sets the rear steering angle of the vehicle to 0 ° until the distance the vehicle moves is equal to the full length of the vehicle. Controlling; And
(c) the ECU controlling the rear wheel steering angle of the vehicle in reverse with respect to the front wheel steering angle when the moving distance of the vehicle exceeds the full length of the vehicle;
Rear obstacle steering method of the vehicle to reduce the collision and prevent the side obstacle including a rotation radius.
The method of claim 1, wherein after step (c),
The ECU measuring the front wheel steering angle of the vehicle;
Measuring, by the ECU, the speed of the vehicle when the front wheel steering angle is not 0 °; And
The ECU controlling the rear wheel steering angle of the vehicle in phase with respect to the front wheel steering angle when the speed of the vehicle exceeds a predetermined predetermined speed;
Rear wheel steering control method of the vehicle to reduce the side obstacle collision prevention and rotation radius further comprising.
The method of claim 1, wherein after step (c),
The ECU measuring the front wheel steering angle of the vehicle;
Resetting the moving distance of the vehicle to zero when the front wheel steering angle is 0 °; And
Performing steps (b) and (c) sequentially;
Rear wheel steering control method of the vehicle to reduce the side obstacle collision prevention and rotation radius further comprising.
The method of claim 1, wherein after step (c),
The ECU measuring the front wheel steering angle of the vehicle;
Measuring, by the ECU, the speed of the vehicle when the front wheel steering angle is not 0 °; And
Controlling the rear wheel steering angle of the vehicle to 0 ° when the speed of the vehicle is 0 km / h;
Rear wheel steering control method of the vehicle to reduce the side obstacle collision prevention and rotation radius further comprising.
The method of claim 2, wherein the predetermined speed is,
The rear wheel steering control method of the vehicle for reducing the side obstacle collision and reducing the turning radius, characterized in that any one of the speed of 30km / h to 60km / h.
A computer-readable recording medium in which a program for executing the rear wheel steering control method for a vehicle according to any one of claims 1 to 5 is recorded.
KR1020110119272A 2011-11-16 2011-11-16 Control method for rear wheel steering KR20130053699A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2501167A (en) * 2012-03-01 2013-10-16 Bosch Gmbh Robert Driving assistance for vehicle with collision avoidance
KR20160109285A (en) * 2015-03-10 2016-09-21 주식회사 만도 rear wheel Control Method for Vehicle in State of Emergency
US10421487B2 (en) 2017-04-12 2019-09-24 Hyundai Motor Company Apparatus and method for controlling rear wheel steering system
KR20200041092A (en) * 2018-10-11 2020-04-21 현대모비스 주식회사 Apparatus and method for controlling rear wheel steering at high speed turning
CN111284558A (en) * 2018-12-07 2020-06-16 现代自动车株式会社 System and method for controlling turning of vehicle
CN112046607A (en) * 2020-09-11 2020-12-08 中国第一汽车股份有限公司 Yaw adjusting method and device in vehicle driving, vehicle and medium
US11485372B2 (en) 2018-04-12 2022-11-01 Hyundai Mobis Co., Ltd. Standalone-type rear wheel steering control apparatus and method thereof

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2501167A (en) * 2012-03-01 2013-10-16 Bosch Gmbh Robert Driving assistance for vehicle with collision avoidance
GB2501167B (en) * 2012-03-01 2018-12-19 Bosch Gmbh Robert Process for avoiding or lessening consequences of motor vehicle collisions
KR20160109285A (en) * 2015-03-10 2016-09-21 주식회사 만도 rear wheel Control Method for Vehicle in State of Emergency
US10421487B2 (en) 2017-04-12 2019-09-24 Hyundai Motor Company Apparatus and method for controlling rear wheel steering system
US11485372B2 (en) 2018-04-12 2022-11-01 Hyundai Mobis Co., Ltd. Standalone-type rear wheel steering control apparatus and method thereof
KR20200041092A (en) * 2018-10-11 2020-04-21 현대모비스 주식회사 Apparatus and method for controlling rear wheel steering at high speed turning
CN111284558A (en) * 2018-12-07 2020-06-16 现代自动车株式会社 System and method for controlling turning of vehicle
CN111284558B (en) * 2018-12-07 2023-06-20 现代自动车株式会社 System and method for controlling turning of vehicle
CN112046607A (en) * 2020-09-11 2020-12-08 中国第一汽车股份有限公司 Yaw adjusting method and device in vehicle driving, vehicle and medium
CN112046607B (en) * 2020-09-11 2021-11-02 中国第一汽车股份有限公司 Yaw adjusting method and device in vehicle driving, vehicle and medium

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