KR20130056062A - Mdps control method according to road condition - Google Patents

Mdps control method according to road condition Download PDF

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KR20130056062A
KR20130056062A KR1020110121797A KR20110121797A KR20130056062A KR 20130056062 A KR20130056062 A KR 20130056062A KR 1020110121797 A KR1020110121797 A KR 1020110121797A KR 20110121797 A KR20110121797 A KR 20110121797A KR 20130056062 A KR20130056062 A KR 20130056062A
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steering
torque
driver
vehicle
determination step
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KR101714083B1 (en
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이경복
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현대자동차주식회사
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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
    • 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
    • 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
    • B60W40/114—Yaw movement
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • 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
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/35—Road bumpiness, e.g. potholes
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/202—Steering torque

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

Abstract

PURPOSE: An MDPS control method according to road condition is provided to improve steering feeling satisfaction of an operator on an unstable road and to increase running stability of a vehicle. CONSTITUTION: An MDPS control method according to road condition comprises the following steps: A steep path decision step(S10) aims to judge whether or not a road surface is a steep path by a car speed, a steering angle, and values of a steering force and a yaw rate; A steering torque decision step(S20) aims to determine whether or not a steering torque of an operator is less than a predetermined standard torque when determining a vehicle travels the steep path; A torque compensation step(S30) aims to compensate for torque so that the steering torque of the operator can be a bigger value than the standard torque when the steering torque of the operator is less than the standard torque. [Reference numerals] (AA) Start; (BB) Driving on an unstable road; (S11) 10 < Vehicle speed S < 60Km/h ?; (S12) 0 < Steering angle < 10 degrees ?; (S13) On-center inversion generated four times or more per second?; (S14) 1 < Yaw angle speed < 3 degrees ?; (S15) Maintained 5 seconds?; (S20) Steering torque < Reference torque; (S30) Steering torque = &brvbar;Steering torque + Compensation torque&brvbar;

Description

노면 상태에 따른 ＭＤＰＳ 제어방법{MDPS CONTROL METHOD ACCORDING TO ROAD CONDITION}MDPS CONTROL METHOD ACCORDING TO ROAD CONDITION}

본 발명은 노면 상태에 따른 ＭＤＰＳ 제어방법에 관한 것으로서, 보다 상세하게는 험로나 요철로 등과 같은 도로를 주행할 때, 운전자가 보다 안정된 상태에서 편안하게 운전할 수 있도록 하는 기술에 관한 것이다.The present invention relates to a MDPS control method according to a road surface condition, and more particularly, to a technology that allows a driver to comfortably drive in a more stable state when driving on a road such as a rough road or uneven road.

MDPS(Motor Driven Power Steering)는 운전자의 스티어링휠 조작력을 모터의 동력으로 보조하여 원활한 조향이 이루어질 수 있도록 하는 것으로서, 종래의 유압식 파워스티어링 장치에 비하여, 구성이 간단하고 엔진의 동력을 소모하지 않는 등의 장점이 있다.
Motor Driven Power Steering (MDPS) assists the driver's steering wheel operation with the power of the motor to enable smooth steering. Compared to the conventional hydraulic power steering system, the configuration is simpler and does not consume engine power. Has the advantage.

한편, 차량의 주행중 차량이 벨지안로나, 비포장 도로, 요철로 또는 캣츠아이로 등과 같은 험로에 진입하게 되면, 울퉁불퉁한 노면으로부터 조향휠에 충격력이 작용하여 킥백(KICKBACK)현상 등이 발생하여 스티어링휠이 회전하게 되는데, 이와 같은 상황이 발생하면, 운전자는 스티어링휠을 바로 잡기 위해 계속적으로 수정조타를 행하게 되는데, 이때 스티어링휠이 너무 가볍게 조작되면, 중앙을 맞추기 어려워서 운전자는 긴장하게 되고 차량의 흔들림이 커짐에 따라 차량의 주행안정성도 저해되는 등의 문제가 발생할 수 있다.
On the other hand, if the vehicle enters a rough road such as Belgian road, unpaved road, uneven road, or Catseye road while driving, the impact force acts on the steering wheel from the bumpy road surface, resulting in a kickback phenomenon and the steering wheel. If this happens, the driver will continue to make adjustments to correct the steering wheel. If the steering wheel is operated too lightly, it will be difficult to center and the driver will be nervous and the vehicle shake will increase. Accordingly, problems such as impairing driving stability of the vehicle may occur.

상기의 발명의 배경이 되는 기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진 자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.The matters described as the background of the above-described invention are merely for the purpose of enhancing the understanding of the background of the present invention and are accepted as acknowledging that they correspond to the prior art already known to those skilled in the art. I will not.

KRKR 10-2009-008179810-2009-0081798 AA

본 발명은 상기한 바와 같은 문제점을 해결하기 위하여 안출된 것으로서, MDPS가 탑재된 차량이 험로에 진입하여 운전자의 수정조타가 필요한 경우, 스티어링휠이 지나치게 쉽게 조작되어 오히려 스티어링휠의 조작 안정성이 떨어지고 차량의 주행 안정성이 저하되는 현상을 방지할 수 있도록 함으로써, 불안정한 노면에 대한 운전자의 조향감 만족도를 향상시키고 차량에 대한 주행 안정성을 증가시킴으로써, 차량의 상품성을 향상시킬 수 있도록 한 노면 상태에 따른 ＭＤＰＳ 제어방법을 제공함에 그 목적이 있다.The present invention has been made to solve the problems described above, when the vehicle equipped with the MDPS enters the rough road and requires the driver's corrective steering, the steering wheel is operated too easily, rather the operating stability of the steering wheel is lowered and the vehicle MDS control based on road conditions to improve driver's steering satisfaction on unstable road surface and increase driving stability to vehicle by improving the driver's satisfaction on unstable road surface. The purpose is to provide a method.

상기한 바와 같은 목적을 달성하기 위한 본 발명 노면 상태에 따른 ＭＤＰＳ 제어방법은MDS control method according to the road surface state of the present invention for achieving the above object

차속과, 조향각과, 조타력 및 요각속도의 값으로 노면 상태가 험로인지를 판단하는 험로판단단계와;A rough road determination step of determining whether the road surface is a rough road by the values of the vehicle speed, the steering angle, the steering force, and the yaw speed;

상기 험로판단단계 수행결과, 차량이 험로를 주행하고 있는 것으로 판단되면, 운전자의 조향토크가 소정의 기준토크 미만인지를 판단하는 조향토크판단단계와;A steering torque determination step of determining whether the steering torque of the driver is less than a predetermined reference torque when it is determined that the vehicle is driving the rough road as a result of performing the bad road determination step;

상기 조향토크판단단계 수행결과, 상기 운전자의 조향토크가 상기 기준토크 미만인 경우, 상기 운전자의 조향토크가 상기 기준토크보다 큰 값이 되도록 토크를 보상하는 토크보상단계를 포함하여 구성된 것을 특징으로 한다.
And a torque compensating step of compensating the torque such that the steering torque of the driver is greater than the reference torque when the steering torque of the driver is less than the reference torque as a result of performing the steering torque determination step.

또한, 본 발명에 따른 노면 상태에 따른 ＭＤＰＳ 제어방법은In addition, the MDPS control method according to the road surface state according to the present invention

와이퍼 작동여부와, 차속과, 조향각과, 조타력 및 요각속도의 값으로 노면 상태가 빗길이나 눈길인지를 판단하는 미끄럼로판단단계와;A slipper determination step of determining whether the road surface is rainy or snowy based on values of the wiper operation, vehicle speed, steering angle, steering force, and yaw rate;

상기 미끄럼로판단단계 수행결과, 차량이 미끄럼로를 주행하고 있는 것으로 판단되면, 운전자의 조향토크가 소정의 기준토크 미만인지를 판단하는 조향토크판단단계와;A steering torque determination step of determining whether the steering torque of the driver is less than a predetermined reference torque when it is determined that the vehicle is driving the sliding road as a result of performing the sliding determination step;

상기 조향토크판단단계 수행결과, 상기 운전자의 조향토크가 상기 기준토크 미만인 경우, 상기 운전자의 조향토크가 상기 기준토크보다 큰 값이 되도록 토크를 보상하는 토크보상단계를 포함하여 구성된 것을 특징으로 한다.And a torque compensating step of compensating the torque such that the steering torque of the driver is greater than the reference torque when the steering torque of the driver is less than the reference torque as a result of performing the steering torque determination step.

본 발명은 MDPS가 탑재된 차량이 험로에 진입하여 운전자의 수정조타가 필요한 경우, 스티어링휠이 지나치게 쉽게 조작되어 오히려 스티어링휠의 조작 안정성이 떨어지고 차량의 주행 안정성이 저하되는 현상을 방지할 수 있도록 함으로써, 불안정한 노면에 대한 운전자의 조향감 만족도를 향상시키고 차량에 대한 주행 안정성을 증가시킴으로써, 차량의 상품성을 향상시킬 수 있도록 한다.According to the present invention, when a vehicle equipped with an MDPS enters a rough road and a steering wheel is required by a driver, the steering wheel is operated too easily to prevent a phenomenon in which steering wheel operation stability is lowered and driving stability of the vehicle is lowered. In addition, by improving the driver's steering satisfaction on the unstable road surface and increasing the driving stability of the vehicle, it is possible to improve the merchandise of the vehicle.

도 1은 본 발명에 따른 노면 상태에 따른 ＭＤＰＳ 제어방법의 제1실시예를 도시한 순서도,
도 2는 본 발명에 따른 노면 상태에 따른 ＭＤＰＳ 제어방법을 블록도로 설명한 도면,
도 3은 본 발명에 따른 노면 상태에 따른 ＭＤＰＳ 제어방법의 제2실시예를 도시한 순서도이다. 1 is a flow chart showing a first embodiment of an MDPS control method according to a road surface condition according to the present invention;
2 is a block diagram illustrating a MDS control method according to a road surface state according to the present invention;
3 is a flowchart showing a second embodiment of the MDPS control method according to the road surface condition according to the present invention.

도 1을 참조하면, 본 발명 노면 상태에 따른 ＭＤＰＳ 제어방법의 제1실시예는 차속과, 조향각과, 조타력 및 요각속도의 값으로 노면 상태가 험로인지를 판단하는 험로판단단계(S10)와; 상기 험로판단단계(S10) 수행결과, 차량이 험로를 주행하고 있는 것으로 판단되면, 운전자의 조향토크가 소정의 기준토크 미만인지를 판단하는 조향토크판단단계(S20)와; 상기 조향토크판단단계(S20) 수행결과, 상기 운전자의 조향토크가 상기 기준토크 미만인 경우, 상기 운전자의 조향토크가 상기 기준토크보다 큰 값이 되도록 토크를 보상하는 토크보상단계(S30)를 포함하여 구성된다.Referring to Figure 1, the first embodiment of the MDPS control method according to the road surface condition of the present invention is a bad road determination step (S10) for determining whether the road surface condition is a rough road by the value of the vehicle speed, steering angle, steering force and yaw speed ; A steering torque determination step (S20) of determining whether the steering torque of the driver is less than a predetermined reference torque, when it is determined that the vehicle is driving the rough road as a result of performing the rough path determination step (S10); As a result of performing the steering torque determination step (S20), when the steering torque of the driver is less than the reference torque, a torque compensation step (S30) of compensating the torque so that the steering torque of the driver is greater than the reference torque; It is composed.

즉, 차량의 주행에 따라 변화하는 차속, 조향각, 조타력 및 요각속도의 값에 의해 차량이 현재 험로를 주행하고 있는 상황인지를 판단한 후, 험로를 주행하고 있다면, 운전자가 스티어링휠을 조작하여 조향륜이 조작되는 조향토크가, 운전자가 차량의 직진 주행상태를 유지하기 위해 조작하는 수준임을 나타내는 기준토크 미만으로 작은 경우에는, 상기 운전자의 조향토크를 상기 기준토크보다 크게 보상하도록 하여, 스티어링휠이 너무 쉽게 조작되는 것을 방지하고 스티어링휠의 든든한 느낌을 형성하는 것이다.
That is, after determining whether the vehicle is currently driving on the rough road based on the values of the vehicle speed, steering angle, steering power, and yaw speed, which are changed according to the driving of the vehicle, if the driver is driving on the rough road, the driver operates the steering wheel to steer. If the steering torque at which the wheel is operated is less than the reference torque indicating that the driver is operating to maintain a straight driving state of the vehicle, the steering wheel is compensated to be larger than the reference torque. It prevents it from being operated too easily and creates a strong feeling of steering wheel.

여기서, 상기 운전자의 조향토크가 기준토크 미만인 경우 이를 보상한다는 것은, 예컨대 운전자가 현재 험로에서 차량의 직진 주행을 유지하기 위해 스티어링휠을 조작하는 조향토크가 상기 기준토크(예컨대, 1.5Nm) 미만인 1.4Nm라면, 상기 조향토크에 보상토크(예컨대, 1.5Nm)를 더하여 새로운 조향토크 값이 2.9Nm가 되도록 MDPS의 모터를 제어하여, 실질적으로 운전자가 스티어링휠을 조작하려면 1,4Nm가 아니라 2.9Nm가 필요하도록 하여, 스티어링휠이 더 무거워지도록 함으로써, 운전자가 용이하게 차량의 직진성을 확보하도록 하고, 그에 의해 차량의 주행안정성이 향상되도록 한다는 것이다.
Compensating for the driver's steering torque when the driver's steering torque is less than the reference torque, for example, 1.4, in which the driver operates the steering wheel to maintain the straight running of the vehicle at the current rough road, the driver's steering torque is less than the reference torque (for example, 1.5 Nm). If Nm, the compensation torque (for example, 1.5 Nm) is added to the steering torque to control the motor of the MDPS so that the new steering torque value is 2.9 Nm, so that in order for the driver to operate the steering wheel, 2.9 Nm is not actually 1,4 Nm. By making it necessary, the steering wheel becomes heavier, so that the driver can easily secure the straightness of the vehicle, thereby improving the driving stability of the vehicle.

상기 험로판단단계(S10)에서는 차속이 중속이나 저속인 상태를 나타내는 소정의 차속범위 이내인지를 판단하고(S11), 조향각이 운전자의 선회 조작이 아닌 직진 조향 의지를 나타내는 소정의 각도범위 이내인지를 판단하며(S12), 조타력이 소정시간 이내에 소정회수 이상 온센터 반전을 발생시키도록 작용하는지를 판단하고(S13), 요각속도가 차량이 직진중에 약간 회전하고 있음을 나타내는 소정값 범위 이내인지를 판단하여(S14), 이상의 모든 조건을 만족시 차량이 험로를 주행중인 것으로 판단한다.
In the rough path determination step (S10), it is determined whether the vehicle speed is within a predetermined vehicle speed range indicating a state of medium speed or low speed (S11), and whether the steering angle is within a predetermined angle range indicating a direct steering intention rather than turning of the driver. Judgment (S12), judging whether the steering force acts to generate on-center reversal more than a predetermined number of times within a predetermined time (S13), and determines whether the yaw rate is within a predetermined value range indicating that the vehicle is rotating slightly while going straight (S14), when all the above conditions are satisfied, it is determined that the vehicle is driving on the rough road.

즉, 도 1의 실시예에서, 험로를 주행한다면, 차속이 통상 저속이거나 중속의 범위 이내일 것이므로, 차속이 10 내지 60km/h 이내의 범위인지를 판단하고, 험로를 직진 주행하는 경우 라면, 조향각이 너무 크게 변화하지는 않을 것이므로, 조향각이 0 내지 10도 이내의 범위인지를 판단하는 것이다.
That is, in the embodiment of FIG. 1, if the vehicle travels on the rough road, the vehicle speed will normally be within the range of the low speed or the medium speed, and it is determined whether the vehicle speed is within the range of 10 to 60 km / h. Since this will not change too much, it is to determine whether the steering angle is in the range of 0 to 10 degrees.

여기서, 상기 조향각이 운전자의 직진 조향 의지를 나타내는 소정의 범위 이내인 경우를 판단함에 있어서, 상기 소정의 범위는 상기 차속에 따라 다르게 설정될 수 있을 것이다.
Here, in determining a case where the steering angle is within a predetermined range indicating the driver's straight steering intention, the predetermined range may be set differently according to the vehicle speed.

즉, 같은 험로 주행상황이라도, 차속이 상대적으로 빠른 경우에는 조향각의 범위가 저속의 경우보다는 크지 않을 것이므로 이를 반영하도록 차속별로 조향각을 달리 판단할 수 있는 별도의 맵을 구성하여 이를 사용하도록 하는 것이 험로 주행상황을 보다 정확하게 판정해내는 데에 도움을 줄 수 있을 것이다.
In other words, even if the driving speed is the same, if the vehicle speed is relatively fast, the steering angle range will not be larger than that of the low speed, so it is necessary to construct a separate map that can be used to determine the steering angle differently for each vehicle speed to reflect this. It can help you to determine the driving situation more accurately.

한편, 험로를 주행한다면, 운전자가 좌우로 스티어링휠을 조작하는 조타력을 지속적으로 작용하여 스티어링휠이 정확히 직진상태를 형성하는 온센터 상태를 넘어서는 반전이 빠르게 반복적으로 발생할 것이므로, 조타력에 의한 온센터 반전이 초당 4회 이상으로 발생하는지를 판단하고, 험로를 주행한다면, 차량의 수직축을 중심으로 한 회동방향 흔들림에 의해 요각속도가 약간의 범위 내에서 변화할 것이므로, 요각속도가 1 내지 3도의 범위 내인지를 판단하여, 차량의 험로 주행 여부를 판단하는 것이다.
On the other hand, if driving on the rough road, the driver will continue to apply the steering force to operate the steering wheel to the left and right, so that the reversal will occur quickly and repeatedly beyond the on-center state where the steering wheel forms an exact straight state, Judging whether the center reversal occurs more than four times per second and driving on the rough road, since the yaw rate will change within a slight range due to the rotational direction around the vehicle's vertical axis, the yaw rate will range from 1 to 3 degrees. By determining whether the vehicle is inside, it is determined whether the vehicle is traveling on the rough road.

또한, 상기 험로판단단계(S10)는 상기한 바와 같은 차속과, 조향각과, 조타력 및 요각속도의 조건을 모두 만족하는 상황이 소정의 기준지속시간 이상 지속되는지를 판단하는 지속시간판단단계(S15)를 더 포함하여 구성될 수 있는바, 이는 제어의 안정성을 확보하기 위한 것으로 상기 소정의 기준지속시간을 도 1에서는 5초로 설정하였으나 험로 주행상황의 지속을 확인할 수 있는 수준의 다른 값으로 설정하는 것도 가능할 것이다.
In addition, the hurdle determination step (S10) is a duration determination step (S15) for determining whether a situation that satisfies all of the conditions of the vehicle speed, steering angle, steering force, and yaw speed as described above is longer than a predetermined reference duration. It may be configured to include a), which is to ensure the stability of the control to set the predetermined reference duration time to 5 seconds in Figure 1 but to set the other value of the level to confirm the continuation of the bad road driving situation It would also be possible.

여기서, 상기 차속은 차속센서에 의해 검출될 수 있으며, 상기 조향각과 조타력은 토크센서 및 조향각센서에 의해 검출될 수 있을 것이고, 상기 요각속도는 요센서에 의해 검출될 수 있을 것이며, 기타 G센서 등이 차량의 상하진동을 판단하여 추가적인 정보로 활용되도록 할 수 있을 것이다.
Here, the vehicle speed may be detected by the vehicle speed sensor, the steering angle and the steering force may be detected by the torque sensor and the steering angle sensor, the yaw speed may be detected by the yaw sensor, other G sensor The back may determine the vertical vibration of the vehicle and may be used as additional information.

참고로, 도 2에는 상기한 바와 같은 제어방법을 블록도로 표시하고 있는 바, 본 발명은 도 2의 하측부분에서 각 센서로부터 신호를 받아, 이 신호들을 처리하여, 도로 노면을 판별하고, 그에 따라 토크를 보상하도록 하여, 기본적인 MDPS 기본로직에 의해 결정된 모터 제어값에 보상값을 적용하여 최종적인 모터 제어로직을 실행함으로써, 모터에 의한 운전자의 스티어링휠 조작감을 안정화시킬 수 있도록 하는 것이다.
For reference, the control method as described above is shown in FIG. 2 as a block diagram. The present invention receives a signal from each sensor in the lower part of FIG. 2, processes the signals, and determines a road surface accordingly. By compensating the torque, by applying the compensation value to the motor control value determined by the basic MDPS basic logic to execute the final motor control logic, it is possible to stabilize the driver's steering wheel operation feeling by the motor.

도 3은 본 발명에 따른 노면 상태에 따른 ＭＤＰＳ 제어방법의 제2실시예로서, 기본적인 사상은 상기 제1실시예와 거의 동일하지만, 본 실시예는 와이퍼의 작동 여부를 더 판단하여, 차량이 빗길이나 눈길 등을 주행하는 경우에 불안정한 스티어링휠 조작을 방지하고 차량의 주행 안정성을 확보하기 위한 것으로서, 본실시예는 와이퍼 작동여부와, 차속과, 조향각과, 조타력 및 요각속도의 값으로 노면 상태가 빗길이나 눈길인지를 판단하는 미끄럼로판단단계(S100)와; 상기 미끄럼로판단단계(S100) 수행결과, 차량이 미끄럼로를 주행하고 있는 것으로 판단되면, 운전자의 조향토크가 소정의 기준토크 미만인지를 판단하는 조향토크판단단계(S20)와; 상기 조향토크판단단계(S20) 수행결과, 상기 운전자의 조향토크가 상기 기준토크 미만인 경우, 상기 운전자의 조향토크가 상기 기준토크보다 큰 값이 되도록 토크를 보상하는 토크보상단계(S30)를 포함하여 구성된다.
Figure 3 is a second embodiment of the MDPS control method according to the road surface according to the present invention, the basic idea is almost the same as the first embodiment, the present embodiment further determines whether the wiper operation, the vehicle is rained In order to prevent unstable steering wheel operation and to secure driving stability when driving on snow or snowy roads, the present embodiment provides a road surface with a wiper operation, a vehicle speed, a steering angle, a steering force, and a yaw speed. Sliding judging step (S100) to determine whether the rain or snow; A steering torque determination step (S20) of determining whether the driver's steering torque is less than a predetermined reference torque when it is determined that the vehicle is driving on the sliding road as a result of performing the sliding determination step (S100); As a result of performing the steering torque determination step (S20), when the steering torque of the driver is less than the reference torque, a torque compensation step (S30) of compensating the torque so that the steering torque of the driver is greater than the reference torque; It is composed.

즉, 상기 미끄럼로판단단계(S100)에서 와이퍼의 동작 여부를 더 확인함으로써, 차량이 미끄럼로를 주행하고 있는 상황인지를 파악하여, 그에 따라 운전자의 조향토크를 보상할지의 여부를 결정하도록 한 것이다.
In other words, by further checking whether the wiper is operated in the slip determination step (S100), it is determined whether the vehicle is driving on the slipper, and accordingly determines whether to compensate the driver's steering torque. .

상기 미끄럼로판단단계(S100)에서는 와이퍼가 동작중인지를 판단하며(S101), 차속이 중속이나 저속인 상태를 나타내는 소정의 차속범위 이내인지를 판단하고(S102), 조향각이 운전자의 선회 조작이 아닌 직진 조향 의지를 나타내는 소정의 범위 이내인지를 판단하며(S103), 조타력이 소정시간 이내에 소정회수 이상 온센터 반전을 발생시키도록 작용하는지를 판단하고(S104), 요각속도가 차량이 직진중에 약간 회전하고 있음을 나타내는 소정 범위 이내인지를 판단하여(S105), 모든 조건을 만족시 차량이 미끄럼로를 주행중인 것으로 판단하는 것이다.
In the sliding determination step (S100), it is determined whether the wiper is in operation (S101), it is determined whether the vehicle speed is within a predetermined vehicle speed range indicating a state of medium speed or low speed (S102), and the steering angle is not a turning operation of the driver. It is determined whether it is within a predetermined range indicating a straight steering intention (S103), and it is determined whether the steering force acts to generate an on-center reversal more than a predetermined number of times within a predetermined time (S104), and the yaw rate is slightly rotated while the vehicle is going straight. It is determined whether or not it is within a predetermined range indicating that the vehicle is operating (S105), and when all the conditions are satisfied, it is determined that the vehicle is driving on the slip road.

상기 미끄럼로판단단계(S100)는 제1실시예와 유사하게 상기한 바와 같은 와이퍼 동작여부와, 차속과, 조향각과, 조타력 및 요각속도의 조건을 모두 만족하는 상황이 소정의 기준지속시간 이상 지속되는지를 판단하는 지속시간판단단계(S106)를 더 포함하여 구성되는 것이 제어의 안정성 측면에서 바람직할 것이다.
In the sliding judgment step S100, similar to the first embodiment, a condition that satisfies all of the conditions of the wiper operation, the vehicle speed, the steering angle, the steering force, and the yaw speed as described above is equal to or greater than a predetermined reference duration time. It may be desirable to further include a duration determination step (S106) for determining whether it lasts.

본 제2실시예는 상기 제1실시예와 거의 유사하고, 상기 와이퍼의 작동여부를 더 고려하여 차량이 미끄럼로를 주행하고 있는지를 판단하여 조향토크를 보상하도록 하는 것이므로, 자세한 설명은 생략한다. 참고로, 도 3의 실시예에서는 도 2의 실시예와는 다소 다른 범위로 조향각과, 요각속도 및 조타력에 의한 온센터 반전 회수 등을 설정하고 있다.
Since the second embodiment is almost similar to the first embodiment, the steering torque is compensated by determining whether the vehicle is driving on a sliding road by further considering whether the wiper is operated, and thus detailed description thereof will be omitted. For reference, the embodiment of FIG. 3 sets the steering angle, the number of on-center inversions due to the yaw rate, the steering force, and the like in a slightly different range from the embodiment of FIG. 2.

본 발명은 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

S10; 험로판단단계
S20; 조향토크판단단계
S30; 토크보상단계
S15, S106; 지속시간판단단계
S100; 미끄럼로판단단계S10; Career judgment stage
S20; Steering Torque Decision Stage
S30; Torque Compensation Step
S15, S106; Duration judgment stage
S100; Sliding judgment step

Claims (8)

차속과, 조향각과, 조타력 및 요각속도의 값으로 노면 상태가 험로인지를 판단하는 험로판단단계(S10)와;
상기 험로판단단계(S10) 수행결과, 차량이 험로를 주행하고 있는 것으로 판단되면, 운전자의 조향토크가 소정의 기준토크 미만인지를 판단하는 조향토크판단단계(S20)와;
상기 조향토크판단단계(S20) 수행결과, 상기 운전자의 조향토크가 상기 기준토크 미만인 경우, 상기 운전자의 조향토크가 상기 기준토크보다 큰 값이 되도록 토크를 보상하는 토크보상단계(S30);
를 포함하여 구성된 것을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.A rough road determination step (S10) of determining whether the road surface is a rough road by the values of the vehicle speed, the steering angle, the steering force, and the yaw speed;
A steering torque determination step (S20) of determining whether the steering torque of the driver is less than a predetermined reference torque, when it is determined that the vehicle is driving the rough road as a result of performing the rough path determination step (S10);
A torque compensating step (S30) for compensating the torque such that the steering torque of the driver is greater than the reference torque when the steering torque of the driver is less than the reference torque as a result of performing the steering torque determination step (S20);
MDS control method according to the road surface state characterized in that it comprises a. 청구항 1에 있어서,
상기 험로판단단계(S10)에서는
차속이 중속이나 저속인 상태를 나타내는 소정의 차속범위 이내인지를 판단하고;
조향각이 운전자의 선회 조작이 아닌 직진 조향 의지를 나타내는 소정의 각도범위 이내인지를 판단하며;
조타력이 소정시간 이내에 소정회수 이상 온센터 반전을 발생시키도록 작용하는지를 판단하고;
요각속도가 차량이 직진중에 약간 회전하고 있음을 나타내는 소정값 범위 이내인지를 판단하여;
이상의 모든 조건을 만족시 차량이 험로를 주행중인 것으로 판단하는 것
을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.The method according to claim 1,
In the bad path determination step (S10)
Determining whether the vehicle speed is within a predetermined vehicle speed range indicating a state of medium speed or low speed;
Determine whether the steering angle is within a predetermined angle range indicative of the straight steering intention, not the driver's turning operation;
Determining whether the steering force acts to cause on-center reversal more than a predetermined number of times within a predetermined time;
Judging whether the yaw rate is within a predetermined value indicating that the vehicle is rotating slightly while going straight;
Judging that the vehicle is driving on a rough road when all of the above conditions are satisfied.
MDS control method according to the road surface condition characterized in that. 청구항 2에 있어서,
상기 험로판단단계(S10)는 상기한 바와 같은 차속과, 조향각과, 조타력 및 요각속도의 조건을 모두 만족하는 상황이 소정의 기준지속시간 이상 지속되는지를 판단하는 지속시간판단단계(S15)를 더 포함하여 구성된 것
을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.The method according to claim 2,
The bad road determination step (S10) is a duration determination step (S15) for determining whether a situation that satisfies all of the conditions of the vehicle speed, steering angle, steering force, and yaw speed as described above is longer than a predetermined reference duration. Further comprising
MDS control method according to the road surface condition characterized in that. 청구항 2에 있어서,
상기 조향각이 운전자의 직진 조향 의지를 나타내는 소정의 범위 이내인 경우를 판단함에 있어서, 상기 소정의 범위는 상기 차속에 따라 다르게 설정되는 것
을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.The method according to claim 2,
Wherein the predetermined range is set differently according to the vehicle speed in determining the case where the steering angle is within a predetermined range indicating a driver's straight steering will.
MDS control method according to the road surface condition characterized in that. 와이퍼 작동여부와, 차속과, 조향각과, 조타력 및 요각속도의 값으로 노면 상태가 빗길이나 눈길인지를 판단하는 미끄럼로판단단계(S100)와;
상기 미끄럼로판단단계(S100) 수행결과, 차량이 미끄럼로를 주행하고 있는 것으로 판단되면, 운전자의 조향토크가 소정의 기준토크 미만인지를 판단하는 조향토크판단단계(S20)와;
상기 조향토크판단단계(S20) 수행결과, 상기 운전자의 조향토크가 상기 기준토크 미만인 경우, 상기 운전자의 조향토크가 상기 기준토크보다 큰 값이 되도록 토크를 보상하는 토크보상단계(S30);
를 포함하여 구성된 것을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.Sliding judging step (S100) for determining whether the road surface condition is rain or snow by the value of the wiper operation, vehicle speed, steering angle, steering force and yaw rate;
A steering torque determination step (S20) of determining whether the driver's steering torque is less than a predetermined reference torque when it is determined that the vehicle is driving on the sliding road as a result of performing the sliding determination step (S100);
A torque compensating step (S30) for compensating the torque such that the steering torque of the driver is greater than the reference torque when the steering torque of the driver is less than the reference torque as a result of performing the steering torque determination step (S20);
MDS control method according to the road surface state characterized in that it comprises a. 청구항 5에 있어서,
상기 미끄럼로판단단계(S100)에서는
와이퍼가 동작중인지를 판단하며;
차속이 중속이나 저속인 상태를 나타내는 소정의 차속범위 이내인지를 판단하고;
조향각이 운전자의 선회 조작이 아닌 직진 조향 의지를 나타내는 소정의 범위 이내인지를 판단하며;
조타력이 소정시간 이내에 소정회수 이상 온센터 반전을 발생시키도록 작용하는지를 판단하고;
요각속도가 차량이 직진중에 약간 회전하고 있음을 나타내는 소정 범위 이내인지를 판단하여;
모든 조건을 만족시 차량이 미끄럼로를 주행중인 것으로 판단하는 것
을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.The method according to claim 5,
In the sliding judgment step (S100)
Determine whether the wiper is in operation;
Determining whether the vehicle speed is within a predetermined vehicle speed range indicating a state of medium speed or low speed;
Determine whether the steering angle is within a predetermined range indicating the steering direction of the driver and not the turning operation of the driver;
Determining whether the steering force acts to cause on-center reversal more than a predetermined number of times within a predetermined time;
Determining whether the yaw rate is within a predetermined range indicating that the vehicle is rotating slightly while going straight;
Judging that a vehicle is traveling on a slide when all conditions are met
MDS control method according to the road surface condition characterized in that. 청구항 6에 있어서,
상기 미끄럼로판단단계(S100)는 상기한 바와 같은 와이퍼 동작여부와, 차속과, 조향각과, 조타력 및 요각속도의 조건을 모두 만족하는 상황이 소정의 기준지속시간 이상 지속되는지를 판단하는 지속시간판단단계(S15)를 더 포함하여 구성된 것
을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.The method of claim 6,
The sliding determination step (S100) is a duration for determining whether the condition that satisfies all of the conditions of the wiper operation, the vehicle speed, the steering angle, the steering force, and the yaw speed as described above continues over a predetermined reference duration time. It further comprises a determination step (S15)
MDS control method according to the road surface condition characterized in that. 청구항 6에 있어서,
상기 조향각이 운전자의 직진 조향 의지를 나타내는 소정의 범위 이내인 경우를 판단함에 있어서, 상기 소정의 범위는 상기 차속에 따라 다르게 설정되는 것
을 특징으로 하는 노면 상태에 따른 ＭＤＰＳ 제어방법.The method of claim 6,
Wherein the predetermined range is set differently according to the vehicle speed in determining the case where the steering angle is within a predetermined range indicating a driver's straight steering will.
MDS control method according to the road surface condition characterized in that.
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