KR20160065539A - Method and System for Automoblie Control Driver's Miss Manipulation - Google Patents

Abstract

According to the present invention, a vehicle control device for controlling a driver′s erroneous operation vehicle determines an abnormal state of a vehicle caused by erroneous operation of a driver using a driver pressure value generated by a piezoelectric sensor (20) applied to a steering wheel in the vehicle where an engine electronic control unit (ECU) (7) is operated, and using a driver voice signal value generated by a voice recognition sensor (10) in a driver′s seat. Moreover, the vehicle control device lowers the vehicle speed in accordance with the abnormal state of the vehicle after restraining engine torque in order to prevent an accident caused by an inexperienced response of a driver and safely stop the vehicle or lower the vehicle speed even if the driver does not recognize the erroneous operation of an accelerator pedal.

Description

TECHNICAL FIELD [0001] The present invention relates to a method for controlling a driver's mismanagement vehicle,

More particularly, the present invention relates to a method for controlling a driver's mis-operated vehicle in which an engine torque limitation and a brake operation are performed by detecting an erroneous driver's operation, and a vehicle control apparatus therefor.

Generally, the operation of the accelerator pedal of the driver who wishes to stop the vehicle causes the driver to be in a panic state by causing an unexpected accelerating operation of the vehicle, and the driver's situation, which occurs in this state, The pedal is being further advanced to a situation where it is manipulated more severely.

In this situation, when the driver recognizes that the accelerator pedal is mistaken as the brake pedal, even if he / she recognizes that the brake pedal is depressed momentarily when an emergency occurs, the accelerator pedal is depressed instead of the brake pedal, The following case is exemplified.

As a method for coping with such an unstable condition, the brake operation restriction can be exemplified by the emergency situation recognition of the engine ECU (Electronic Control Unit).

Korean Patent Publication No. 10-2005-0015771 (February 21, 2005)

However, in case of emergency, when the braking for braking is controlled only in the accelerated state by the operation of the exhaust valve, it is impossible to maximize the braking while maintaining the engine torque which is the source of the vehicle output. In particular, The maximum efficiency can not be obtained in the state where the electronic throttle control (ETC) is open (in the state in which the accelerator pedal is depressed), so that there is a limitation that the braking efficiency can not be maximized when the brake operation is repeated.

In view of the above, the present invention automatically limits the engine output torque by automatically recognizing the driver's incorrect operation state of the accelerator pedal misfit operation by the driver's reflex behavior and voice, and then, after a predetermined time and constant torque reaching, The present invention is directed to a method of controlling a driver's mismanagement vehicle and a vehicle control apparatus therefor.

In order to achieve the above object, the present invention provides a method for controlling a driver's mismanagement vehicle, comprising the steps of: (A) detecting, by an engine ECU (Electronic Control Unit) The driver's voice signal value is used to judge the vehicle abnormal state by the driver's erroneous operation; (B) when the vehicle abnormality state is determined, the engine ECU lowers the vehicle speed after limiting the engine torque of the engine; (C) When the vehicle speed is lowered and the vehicle abnormality state is released, the engine ECU raises the engine torque of the engine in accordance with the driver's required torque.

The vehicle driving state is a D or R speed change stage when the engine is running, and data on the vehicle speed, the engine RPM, and the APS (Accelerator Pedal Scope) are transmitted to the engine ECU. The engine ECU does not determine the vehicle abnormal state if the data detection for the vehicle speed, the engine RPM, and the APS is not continued for a predetermined time. The set time is set to zero for the predetermined time, and the vehicle abnormal state is immediately determined when the set time is zero.

The restriction of the engine torque is established by setting the engine torque according to the engine RPM value and the APS value, and selecting the value where the engine RPM value and the APS value meet each other as the engine torque setting value. The engine torque setting value sets a torque decrease slope value with respect to the current engine torque value, and the engine torque setting value with the torque decrease slope value lowers the current engine torque value or switches to idle. The torque reduction slope value is determined by the torque slope by the APS value and the torque difference obtained by subtracting the current engine torque value from the engine torque setting value, and the value at which the APS value and the torque difference meet each other is selected as the torque reduction slope value.

The engine torque setting value is set to an idle condition of the engine.

The lowering of the vehicle speed is performed by an ABS ECU (Anti-Break System Electronic Control Unit) cooperative control system which reduces the vehicle speed to a set value or less in the brake operation state. The decrease in the vehicle speed is performed in an APS coordination control scheme in which the APS is set to 0 (zero) and the vehicle speed is lowered to a set value or less.

Wherein a torque increase slope is set for each of the torque differences obtained by subtracting the APS value and the current engine torque value from the engine torque demand value, and a value at which the APS value and the torque difference meet each other is smaller than the torque increase slope Value. When the engine torque limit releasing condition and the brake releasing condition are not satisfied, respectively, after the engine torque releasing condition and the brake releasing condition are individually checked, the engine torque releasing condition and the brake releasing condition And then released.

In order to accomplish the above object, the present invention provides a method for controlling a driver's mismanagement vehicle and a vehicle control apparatus therefor, comprising the steps of: recognizing a vehicle speed by recognizing a vehicle speed, an engine RPM, and an APS, Detecting a voice signal value of a voice recognition sensor provided in a driver's seat together with a pressure value of a sensor and determining a vehicle abnormal state by a wrong operation of the driver under the condition that the pressure value and the voice signal value exceed a set value, An engine ECU that reduces the vehicle speed after limiting the engine torque of the engine when the vehicle abnormality state is determined, while raising the engine torque in accordance with the driver's required torque when the vehicle abnormality state is released; And an ABS ECU for operating the brake in cooperation with the engine ECU when the vehicle speed is lowered.

Wherein the engine ECU is provided with an engine torque limit setting map for setting an engine torque according to an engine RPM value and an APS value and selecting and setting a value at which the engine RPM value and the APS value meet each other as an engine torque setting value; A torque reduction slope selection map in which a torque reduction slope is set for each of a torque difference obtained by subtracting a current engine torque value from an APS value and an engine torque setting value, and a value at which the APS value and the torque difference meet each other is selected as the torque reduction slope value; An engine torque increase setting map in which a torque rising slope is set for each of the torque differences obtained by subtracting the engine torque demand value from the APS value and the current engine torque value, and a value at which the APS value and the torque difference meet each other is selected as the torque rising slope value Respectively.

The present invention can prevent vehicle sudden start and stop due to erroneous operation such as when the driver recognizes the accelerator pedal as a brake pedal and steps on the vehicle, It is possible to secure a technique for controlling the vehicle.

2 is a configuration diagram of a vehicle control device for controlling a driver mis-operated vehicle according to the present invention, and Figs. 3 to 5 are diagrams for explaining the operation of the driver ' This is an example of the engine torque limitation of the vehicle control device for the mismanagement vehicle control.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

FIG. 1 shows a method of controlling a driver's mis-operated vehicle according to the present embodiment, and FIG. 2 shows an example of a vehicle control device in which a driver's mis-operated vehicle control is implemented. The driver's mismanagement vehicle control described below is described as being implemented through the engine ECU 7.

The engine ECU 7 recognizes the engine running state of the engine 5 and detects whether or not the shift position is in the D or R state as shown in S20 to obtain data on the vehicle speed, engine RPM, and APS (Accelerator Pedal Scope) .

Then, as in S30, the engine ECU 7 recognizes that the vehicle is in a running state by judging whether or not the data on the vehicle speed, the engine RPM, and the APS are continuously detected. Continue to give. To this end, the engine ECU 7 determines the running state of the vehicle by applying a set time in which data input to the vehicle speed, the engine RPM, and the APS is continued. However, the set time may be set to zero. In this case, the engine ECU 7 immediately determines the driving state of the vehicle upon recognizing data on the vehicle speed, the engine RPM, and the APS.

Thereafter, as in S50, the engine ECU 7 determines whether a driver's mis-operating situation has occurred in the vehicle in operation. To this end, the engine ECU 7 transmits the voice signal value of the voice recognition sensor 10 provided in the driver's seat with the pressure value of the piezoelectric sensor 20 provided on the steering wheel of the steering device 1, And determines whether each of the received pressure value and the voice signal value exceeds a set value. As a result, if the received voice signal value exceeds the set value in the state where the received pressure value exceeds the set value, the engine ECU 7 recognizes the emergency braking situation by the erroneous operation of the driver.

S60 is a primary emergency mode performing step in which the engine ECU 7, which is recognized as an emergency braking situation by a driver's erroneous operation, controls the engine 5 by itself without the driver intervention. To this end, the engine ECU 7 limits the engine torque to a set value or less. At this time, the engine torque setting value may be set to the engine torque = 0 (zero), which means that the engine 5 is switched to idle. Fig. 3 shows an example of setting the limit torque of the engine torque. As shown in the figure, the engine torque is set for each of the engine RPM value and the APS value within the range of the engine RPM (vertical axis) and the APS (horizontal axis), and the engine torque to be limited is determined from the engine RPM value and the APS value. For example, if the APS is 19.92 due to a wrong operation of the driver, and the engine RPM is 2,000 at this time, the engine torque setting value is set to 4N. The engine torque setting value = 4N means that the engine torque setting value is decreased to 4N regardless of the output of the engine 5 at present.

Step S70 is a step of applying Delay t, which is a torque decrease time for lowering the current engine torque value to the engine torque set value. By applying Delay t, which is the torque decrease time, the slope at which the current engine torque value is lowered to the engine torque setting value can be gradually made, which prevents the adverse effect due to the abrupt engine torque fluctuation. Fig. 4 shows an example of setting the torque reduction slope value of the engine torque. As shown in the figure, the torque slope is set by the torque difference within the range of the APS (vertical axis) and the torque difference (lateral axis) (the engine torque set value - the current engine torque value), and from this, Value is determined. For example, if APS = 80.1 and the torque difference = -40.000, then the torque slope value is set to 17.000. The torque decrease slope value = 17.000 means Delay t, which is the torque decrease time at which the engine torque of the current engine 5 approaches the engine torque set value.

S80 is a secondary emergency mode for controlling the braking after the torque of the engine 5 is converted into the engine torque set value in the primary emergency mode. To this end, the engine ECU 7 divides into S90-1 and S90-2, and controls the vehicle. In step S90-1, the ABS ECU 9 cooperates with the engine ECU 7 to reduce the vehicle speed to a set value or less under the brake operating state of the ABS ECU 9 controlled by the brake controller 30, On the other hand, S90-2 is an APS coordination control system in which the engine ECU 7 sets APS = 0 (zero) to lower the vehicle speed to a set value or less.

Next, in S100, the engine ECU 7 releases the engine torque limit applied to the primary emergency mode and the brake operation applied to the secondary emergency mode after the vehicle is normalized, and adjusts the engine torque of the engine 5 to the driver's requested torque It is a step to raise. To this end, the engine ECU 7 applies an engine torque rising slope to prevent a secondary accident that may arise from a sudden increase in engine torque. However, the torque increase value can be set to 100% to match the driver's will. Also, it can be set to automatically release when the time exceeds the set value after the torque limit logic operation. 5 shows an example of setting the torque rising slope value of the engine torque. As shown in the figure, the torque tilt is set by the torque difference within the range of the APS (vertical axis) and the torque difference (horizontal axis) (the current engine torque value-the engine torque driver required value) The slope value is determined. For example, if APS = 30.1, then the torque difference = 200.000, the torque ramp-up slope value is set to 0.06250. The torque increase slope value = 0.06250 can prevent a sudden rise in engine torque that may cause a secondary accident when the engine torque of the current engine 5 approaches the engine torque driver demand value.

Specifically, in S100, the engine ECU 7 individually confirms the engine torque restriction release and the brake release, and if the engine torque restriction release condition and the brake release release condition are not satisfied, the engine torque restriction release condition and the brake release condition It is possible to raise the engine torque of the engine 5 in accordance with the driver's requested torque.

As described above, in the vehicle control device for controlling the driver's falsighted vehicle according to the present embodiment, the engine ECU 7 calculates the driver's pressure value by the piezoelectric sensor 20 applied to the steering wheel in the running vehicle, The driver's voice signal value by the recognition sensor 10 is used to determine a vehicle anomaly state caused by an erroneous operation of the driver, the engine torque is limited in accordance with the vehicle anomaly state, and then the vehicle speed is lowered, The vehicle can be stopped safely or the vehicle speed can be lowered, and a vehicle accident caused by an inexperienced replacement of the driver can be prevented.

1: Steering device 3: Brake device
5: Engine 7: Engine ECU (Electronic Control Unit)
9: Anti-Break System Electronic Control Unit (ABS ECU)
10: Speech recognition sensor
20: Piezoelectric sensor
30: Brake controller

Claims (15)

(A) In a state in which the engine ECU (Electronic Control Unit) recognizes the vehicle driving state, the vehicle abnormal state by the driver's erroneous operation is determined by the driver pressure value applied to the steering wheel and the driver's voice signal value detected at the driver's seat ;
(B) when the vehicle abnormality state is determined, the engine ECU lowers the vehicle speed after limiting the engine torque of the engine;
(C) When the vehicle speed is lowered and the vehicle abnormality state is released, the engine ECU raises the engine torque of the engine in accordance with the driver's required torque.
The vehicle driving control system according to claim 1, wherein the vehicle driving state is a D or R speed change stage at the time of engine running of the engine, and data about vehicle speed, engine RPM, and APS (Accelerator Pedal Scope) A method for controlling a mismanagement vehicle.
The method according to claim 2, wherein the engine ECU does not determine a vehicle anomaly state if data detection for the vehicle speed, the engine RPM, and the APS does not continue for a predetermined time. 4. The method according to claim 3, wherein the predetermined time is set to zero and the vehicle abnormal condition is immediately determined when the set time is zero.
The engine control system according to claim 1, wherein the engine torque is limited by setting an engine torque according to an engine RPM value and an APS value, and a value where the engine RPM value and the APS value meet each other is set as an engine torque setting value. A method for controlling a mismanagement vehicle.
The engine control apparatus according to claim 5, wherein the engine torque setting value is set to a torque decrease slope value with respect to a current engine torque value, and the engine torque setting value with the torque reduction slope value lowers a current engine torque value or switches to an idle Wherein the driver is a driver of the vehicle.
7. The control apparatus for a vehicle according to claim 6, wherein the torque reduction slope value is set such that a torque reduction slope is set for each of the torque difference obtained by subtracting the current engine torque value from the APS value and the engine torque setting value, Is selected as the value of the vehicle speed.
The method according to claim 1, wherein the engine torque setting value is set to an idle condition of the engine.
2. The method according to claim 1, wherein the decrease in the vehicle speed is performed in an ABS (Anti-Break System Electronic Control Unit) cooperative control system that reduces the vehicle speed to a set value or less in a brake operation state.
2. The method according to claim 1, wherein the decrease in the vehicle speed is performed in an APS cooperative control system in which the vehicle speed is lowered to a set value or lower by setting the APS to 0 (zero).
2. The engine control apparatus according to claim 1, wherein an increase in engine torque in accordance with the driver's requested torque is determined by setting a torque increase slope for each torque difference by subtracting an APS value and a current engine torque value from an engine torque driver demand value, Is selected as the torque increase inclination value.
2. The engine torque limiting apparatus according to claim 1, wherein the engine torque increasing condition adapted to the driver's requested torque is that the engine torque limit releasing condition and the brake releasing condition are individually checked, and if the engine torque limiting releasing condition and the brake releasing condition are not satisfied, And the brake operation cancellation condition is cross-checked and released.
The vehicle speed is checked by recognizing the vehicle speed, the engine RPM, and the APS (Accelerator Pedal Scope), the voice signal value of the voice recognition sensor provided in the driver's seat is detected together with the pressure value of the piezoelectric sensor provided on the steering wheel of the steering apparatus, The vehicle speed is lowered after the engine torque of the engine is limited when the vehicle abnormality state is determined, while the vehicle speed is lowered when the pressure value and the voice signal value exceed the set value, An engine ECU (Electronic Control Unit) for increasing the engine torque in accordance with the driver's required torque when the release is determined;
An ABS ECU (Anti-Break System Electronic Control Unit) for operating the brake in cooperation with the engine ECU when the vehicle speed is lowered;
And a control unit for controlling the driver of the vehicle.
The engine torque limit setting map according to claim 13, wherein the engine ECU has an engine torque limit setting map for setting an engine torque according to an engine RPM value and an APS value, and selecting and setting a value at which the engine RPM value and the APS value meet each other as an engine torque setting value; A torque reduction slope selection map in which a torque reduction slope is set for each of a torque difference obtained by subtracting a current engine torque value from an APS value and an engine torque setting value, and a value at which the APS value and the torque difference meet each other is selected as the torque reduction slope value; An engine torque increase setting map in which a torque rising slope is set for each of the torque differences obtained by subtracting the engine torque demand value from the APS value and the current engine torque value, and a value at which the APS value and the torque difference meet each other is selected as the torque rising slope value And a control unit for controlling the driver of the vehicle.
14. The vehicle control apparatus according to claim 13, wherein the engine ECU detects the voice signal value of the voice recognition sensor by communication or wire.

Images