KR20160125666A - Apparatus for controlling rear steering device and method thereof - Google Patents

Apparatus for controlling rear steering device and method thereof Download PDF

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Publication number
KR20160125666A
KR20160125666A KR1020150056377A KR20150056377A KR20160125666A KR 20160125666 A KR20160125666 A KR 20160125666A KR 1020150056377 A KR1020150056377 A KR 1020150056377A KR 20150056377 A KR20150056377 A KR 20150056377A KR 20160125666 A KR20160125666 A KR 20160125666A
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South Korea
Prior art keywords
rear wheel
wheel steering
steering apparatus
vehicle
wheels
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KR1020150056377A
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Korean (ko)
Inventor
김상묵
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주식회사 만도
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Priority to KR1020150056377A priority Critical patent/KR20160125666A/en
Publication of KR20160125666A publication Critical patent/KR20160125666A/en

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
    • B60C23/02—Signalling devices actuated by tyre pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • 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
    • 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

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

Abstract

The present specification provides a method for controlling a rear wheel steering device, and an apparatus therefor obtaining information on the air pressure of a tire of a vehicle, changing an operation amount of a rear wheel steering device of the vehicle based on the obtained air pressure information or prohibiting operation of the rear wheel steering device. To this end, according to one embodiment, the apparatus for controlling a rear wheel steering device comprises: an air pressure information obtaining unit obtaining the information on the air pressure of the tire of the vehicle; and a control unit changing the operation amount of the rear wheel steering device of the vehicle or prohibiting operation of the rear wheel steering device based on the obtained air pressure information.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control apparatus for a rear wheel steering apparatus and a control method for a rear wheel steering apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control apparatus for a rear wheel steering apparatus and a control method for a rear wheel steering apparatus, and more particularly to a control apparatus for a rear wheel steering apparatus which acquires air pressure information on a tire of a vehicle, The present invention relates to a control apparatus for a rear wheel steering apparatus and a control method for the rear wheel steering apparatus that can change the amount of the rear wheel steering apparatus or prohibit the operation of the rear wheel steering apparatus.

Based on the four-wheel steering system concept introduced in the 1980s, most automobile makers since the 1990s developed / produced a four-wheel steering system based on a rear-wheel steering system having a mechanical or hydraulic operating structure. However, There was a problem of.

However, as the demand for reduction of fuel consumption, expansion of EV / HEV, and improvement of safety have been increased, development of active rear wheel steering system (RWS, Rear Wheel Steering) has been actively progressed .

The objective of the development of a four-wheel steering system including an active rear-wheel steering system is to improve the maneuverability of a large-sized vehicle by reducing the turning radius at low-speed turning through the reverse-phase control (relative to the front- The present invention aims to improve the stability of the vehicle by reducing the yaw-rate and side-slip during high-speed turning through the steering angle (relative to the steering angle of the front wheels). The purpose of the present invention is to determine the rear- Calculation / control method is applied.

However, the control method of such a rear wheel steering system is such that the lateral tire force of the rear tire according to the state of the running road surface (friction coefficient) and the state of the tire (air pressure, etc.) / type Can be formed.

For example, when the air pressure level of a tire such as a tire puncture is low, when a rear tire angle is controlled by a rear-wheel steering system, a lateral tire force of a rear tire is normal due to a tire deflection of the rear tire May be generated to be less or slower than the amount of generation of the lateral force of the tire in the pneumatic state.

Accordingly, in order to additionally form the lateral force of the rear tire for achieving the target vehicle behavior (Yaw Rate, Sid-slip, etc.) for the purpose of controlling the rear wheel steering system, the rear wheel target steering angle and the change gradient (or the change rate of the steering angle per unit time ) Can be increased.

The increase of the rear wheel steering angle and the inclination of the rear wheels further amplifies the tires deflection of the rear tires, thereby causing excessive wear of the rear tires and the stability of the vehicle.

The present invention relates to a control system for a rear-wheel steering apparatus which obtains air-pressure information on a tire of a vehicle, changes the operation amount of the rear-wheel steering apparatus of the vehicle on the basis of the obtained air-pressure information, And a control method of the rear wheel steering apparatus.

According to an aspect of the present invention, there is provided a control apparatus for a rear wheel steering apparatus including: an air pressure information obtaining unit obtaining air pressure information on a tire of a vehicle; And a control unit for changing an operation amount of the rear wheel steering apparatus of the vehicle or inhibiting operation of the rear wheel steering apparatus based on the obtained air pressure information.

As an example related to the present specification, the air pressure information may be information on at least one of an air pressure state for the tire and an abnormal state of the air pressure for the tire.

As an example related to the present specification, the air pressure information obtaining unit may obtain the air pressure information from a Tire Pressure Monitoring System (TPMS).

As an example related to the present specification, the control unit may change the operation amount by changing at least one of a target rear wheel steering angle of the rear wheel steering apparatus and a change rate of a rear wheel steering angle per unit time.

In one embodiment of the present invention, the control unit may prohibit operation of the rear wheel steering apparatus after returning the state of the rear wheel steering apparatus to an initial state when the operation of the rear wheel steering apparatus is to be inhibited.

As an example related to the present specification, the control apparatus of the rear wheel steering apparatus may further include an output unit for outputting a warning message to the outside, and the control unit may change the operation amount of the rear wheel steering apparatus of the vehicle, It is possible to generate the warning message.

As an example related to the present specification, the output unit may output the warning message to the outside in the form of external vibration, voice, type of image, flashing of a warning lamp, and the like.

As an example related to the present specification, the control unit may change the operation amount of the rear wheel steering apparatus based on wheel speed information about at least one of two wheels of the front wheel of the vehicle and two wheels of the rear wheel, It may be to prohibit operation.

As an example related to the present specification, the control unit may change the operation amount of the rear wheel steering apparatus or prohibit the operation of the rear wheel steering apparatus when the wheel speed difference between the two wheels of the rear wheel exceeds the first reference speed .

As an example related to the present specification, when the difference between the wheel speeds of at least one of the two wheels of the front wheel of the vehicle and the rear wheel and the wheel speed of the other wheel exceeds the second reference speed, The operation amount of the rear wheel steering apparatus may be changed or the operation of the rear wheel steering apparatus may be prohibited.

As an example related to the present specification, the control unit calculates the vehicle speed for the vehicle based on the wheel speeds of the two wheels of the front wheel of the vehicle and the two wheels of the rear wheel, The operation amount of the rear wheel steering device may be changed or the operation of the rear wheel steering device may be prohibited if the difference between the wheel speed and the vehicle speed for at least one of the two wheels of the rear wheel steering exceeds the third reference speed.

As an example related to the present specification, the control unit may prohibit the operation of the rear wheel steering device when it is determined that there is an abnormal state in the two wheels of the rear wheel as a result of the determination based on at least one of the air pressure information and the wheel speed information. .

As a result of the determination based on at least one of the air pressure information and the wheel speed information, when it is determined that there is an abnormal state in one wheel of the front wheel or two wheels of the front wheel, It may be to change the operation amount of the steering apparatus to the first operation amount.

As a result of the determination based on at least one of the air pressure information and the wheel speed information, when it is determined that any one of the two wheels of the rear wheel has an abnormal state, And to change the operation amount of the apparatus to the second operation amount.

As one example related to the present specification, the first operation amount may be larger than the second operation amount.

According to an aspect of the present invention, there is provided a method of controlling a rear wheel steering apparatus, including: obtaining air pressure information on a tire of a vehicle; And changing the operation amount of the rear wheel steering apparatus of the vehicle based on the obtained air pressure information or inhibiting operation of the rear wheel steering apparatus.

As one example related to the present specification, the control method of the rear wheel steering apparatus includes: obtaining wheel speed information for at least one of two wheels of a front wheel of the vehicle and two wheels of a rear wheel; And changing the operation amount of the rear wheel steering apparatus based on the wheel speed information or inhibiting the operation of the rear wheel steering apparatus.

According to the control apparatus of the rear wheel steering apparatus and the control method of the rear wheel steering apparatus according to the embodiment disclosed in this specification, it is possible to obtain the air pressure information on the tire of the vehicle, and, on the basis of the obtained air pressure information, It is possible to prevent the occurrence of excessive wear of the rear tire and to improve the stability of the vehicle behavior by prohibiting the operation of the rear wheel steering device.

1 and 2 are illustrations showing a rear wheel steering apparatus according to an embodiment disclosed herein.
3 is a configuration diagram showing a control apparatus 100 of a rear wheel steering apparatus according to an embodiment disclosed herein.
4 is a flowchart showing the control function of the rear wheel steering apparatus according to the specific embodiment disclosed herein.
5 is a flowchart showing a control method of a rear wheel steering apparatus according to an embodiment disclosed herein.

The technique disclosed in this specification can be applied to a control device of a rear wheel steering device and a rear wheel steering device capable of controlling the rear wheel steering device of the vehicle on the basis of the air pressure information on the tire air pressure of the front wheel or the rear wheel and the wheel speed information on the front wheel or the rear wheel The control method of FIG.

Further, the technique disclosed in this specification can be combined with an electronic control unit (ECU), a vehicle control system (or vehicle control device) or an electronic control unit to which the control device of the rear wheel steering device and the control method of the rear wheel steering device are applied (Or a vehicle control device).

For example, the technique disclosed in this specification can be applied to a head unit of a vehicle mounted on a vehicle to which the control device of the rear wheel steering device and the control method of the rear wheel steering device are applied.

Further, for example, the technique disclosed in this specification can be applied to an SCC (Smart Cruise Control) apparatus to which the control apparatus of the rear wheel steering apparatus and the control method of the rear wheel steering apparatus are applied.

As described in detail with respect to the vehicle control system associated with the electronic control unit (ECU) or the electronic control unit, an electronic control unit (ECU) used in the vehicle detects from various sensors mounted on the vehicle A control unit for receiving a signal and recognizing a state of a vehicle and operating various actuators, comprising: an input interface for converting a sensing signal input from various sensors; a microcomputer for performing calculation or logical calculation of input data in a predetermined order; And an output interface for converting the result into an operation signal of a driver.

Vehicle control systems associated with the electronic control unit include Electronic Power Steering (EPS), Anti-Lock Braking System (ABS), and Continuous Damper Control (CDC), and the suspension, braking, Thereby improving the safety and ride comfort of the vehicle.

In particular, the ECS (Electronic Control Suspension) is equipped with an electronically controlled hydraulic device according to the driving state of the vehicle, so that the strength and the height of the suspension are automatically controlled by the road condition and the vehicle speed to secure the grounding force and driving force to the road surface. Thereby improving driving safety and ride comfort as a result of the response. In addition, ASV (Advanced Safety Vehicle) improves the safety of vehicles and prevents vehicle accidents by using technology such as drowsy driving alarm system, nighttime obstacle detection system, and danger warning system. Therefore, To be reduced.

In recent years, there has been a growing demand for the stability of the vehicle and the convenience of the driver while driving, and active research on the active safety system and the driver assist system of the vehicle has been actively conducted. The active safety systems include Electronic Stability Control (ESC) and Active Front Steering (AFS). Operator assistance systems include SCC (Smart Cruise Control) or ACC (Adaptive Cruise Control), CA (Collision Avoidance), LKS Keeping Support).

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the scope of the technology disclosed herein. Also, the technical terms used herein should be interpreted as being generally understood by those skilled in the art to which the presently disclosed subject matter belongs, unless the context clearly dictates otherwise in this specification, Should not be construed in a broader sense, or interpreted in an oversimplified sense. In addition, when a technical term used in this specification is an erroneous technical term that does not accurately express the concept of the technology disclosed in this specification, it should be understood that technical terms which can be understood by a person skilled in the art are replaced. Also, the general terms used in the present specification should be interpreted in accordance with the predefined or prior context, and should not be construed as being excessively reduced in meaning.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In this specification, the terms "comprising ", or" comprising "and the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

Furthermore, terms including ordinals such as first, second, etc. used in this specification can be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals denote like or similar elements, and redundant description thereof will be omitted.

Further, in the description of the technology disclosed in this specification, a detailed description of related arts will be omitted if it is determined that the gist of the technology disclosed in this specification may be obscured. In addition, it should be noted that the attached drawings are only for easy understanding of the concept of the technology disclosed in the present specification, and should not be construed as limiting the idea of the technology by the attached drawings.

Description of the rear wheel steering apparatus according to one embodiment disclosed herein.

Hereinafter, a rear wheel steering apparatus according to an embodiment disclosed herein will be described in detail with reference to FIGS. 1 and 2. FIG.

The rear wheel steering apparatus according to the embodiment disclosed herein may be installed, equipped, or mounted on a vehicle.

1 and 2 are illustrations showing a rear wheel steering apparatus according to an embodiment disclosed herein.

Referring to FIG. 1, a rear steering device 10 according to an embodiment may include an electronic control unit (ECU) 11 and an actuator 12 .

The Rear Steering Device 10 or the electronic control unit 11 includes a tire air pressure monitoring system TPMS (Tire Pressure Monitoring System) 20, a front steering device 30 and a braking device Brake Device, 40) and CAN (Controller Area Network) communication.

Here, the CAN communication (Controller Area Network) may mean a standard communication standard designed for a microcontroller or devices to communicate with each other without a host computer in a vehicle.

CAN communication is a message-based protocol, and is recently used not only in vehicles but also in industrial automation equipment and medical equipment.

The CAN communication is well known in the art, so a detailed description will be omitted.

The TMPS 20 is a tire pressure monitoring system which monitors a tire pressure of a tire and warns the driver when the pressure drops below a predetermined air pressure to prevent an accident.

If the air pressure of the tire is too high or too low, there is a possibility that the tire will blow or the vehicle will slip easily, leading to a major accident. In addition, the fuel consumption will increase and the fuel economy will be deteriorated, the tire life will be shortened, .

In order to prevent defects in such tires, a safety device mounted on the vehicle is a tire pressure sensing system (TPMS), which detects the pressure and temperature of the tire with a radio frequency identification (RFID) sensor attached to the wheel, Is designed to allow the driver to check the pressure of the tire in real time.

The TPMS 20 comprises a TPMS sensor mounted on each of four wheels of the vehicle, and a TPMS controller for receiving information transmitted from the TPMS sensor and determining the position of the sensor. Each TPMS sensor can be equipped with an acceleration sensor that measures the acceleration in each axis direction (X axis, Y axis, Z axis) of the vehicle.

When the vehicle is started, the TPMS controller 20 determines whether the wheel equipped with the TPMS sensor is a front wheel or a rear wheel through the magnitude of the RF signal transmitted from the TPMS sensor, It is possible to confirm whether the wheel is a left or right wheel.

The front wheel steering apparatus 30 may be a device for adjusting the front wheel steering according to the adjustment of the driver.

The front wheel steering apparatus 30 is connected to a steering angle sensor 31 and can collect information on the front wheel steering angle from the steering angle sensor 31.

The braking device 40 may serve to control the braking of the vehicle.

The braking device 40 may be connected to the wheel speed sensor 41 and the Yaw-G sensor 42.

The wheel speed sensor 41 may collect wheel speed information about a wheel corresponding to a front wheel or a rear wheel of the vehicle.

The Yaw-G sensor 42 senses the shaking and acceleration of the vehicle and transmits the information to an electronic control unit (ECU) 11 or a body control unit so as to allow the entire system to operate efficiently .

The electronic control unit 11 and the actuator 12 of the rear wheel steering apparatus 10 can be mounted or installed in the vehicle as shown in Fig.

The control device of the rear wheel steering apparatus according to the embodiment disclosed in this specification

An apparatus for controlling a rear wheel steering apparatus according to an embodiment disclosed herein includes an air pressure information obtaining unit for obtaining air pressure information for a tire of a vehicle and a control unit for calculating an operation amount of the rear wheel steering apparatus of the vehicle based on the obtained air pressure information Or prohibit the operation of the rear wheel steering apparatus.

According to an embodiment, the air pressure information may be information on at least one of an air pressure state for the tire and an abnormal state of the air pressure for the tire.

According to an embodiment, the air pressure information obtaining unit may obtain the air pressure information from a Tire Pressure Monitoring System (TPMS).

According to an embodiment, the control unit may change the operation amount by changing at least one of a target rear wheel steering angle and a rate of change of a rear wheel steering angle per unit time of the rear wheel steering apparatus.

According to an embodiment, when the operation of the rear wheel steering apparatus is prohibited, the control unit may prohibit operation of the rear wheel steering apparatus after returning the state of the rear wheel steering apparatus to an initial state.

Further, the control device of the rear wheel steering apparatus according to an embodiment further includes an output section for outputting a warning message to the outside, and the control section may change the operation amount of the rear wheel steering device of the vehicle, It is possible to generate the warning message.

According to an embodiment of the present invention, the output unit may output the warning message to the outside in the form of external vibration, voice, type of image, flashing of a warning light, and the like.

According to an embodiment, the control unit may change the operation amount of the rear wheel steering device based on wheel speed information of at least one of two wheels of the front wheel of the vehicle and two wheels of the rear wheel, It may be to prohibit operation.

According to an embodiment, the control unit may change the operation amount of the rear wheel steering device or prohibit the operation of the rear wheel steering device when the wheel speed difference between the two wheels of the rear wheel exceeds the first reference speed .

According to an embodiment, when the difference between the wheel speeds of at least one of the two wheels of the front wheel of the vehicle and the rear wheel and the wheel speed of the other wheel exceeds the second reference speed, The operation amount of the rear wheel steering apparatus may be changed or the operation of the rear wheel steering apparatus may be prohibited.

According to one embodiment, the control unit calculates the vehicle speed for the vehicle based on the wheel speeds of the two wheels of the front wheel of the vehicle and the two wheels of the rear wheel, The operation amount of the rear wheel steering device may be changed or the operation of the rear wheel steering device may be prohibited if the difference between the wheel speed and the vehicle speed for at least one of the two wheels of the rear wheel steering exceeds the third reference speed.

According to an embodiment, when it is determined that the two wheels of the rear wheel have an abnormal state as a result of the determination based on at least one of the air pressure information and the wheel speed information, the control unit prohibits the operation of the rear wheel steering apparatus .

According to another embodiment of the present invention, when it is determined that there is an abnormal condition in one wheel or two wheels of the front wheel as a result of the determination based on at least one of the air pressure information and the wheel speed information, It may be to change the operation amount of the steering apparatus to the first operation amount.

According to another embodiment of the present invention, when it is determined that there is an abnormal state in any one of the two wheels of the rear wheels, the control unit determines that the rear wheel steering And to change the operation amount of the apparatus to the second operation amount.

Further, according to one embodiment, the first operation amount may be larger than the second operation amount.

Hereinafter, the control apparatus of the rear wheel steering apparatus according to the embodiment disclosed in this specification will be described in detail with reference to FIG.

The control apparatus of the rear wheel steering apparatus according to the embodiment disclosed herein may be installed, equipped, or mounted on a vehicle.

Further, the control apparatus of the rear wheel steering apparatus according to the embodiment disclosed herein may be embodied in the rear wheel steering apparatus 10 described above.

3 is a configuration diagram showing a control apparatus 100 of a rear wheel steering apparatus according to an embodiment disclosed herein.

Referring to FIG. 3, the control apparatus 100 of the rear wheel steering apparatus according to the embodiment disclosed herein may include an air pressure information obtaining unit 110 and a control unit 120.

Further, the control apparatus 100 of the rear-wheel steering apparatus may further include an output unit 130.

In addition, the controller 100 of the rear wheel steering apparatus may further include various components for performing the control functions of the rear wheel steering apparatus according to the embodiment disclosed herein.

Hereinafter, the components will be described in order.

The air pressure information obtaining unit 110 may be operable to obtain air pressure information on the tire of the vehicle.

Here, the air pressure information may be information on at least one of an air pressure state for the tire and an abnormal state of the air pressure for the tire.

According to one embodiment, the air pressure information obtaining unit 110 may obtain the air pressure information from a TPMS (Tire Pressure Monitoring System, 200 or the TPMS 20 described above).

The control unit 120 may control at least one component included in the rear wheel steering apparatus to provide the control function of the rear wheel steering apparatus according to the embodiment disclosed herein.

The control unit 120 can basically change the operation amount of the rear wheel steering apparatus of the vehicle or prohibit the operation of the rear wheel steering apparatus based on the obtained air pressure information.

According to one embodiment, the operation amount of the rear wheel steering apparatus may mean at least one of a target rear wheel steering angle and a rate of change of a rear wheel steering angle per unit time.

Here, it may mean the target control amount of the target rear wheel steering angle rear wheel steering apparatus.

For example, the target rear wheel steering angle may be 3 degrees when the front wheel steering angle is 10 degrees.

Also, for example, the rate of change may be 0.01 degrees per second.

Therefore, the control unit 120 may change the operation amount by changing at least one of a target rear wheel steering angle of the rear wheel steering apparatus and a change rate of a rear wheel steering angle per unit time.

In addition, when the operation of the rear wheel steering apparatus is prohibited, the control unit 120 may prohibit operation of the rear wheel steering apparatus after returning the state of the rear wheel steering apparatus to the initial state.

According to one embodiment, the initial state may refer to the origin of the rear wheel steering angle.

Therefore, returning to the initial state may mean Fade-out control such as returning to the origin of the rear wheel steering angle.

The control unit 120 may change the operation amount of the rear wheel steering device or inhibit the operation of the rear wheel steering device based on wheel speed information about at least one of two wheels of the front wheel of the vehicle and two wheels of the rear wheel .

According to one embodiment, when the wheel speed difference between the two wheels of the rear wheel exceeds the first reference speed, the controller 120 may change the operation amount of the rear wheel steering device or operate the rear wheel steering device It can be forbidden.

For example, when the speed difference between the two wheels of the rear wheel exceeds the first reference speed of '10 km / h', the control unit 120 controls the operation amount of the rear wheel steering device ) Or prohibit the operation of the rear wheel steering apparatus.

According to another embodiment, the control unit 120 determines that the difference between the wheel speed of at least one of the two wheels of the front wheel of the vehicle and the two wheels of the rear wheel is different from the wheel speed of the other wheel exceeds the second reference speed In one case, the operation amount of the rear wheel steering apparatus may be changed or the operation of the rear wheel steering apparatus may be prohibited.

For example, when the difference between the speed of the left wheel of the two wheels of the front wheel of the vehicle and the speed of the right wheel of the rear wheel of the rear wheel, It is possible to change the operation amount of the rear wheel steering apparatus or prohibit the operation of the rear wheel steering apparatus.

According to another embodiment, the control unit 120 calculates the vehicle speed for the vehicle based on the wheel speeds of the two wheels of the front wheel of the vehicle and the two wheels of the rear wheel, The operation amount of the rear wheel steering apparatus or the operation of the rear wheel steering apparatus can be prohibited when the difference between the wheel speed and the vehicle speed for at least one of the wheel and the rear wheel exceeds the third reference speed have.

Specifically, the control unit 120 can calculate or detect the vehicle speed for the vehicle based on information about the wheel speeds of the four wheels (or wheels) of the front wheel and the rear wheel.

In this case, the control unit 120 determines that the difference between the calculated vehicle speed and the wheel speed for at least one of the two wheels of the front and rear wheels of the vehicle corresponds to a third reference speed of '13 km / h' The operation amount of the rear wheel steering apparatus can be changed or the operation of the rear wheel steering apparatus can be prohibited.

According to one embodiment, when it is determined that the two wheels of the rear wheel have an abnormal state as a result of the determination based on at least one of the air pressure information and the wheel speed information, the control unit 120 controls the operation of the rear wheel steering apparatus It can be forbidden.

According to one embodiment, when the controller 120 determines that there is an abnormal state in one wheel or two wheels of the front wheel based on at least one of the air pressure information and the wheel speed information, The operation amount of the rear wheel steering apparatus can be changed to the first operation amount (or set value 1 described later).

According to one embodiment, when it is determined that there is an abnormal state in any one of the two wheels of the rear wheel as a result of the determination based on at least one of the air pressure information and the wheel speed information, It may be possible to change the operation amount of the rear wheel steering apparatus to the second operation amount (or the set value 2 to be described later).

Here, the first operation amount may be larger than the second operation amount.

More specifically, for example, when the control unit 120 determines that the two wheels of the rear wheel are abnormal based on at least one of the air pressure information and the wheel speed information, The operation of the rear wheel steering apparatus can be inhibited.

In addition, when the controller 120 determines that there is no problem in the rear wheels but the two wheels of the front wheels or the two wheels of the front wheels have an abnormal condition, the control unit 120 recognizes the slightest situation and sets the operation amount of the rear- The operation amount (or set value 1 to be described later) can be changed.

For example, when the basic operation amount setting of the rear wheel steering apparatus is such that the target rear wheel steering angle is "5 degrees" and the change rate per unit time is "0.05 degrees / second" 3 degrees', and the change rate per unit time may be '0.03 degrees / second'.

If there is a problem only in one of the two wheels of the rear wheel, the control unit 120 may limit the operation amount of the rear wheel steering apparatus by changing the initially set operation amount to the first operation amount.

If there is a problem only in one of the two wheels of the rear wheel, the control unit 120 recognizes the situation as a medium serious condition and sets the operation amount of the rear wheel steering apparatus as a second operation amount (or a set value 2 ).

For example, when the basic operation amount setting of the rear wheel steering apparatus is such that the target rear wheel steering angle is "5 degrees" and the change rate per unit time is "0.05 degrees / second" 1 degree ', and the rate of change per unit time may be' 0.01 degree / sec '.

When there is a problem only in one of the two wheels of the rear wheel, the control unit 120 can limit the operation amount of the rear wheel steering apparatus by changing the initial set operation amount to the second operation amount.

Here, the control unit 120 may take an operation rate limitation differently depending on the state of the rear wheels.

Therefore, as in the above-described example, the first operation amount (the target rear wheel steering angle '3 degrees', the change rate per unit time' 0.03 degrees / The rate of change per unit time is " 0.01 degrees / second ").

The output unit 130 may output the warning message to the outside.

In this case, the control unit 120 may generate the warning message when it is necessary to change the operation amount of the rear wheel steering apparatus of the vehicle or prohibit the operation of the rear wheel steering apparatus.

In addition, the output unit 130 may output the warning message to the outside in the form of external vibration, voice, type of image, and blinking of a warning lamp.

Accordingly, the output unit 150 generates an output related to a visual, auditory, or tactile sense and includes a display unit (not shown), an audio output module (not shown), an alarm unit (not shown), and a haptic module City), and the like.

For example, the display unit, which the output unit 250 can include, basically includes information processed or generated by the control unit 120 or images or information obtained by the image acquisition unit 120 It can play a role of displaying on the screen.

Also, the display unit may display a control screen for performing a control function of the rear wheel steering apparatus by the control apparatus 100 of the rear wheel steering apparatus.

Also, the display unit may display a UI (User Interface) or a GUI (Graphic User Interface) related to the function provided by the controller 100 of the rear wheel steering apparatus.

Also, the display unit may display the processing result of the control unit 120 on the control screen.

The display unit may be a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a 3D display, As shown in FIG.

According to the embodiment of the controller 100 of the rear-wheel steering apparatus, there may be two or more display units. For example, an external display unit (not shown) and an internal display unit (not shown) may be provided at the same time in the controller 100 of the rear wheel steering apparatus.

(Hereinafter, referred to as a 'touch screen') in which the display unit and a sensor (hereinafter, referred to as 'touch sensor') that detects the touch operation form a mutual layer structure, the display unit may be used as an input device . The touch sensor may have the form of, for example, a touch film, a touch sheet, a touch pad, or the like.

A specific embodiment of the control function of the rear wheel steering apparatus disclosed in this specification

Hereinafter, a specific embodiment of the control function of the rear wheel steering apparatus disclosed in this specification will be described in detail with reference to FIG.

A specific embodiment of the control function of the rear wheel steering apparatus disclosed in this specification can be implemented as a part or a combination of the configurations or steps included in the embodiments described above or a combination of the embodiments, The overlapping portions can be omitted for clarity of a specific embodiment of the tunnel height estimating function disclosed in FIG.

One specific embodiment of the control function of the rear wheel steering apparatus disclosed in this specification may be performed by the control apparatus 100 of the rear wheel steering apparatus described above.

4 is a flowchart showing the control function of the rear wheel steering apparatus according to the specific embodiment disclosed herein.

Referring to FIG. 4, the controller 100 of the rear-wheel steering apparatus can determine whether the rear-wheel steering apparatus 10 operates normally (S11).

For example, the control apparatus 100 of the rear-wheel steering apparatus can determine whether the internal circuits are disconnected / short-circuited, whether communication is normal, whether the system H / W is operating normally, and the like.

When the rear wheel steering apparatus 10 is not operating normally, the control apparatus 100 of the rear wheel steering apparatus prohibits the operation of the rear wheel steering apparatus 10 and lights the warning lamp through the output section 130 (S20).

Next, the control apparatus 100 of the rear-wheel steering apparatus can determine whether the CAN communication is normally operating (S12).

The controller 100 of the rear wheel steering apparatus may prohibit the operation of the rear wheel steering apparatus 10 and light the warning lamp through the output unit 130 when the CAN communication is not normally operated ).

Next, the control apparatus 100 of the rear-wheel steering apparatus can determine whether or not a TMPS warning is issued (for example, a low-pressure warning against the air pressure for the tire, S13).

Further, the controller 100 of the rear-wheel steering apparatus can discriminate whether the wheel speed difference is excessive during the straight-ahead cruise control (S14).

The detailed description of the first to third reference speeds described above will be omitted from the determination as to whether the wheel speed difference is excessive.

The control apparatus 100 of the rear wheel steering apparatus may normally allow the operation of the rear wheel steering apparatus 10 when there is no TPMS warning and the wheel speed difference is not excessive (basic operating mode, S21).

Next, the control apparatus 100 of the rear-wheel steering apparatus can determine whether there is a rear-wheel warning if there is a TPMS warning or if the wheel speed difference is excessive (low-pressure warning, S15).

If there is no warning of the rear wheel, the control device 100 of the rear-wheel steering apparatus detects the abnormal state of the front wheels, so that the operation amount of the rear wheel steering apparatus 10 is set to the set value 1 (or the first operation amount described above) So that the operation amount of the rear wheel steering apparatus 10 can be limited (S16).

In addition, the controller 100 of the rear-wheel steering apparatus may determine whether a simultaneous warning has occurred in the left wheel RL and the right wheel RR of the rear wheels (S17).

Since the control device 100 of the rear wheel steering apparatus detects the state of any one of the two wheels of the rear wheel when the simultaneous warning is not generated on the left wheel RL and the right wheel RR of the rear wheel, The operation amount of the rear wheel steering apparatus 10 can be set to the set value 2 (or the second operation amount described above) to limit the operation amount of the rear wheel steering apparatus 10 (S18).

Next, the controller 100 of the rear-wheel steering apparatus performs fade-out control such as returning to the origin when the simultaneous warning does not occur in the left wheel RL and the right wheel RR of the rear wheels, The operation of the rear wheel steering apparatus 10 is prohibited, and a warning lamp, a state or the like can be turned on (S19).

The control method of the rear wheel steering apparatus according to the embodiment disclosed in this specification

The control method of the rear wheel steering apparatus according to an embodiment disclosed below may be implemented as a part or a combination of the configurations or steps included in the embodiments described above or a combination of the embodiments, The overlapping portion can be omitted for the sake of clarity of the control method of the rear wheel steering apparatus according to the present invention.

A method of controlling a rear wheel steering apparatus according to an embodiment disclosed herein includes the steps of obtaining air pressure information on a tire of a vehicle and changing an operation amount of the rear wheel steering apparatus of the vehicle based on the obtained air pressure information, And prohibiting operation of the rear wheel steering apparatus.

A method of controlling a rear wheel steering apparatus according to an embodiment includes obtaining wheel speed information for at least one of two wheels of a front wheel of the vehicle and two wheels of a rear wheel, And changing the operation amount or inhibiting operation of the rear wheel steering apparatus.

5 is a flowchart showing a control method of a rear wheel steering apparatus according to an embodiment disclosed herein.

Referring to FIG. 5, a method of controlling a rear wheel steering apparatus according to an embodiment disclosed herein may include the following steps.

First, the air pressure information on the tire of the vehicle can be obtained (S110).

Next, the operation amount of the rear wheel steering apparatus of the vehicle may be changed or the operation of the rear wheel steering apparatus may be prohibited based on the obtained air pressure information (S120).

To summarize the technology disclosed in the present specification, the technique disclosed in the present specification can be applied to a case where information (tire pressure warning, etc.) provided by TPMS (Tire Pressure Monitoring System) or difference of wheel speed signal information (The target control amount or the target steering angle / change rate (for example, the steering angle changed per unit time) or the operation is prohibited in accordance with the state abnormality of the front wheels and the rear tires, And a control device and a control method of an active rear-wheel steering apparatus that minimizes degradation of the stability of the vehicle's behavior.

As a detailed method, it is judged whether or not the state of the rear wheels and the front tires is abnormal by using the signal information (tire air pressure warning etc.) provided by the TPMS (Tire Pressure Monitoring System) or the difference of the wheel speed signal information (Target control amount / rate of change restriction) or prohibition of operation of the rear wheel steering device in accordance with the condition of the abnormality of the front tire or the condition of the front tire (abnormality of the rear wheel one wheel / two wheel, Thereby minimizing the degradation of the stability of the vehicle behavior.

The present invention relates to a control system for a rear-wheel steering apparatus which obtains air-pressure information on a tire of a vehicle, changes the operation amount of the rear-wheel steering apparatus of the vehicle on the basis of the obtained air-pressure information, And a control method of the rear wheel steering apparatus.

According to the control apparatus of the rear wheel steering apparatus and the control method of the rear wheel steering apparatus according to the embodiment disclosed in this specification, it is possible to obtain the air pressure information on the tire of the vehicle, and, on the basis of the obtained air pressure information, It is possible to prevent the occurrence of excessive wear of the rear tire and to improve the stability of the vehicle behavior by prohibiting the operation of the rear wheel steering device.

The scope of the present invention is not limited to the embodiments disclosed herein, and the present invention can be modified, changed, or improved in various forms within the scope of the present invention and the claims.

10: rear wheel steering device 100: control device of rear wheel steering device
200: TPMS

Claims (17)

An air pressure information obtaining unit obtaining air pressure information on a tire of the vehicle; And
And a controller for changing an operation amount of the rear wheel steering apparatus of the vehicle based on the obtained air pressure information or inhibiting operation of the rear wheel steering apparatus. The air conditioner according to claim 1,
The information on at least one of an air pressure state for the tire and an abnormal state of air pressure for the tire. The air conditioner according to claim 1,
And obtains the air pressure information from a TPMS (Tire Pressure Monitoring System). The apparatus of claim 1,
Wherein the operating amount is changed by changing at least one of a target rear wheel steering angle and a rate of change of a rear wheel steering angle per unit time of the rear wheel steering apparatus. The apparatus of claim 1,
Wherein when the operation of the rear wheel steering apparatus is to be inhibited, the operation of the rear wheel steering apparatus is prohibited after returning the state of the rear wheel steering apparatus to the initial state. The method according to claim 1,
And an output unit for outputting a warning message to the outside,
Wherein,
Wherein the warning message is generated when the operation amount of the rear wheel steering apparatus of the vehicle is changed or when the operation of the rear wheel steering apparatus is to be prohibited. 7. The apparatus according to claim 6,
Wherein the warning message is output to the outside in the form of external vibration, voice, image type, flashing of a warning lamp, and the like. The apparatus of claim 1,
Wherein the operation amount of the rear wheel steering device is changed or the operation of the rear wheel steering device is prohibited based on the wheel speed information of at least one of two wheels of the front wheel of the vehicle and at least one of the two wheels of the rear wheel . 9. The apparatus according to claim 8,
And changes the operation amount of the rear wheel steering apparatus or prohibits the operation of the rear wheel steering apparatus when the wheel speed difference between the two wheels of the rear wheel exceeds the first reference speed. 9. The apparatus according to claim 8,
When the difference between the wheel speeds of at least one of two wheels of the front wheel of the vehicle and at least one of the two wheels of the rear wheel exceeds a second reference speed, the operation amount of the rear wheel steering apparatus is changed, And inhibits operation of the steering apparatus. 9. The apparatus according to claim 8,
Calculating a vehicle speed for the vehicle based on the wheel speeds of the two wheels of the front wheel of the vehicle and the two wheels of the rear wheel,
When the difference between the wheel speed and the vehicle speed for at least one of the two wheels of the front wheel of the vehicle exceeds the third reference speed, the operation amount of the rear wheel steering device is changed, And the operation of the rear wheel steering apparatus is prohibited. 9. The apparatus according to claim 8,
Wherein the controller inhibits the operation of the rear wheel steering apparatus when it is determined that there is an abnormal state in the two wheels of the rear wheels based on at least one of the air pressure information and the wheel speed information. 9. The apparatus according to claim 8,
When it is determined based on at least one of the air pressure information and the wheel speed information that an abnormality exists in one wheel or two wheels of the front wheel, the operation amount of the rear wheel steering apparatus is changed to the first operation amount And the steering angle of the rear wheel is changed. 14. The apparatus of claim 13,
When it is determined based on at least one of the air pressure information and the wheel speed information that an abnormality exists in any of the two wheels of the rear wheel, the operation amount of the rear wheel steering apparatus is changed to the second operation amount And a control device for the rear wheel steering device. 15. The method according to claim 14,
And the second operating amount is larger than the second operating amount. Obtaining air pressure information on a tire of a vehicle; And
And changing the operation amount of the rear wheel steering apparatus of the vehicle based on the obtained air pressure information or inhibiting the operation of the rear wheel steering apparatus. 17. The method of claim 16,
Obtaining wheel speed information for at least one of two wheels of the front wheel of the vehicle and two wheels of the rear wheel; And
Further comprising changing an operation amount of the rear wheel steering apparatus based on the wheel speed information or inhibiting operation of the rear wheel steering apparatus.
KR1020150056377A 2015-04-22 2015-04-22 Apparatus for controlling rear steering device and method thereof KR20160125666A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150056377A KR20160125666A (en) 2015-04-22 2015-04-22 Apparatus for controlling rear steering device and method thereof

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210080659A (en) 2019-12-20 2021-07-01 현대자동차주식회사 Control apparatus and method of rear wheel steer

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210080659A (en) 2019-12-20 2021-07-01 현대자동차주식회사 Control apparatus and method of rear wheel steer
US11858568B2 (en) 2019-12-20 2024-01-02 Hyundai Motor Company Apparatus and method for controlling rear wheel steering

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