KR20180040972A - Method and Apparatus for Controlling Vehicle Engine - Google Patents

Abstract

The present invention relates to a method and a device for controlling a vehicle engine. According to the present invention, the device for controlling a vehicle engine comprises: a sensing portion sensing an object located on a road surface on which a vehicle drives and sensing the driving state of a vehicle; a control portion determining the height of the object and whether a vehicle is stuck or not and controlling the torque and the number of revolution of an engine by calculating driving force of a vehicle according to a determination result; and an engine driving portion outputting the torque and the number of revolution of an engine.

Description

TECHNICAL FIELD [0001] The present invention relates to a vehicle engine control apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a vehicle engine control device and a control method thereof, and more particularly, to a vehicle engine control device and a control method for controlling driving of a vehicle engine for optimum ride comfort when an obstacle passes,

Generally, on the roads requiring slowing down of the vehicle, a speed limiter is provided to limit the speed of the vehicle. The speed limiter is installed in an area where the speed of the vehicle needs to be regulated at a low speed to prevent a vehicle accident.

However, when the driver of the vehicle can not control the speed of the vehicle in the case of not recognizing the roadblock as well as the speed bump, the vehicle frequently breaks or crashes. In addition, since the height of the speed limit bump or the road obstacle is not constant, vibration of the vehicle is greatly generated due to misjudgment of the driver, and the ride feeling may be lowered.

In addition, a vehicle equipped with an autonomous running function in recent years is set such that the driving torque of the vehicle is controlled only within a certain range in order to stably control the speed and torque of the vehicle at low-speed autonomous driving. However, since the driving torque is operated only within the predetermined range, when the vehicle passes the overspeed prevention road or the road obstacle, the speed or the driving force of the vehicle is not sufficient and the vehicle can not travel.

As described above, a state in which the vehicle is stopped by a speed limit bump or a road obstacle is referred to as a stuck state. At this time, the driving force of the vehicle placed in a fixed state is increased so that the vehicle can easily pass through the speed limit bump or the road obstacle and continue running.

However, after passing through the speed limiter or the road obstacle, the acceleration of the vehicle is increased due to the increased driving force, and shock phenomena such as shock and jerk (instantaneous sudden motion) are generated along with the generation of vibration. There is a problem in that the property is deteriorated.

In order to solve such a problem, an object of the present invention is to provide a vehicle engine control device and a control method of a vehicle.

Specifically, the present invention provides a vehicle engine control apparatus and a control method for detecting an obstacle such as an overspeed preventing jaw located on a road surface on which a vehicle is traveling, and calculating a driving force for passing the obstacle in advance.

Further, the present invention provides a vehicle engine control apparatus and a control method for calculating a driving force for reducing a shock and jerk phenomenon that occurs when an obstacle such as an overspeed prevention jaw passes through a vehicle running at a low speed.

In order to achieve the above object, according to an embodiment of the present invention, there is provided a control device for a vehicle, comprising: a sensing unit for sensing an object located on a road surface on which a vehicle travels and sensing a running state of the vehicle; And controlling the torque and the number of revolutions of the engine by calculating the driving force of the vehicle according to the determination result, and an engine driving unit for outputting the torque and the number of revolutions of the engine.

In an embodiment of the present invention. A sensing step of sensing an object located on the road surface on which the vehicle is traveling and sensing a traveling state of the vehicle, a height of the object and whether or not the vehicle is stuck, and calculating the driving force of the vehicle A control step of controlling the torque and the number of revolutions of the engine, and an engine driving step of outputting the torque and the number of revolutions of the engine.

According to the present invention, since the driving force of the vehicle for passing through the obstacle located on the road surface on which the vehicle travels is calculated in advance, the stability and convenience of the driver can be improved.

There is also an effect of reducing the shock and jerk phenomenon of the vehicle when the vehicle passes an obstacle located on the road surface and improving the ride quality.

1 is a block diagram of a vehicle engine control apparatus according to an embodiment of the present invention.
2 is a flowchart of a method of controlling a vehicle engine according to an embodiment of the present invention.
3 is a diagram illustrating an example of sensing the size of an object in the object detection unit of the present invention.
4 is a diagram illustrating an example of sensing a running state of a vehicle in which a fixed portion is detected in the running detection unit of the present invention.
5 is a diagram showing an example of controlling engine driving of a vehicle in which a fixing is generated in the engine driving portion of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In the drawings, like reference numerals are used to denote like elements throughout the drawings, even if they are shown on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the components from other components, and the terms do not limit the nature, order, order, or number of the components. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; intervening "or that each component may be" connected, "" coupled, "or " connected" through other components.

1 is a block diagram of a vehicle engine control apparatus 100 according to an embodiment of the present invention.

A vehicle engine control apparatus (100) according to the present invention includes a sensing unit (110) for sensing an object located on a road surface on which a vehicle travels and sensing a traveling state of the vehicle, a height of the object, (120) for calculating the driving force of the vehicle according to the determination result and controlling the torque and the rotation speed of the engine, and an engine driving unit (130) for outputting the torque and the rotation speed of the engine have.

1, the sensing unit 110 includes an object sensing unit 110 for sensing the size of the object in a vertical direction from the road surface based on an amount of change of a reflected signal of the object, which is received from the ultrasonic sensor, 111 and a travel sensing unit 112 for sensing a wheel speed and an impact amount of the vehicle.

At this time, the ultrasonic sensor transmits ultrasonic waves to an object positioned in the vicinity of the vehicle, and the ultrasonic wave receives reflected signals reflected by the object. Accordingly, the distance between the object and the vehicle can be sensed using the elapsed time until the ultrasonic wave is transmitted and received.

In addition, the ultrasonic sensor can detect an object such as an overspeed preventing jaw, a road surface, or an obstacle located on the road surface. At this time, the approximate height of the object, that is, The size of the object can be estimated in a direction perpendicular to the road surface.

Specifically, the ultrasonic sensor receives not only the frequency but also the amplitude of the reflected signal of the object. At this time, the ultrasonic sensor detects the amplitude of the object in the vertical direction from the road surface by using the transition of the amplitude according to the distance between the vehicle and the object. Can be roughly estimated.

However, the present invention is applicable not only to the ultrasonic sensor but also to a sensor for sensing an object by transmitting and receiving a signal having a specific frequency, such as a radar or an infrared sensor.

However, the ultrasonic sensor can not detect the object in advance and a situation where the vehicle collides with the object may occur. At this time, the vehicle may collide with the object and be instantaneously stuck. In this case, the vehicle increases the driving force for passing through the object, and the wheel speed of the vehicle may increase as the driving force increases. Then, since the acceleration of the vehicle is increased due to the increase of the wheel speed, a shock phenomenon such as shock and jerk (shock and jerk) may occur along with the generation of vibration.

Accordingly, when the excessive driving force is generated by sensing the wheel speed of the vehicle by the travel sensing unit 112, the control unit 120 controls the wheel speed to be received from the wheel speed sensor. At this time, the wheel speed sensor may be mounted on the wheel of the vehicle to sense the wheel speed of the vehicle, but the present invention is not limited thereto.

The impact amount of the vehicle sensed by the travel sensing unit 112 is received from a collision sensor mounted on the lower portion of the vehicle. The collision sensor detects the collision with an object located on the road surface on which the vehicle travels, But it is not limited thereto.

That is, the sensing unit 110 can acquire sensing information of the object and sensing information on the traveling state of the vehicle from various sensors mounted on the vehicle, in addition to the above-described sensors through a CAN (Controller Area Network) have.

Specifically, the control unit 120 includes an object determining unit 121 for determining the height of the object using information about the size of the object received from the object detecting unit 111, and determining whether the vehicle is traveling or not, A fixing determination unit 122 and an object determination unit 121 for determining whether or not the vehicle is stuck using the information about the wheel speed and the amount of impact of the vehicle received from the traveling detection unit 112, And a driving force calculation unit 123 that calculates the driving force of the vehicle according to the determination result of the control unit 122 and calculates the torque and the rotation speed of the engine with respect to the calculated driving force.

If the height of the object determined by the object determining unit 121 of the control unit 120 is less than or equal to the first threshold value, the driving of the vehicle can be maintained. In the driving force calculating unit 123, The driving force for passing through the object can be calculated.

At this time, the driving force calculation unit 123 of the control unit 120 generates a look-up table from the driving force information of the vehicle corresponding to the height of the previously stored object, The driving force can be mapped.

The control unit 120 may extract the driving force data of the vehicle mapped to the height of the object sensed by the object sensing unit 111 and may calculate the driving force for passing the object from the extracted driving force data.

If it is determined that the vehicle is stuck, the increase slope of the wheel speed can be calculated. If the increase slope of the wheel speed is greater than or equal to the second threshold value, The driving force for reducing the vibration of the vehicle can be calculated in the unit 123.

At this time, the driving force calculation unit 123 of the control unit 120 generates a lookup table from the driving force information of the vehicle corresponding to the increasing inclination of the wheel speed, maps the increasing slope of the wheel speed and the driving force using the lookup table .

The control unit 120 may extract the driving force data mapped to the increasing gradient of the wheel speed sensed by the traveling sensing unit 112 and may calculate the driving force for reducing the vibration of the vehicle from the extracted driving force data have.

Here, the driving force is proportional to the product of the engine torque and the engine speed, so that the torque and the rotation speed of the engine proportional to the calculated driving force can be calculated by calculating the driving force.

Therefore, the driving force calculated by the driving force calculation unit 123 can be converted into the torque and the rotation speed of the engine and transmitted to the engine driving unit 130 to control the driving of the engine.

In addition, the engine drive unit 130 can increase or decrease the speed of the vehicle by gradually increasing or decreasing the output of the vehicle engine, that is, the revolution speed (RPM) of the engine for a short period of time have.

That is, the engine driving unit 130 receives and outputs the torque and the rotation speed of the engine converted from the driving force from the control unit 120, thereby controlling the vehicle to easily pass the object such as the overspeed prevention jaw And the shock and jerk phenomenon occurring while the vehicle passes through the object can be controlled to be reduced.

In addition, not only the engine driving unit 130 but also the brake driving unit (not shown) can be controlled using the driving force calculated by the control unit 120. This can be achieved by calculating the braking force corresponding to the driving force in the control unit 120, To the driving unit, and controls the running of the vehicle by controlling the brake hydraulic pressure for the received braking force.

2 is a flowchart of a method of controlling a vehicle engine according to an embodiment of the present invention.

A method for controlling a vehicle engine according to the present invention includes a sensing step of sensing an object located on a road surface on which a vehicle travels and sensing a traveling state of the vehicle, a height of the object and whether or not the vehicle is stuck, A control step of calculating a driving force of the vehicle in accordance with the torque and the number of revolutions of the engine, and an engine driving step of outputting the torque and the number of revolutions of the engine.

Referring to FIG. 2, in the sensing step, the road surface is sensed through information received from the ultrasonic sensor (S200). At this time, it is determined whether the object such as a speed limiter is present on the road surface (S210).

If the object is present, the sensing step detects the size of the object in the vertical direction from the road surface based on the change amount of the reflection signal of the object due to the running of the vehicle received from the ultrasonic sensor.

In the controlling step, the height of the object is estimated using information on the size of the object (S220).

At this time, it is determined whether the height of the object is equal to or less than a first threshold value (S230). If the height of the object is less than the first threshold value, the vehicle is kept running. (S240).

The driving force controls driving of the engine of the vehicle in the engine driving step in terms of the torque and the rotation speed of the engine (S250).

On the other hand, if the height of the object is greater than or equal to the first threshold value, the object is determined as an obstacle that the vehicle is difficult to pass through, and thus avoids collision with the object.

If it is not detected, the sensing step detects the wheel speed and the amount of impact of the vehicle to detect whether the vehicle is stuck (S260).

At this time, in the control step, it is determined whether or not the vehicle is stuck using the information about the wheel speed and the impact amount of the vehicle, and if the vehicle is determined to be stuck, the increase slope of the wheel speed is calculated (S270 ).

Then, it is determined whether the calculated slope of the increase of the wheel speed is equal to or greater than a second threshold value (S280). If the slope of increase of the wheel speed is equal to or greater than the second threshold value, a driving force for reducing vibration and shock of the vehicle is calculated (S240).

The driving force controls driving of the engine of the vehicle in the engine driving step in terms of the torque and the rotation speed of the engine (S250).

As described above, according to the present invention, a driving force for passing an obstacle is detected in advance by sensing an obstacle such as an overspeed preventing jaw on the road surface of a vehicle, or a shock and jerk occurring when an obstacle such as a speed- By calculating the driving force for reducing the phenomenon, the stability and convenience of the driver are improved.

3 is a diagram illustrating an example of sensing the size of an object in the object detecting unit 111 of the present invention.

3 (a) and 3 (b) are graphs showing the relationship between the distance between the vehicle and the object and the amplitude of the reflected signal of the object.

Referring to FIG. 3, the ultrasonic sensor can detect an object such as an overspeed preventing jaw, a road surface protruding or an obstacle located on the road surface, and the approximate height of the object through the characteristic of a reflection signal received by the ultrasonic sensor Can be estimated.

Specifically, the ultrasonic sensor receives not only the frequency but also the amplitude of the reflection signal of the object. At this time, by using the transition of the amplitude of the reflection signal amplitude according to the distance between the vehicle and the object, The size of the object can be roughly estimated.

That is, in the case of an object having a low height as shown in FIG. 3 (a), the amplitude magnitude of the reflected signal of the object decreases as the distance between the vehicle and the object becomes closer, In the case of an object having a high height, the amplitude magnitude of the reflected signal of the object is substantially constant even if the distance between the vehicle and the object is close to each other.

Therefore, as shown in FIG. 3, the object determining unit 121 of the control unit 120 estimates the approximate height of the object, that is, the height in the vertical direction from the road surface, using the change in the amplitude gradient of the reflected signal can do.

The driving force calculation unit 123 generates a look-up table with driving force information corresponding to the height of the object, and maps the height of the object and the driving force of the vehicle using the look-up table . That is, the driving force data mapped to the height of the object may be extracted, and the driving force for passing the object from the extracted driving force data may be calculated.

FIG. 4 is a diagram illustrating an example of sensing the running state of a vehicle in which the fixing is detected in the running detection unit 112 of the present invention. FIG. Fig.

4 and 5 are graphs of wheel speed, engine torque, fixing occurrence and braking force according to the travel time of the vehicle.

Specifically, FIG. 4 is a graph illustrating an example in which a situation in which the vehicle collides with the object can not be detected in advance in the ultrasonic sensor of the vehicle. At this time, the vehicle collides with the object and can be instantaneously stuck. In this case, the vehicle increases the driving force to pass through the object, and the wheel speed and the engine torque may increase as the driving force increases. And thus passes through the object due to the increased wheel speed and engine torque.

However, due to the increase of the wheel speed and the engine torque as shown in the graph of FIG. 4, the acceleration of the vehicle increases due to the increased driving force even after the vehicle has passed through the object, and shock phenomena such as shock and jerk There is a problem that the riding comfort and the driving ability of the driver are lowered.

FIG. 5 is a graph showing an example of controlling the driving force and the braking force of the vehicle using the engine control device 100 according to the present invention to solve such a problem.

Specifically, if the fixed determination unit 122 of the control unit 120 determines that the vehicle is fixed, the increase slope of the wheel speed can be calculated. If the calculated increase slope of the wheel speed is equal to or greater than the second threshold value, The calculation unit 123 can calculate the driving force for reducing the vibration of the vehicle.

At this time, the driving force calculation unit 123 of the control unit 120 generates a lookup table from the driving force information of the vehicle corresponding to the increasing inclination of the wheel speed, maps the increasing slope of the wheel speed and the driving force using the lookup table .

The control unit 120 may extract the driving force data mapped to the increasing gradient of the wheel speed sensed by the traveling sensing unit 112 and may calculate the driving force for reducing the vibration of the vehicle from the extracted driving force data have.

Here, the driving force is proportional to the product of the engine torque and the engine speed, so that the torque and the rotation speed of the engine proportional to the calculated driving force can be calculated by calculating the driving force.

Therefore, the driving force calculated by the driving force calculation unit 123 can be converted into the torque and the rotation speed of the engine and transmitted to the engine driving unit 130 to control the driving of the engine.

The engine driving unit 130 may increase or decrease the speed of the vehicle by increasing or decreasing the output of the vehicle engine, that is, the revolutions per minute (RPM) of the engine.

Therefore, as shown in FIG. 5, it is possible to determine the state of fixation of the vehicle during the instantaneous fixing determination time, and to gradually increase the torque of the engine output by converting the driving force, So that the driving can be controlled so as to reduce the shock and jerk phenomenon occurring while the vehicle passes through the object.

In addition, not only the engine driving unit 130 but also a brake driving unit (not shown) may be controlled using the driving force calculated by the control unit 120. In the control unit 120, The braking force is calculated and transmitted to the brake driving unit, and the running of the vehicle can be controlled by controlling the brake hydraulic pressure for the received braking force. That is, by applying the braking force of the vehicle momentarily at the time of fixation, the shock and jerk phenomenon due to the excessive driving force of the vehicle can be reduced.

As described above, according to the present invention, since the driving force of the vehicle for passing through the obstacle located on the road surface on which the vehicle travels is calculated in advance, the stability and convenience of operation are improved.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Engine control unit: 100
Detection unit: 110
Object detection unit: 111 Driving detection unit: 112
Control section: 120
Object judging section: 121 Judgment section: 122
Driving Force Calculation Unit: 123
Engine drive: 130

Claims (12)

A sensing unit sensing an object located on a road surface on which the vehicle travels and sensing a running state of the vehicle;
A control unit for determining the height of the object and the presence or absence of the fixing of the vehicle and controlling the torque and the number of revolutions of the engine by calculating the driving force of the vehicle according to the determination result; And
An engine driving unit for outputting the torque and the rotation speed of the engine; And an engine control device.
The method according to claim 1,
The sensing unit includes:
An object sensing unit for sensing the size of the object in a vertical direction from the road surface based on a change amount of a reflection signal of the object in accordance with travel of the vehicle received from the ultrasonic sensor; And
A traveling sensing unit for sensing a wheel speed and an amount of impact of the vehicle; And an engine control device.
3. The method of claim 2,
Wherein,
An object determining unit for determining the height of the object using the information about the size of the object received from the object detecting unit and determining whether the vehicle is traveling;
A fixing determination unit for determining whether or not the vehicle is stuck by using the information on the wheel speed and the amount of impact of the vehicle received from the driving detection unit; And
A driving force calculating section for calculating the driving force of the vehicle according to the determination result of the object determining section and the fixing determination section, and calculating the torque and the rotation number of the engine with respect to the calculated driving force; And an engine control device.
The method of claim 3,
Wherein,
Wherein when the height of the object is equal to or less than a first threshold value, the driving of the vehicle is maintained and the driving force for the vehicle to pass through the object is calculated.
5. The method of claim 4,
Wherein,
Extract driving force data mapped to the height of the object using the driving force information of the vehicle corresponding to the height of the previously stored object and calculate the driving force for passing the object from the extracted driving force data.
The method of claim 3,
Wherein,
Calculates an increasing slope of the wheel speed when it is determined that the vehicle is stuck, and calculates a driving force for reducing the vibration of the vehicle when the calculated slope of increase of the wheel speed is equal to or greater than a second threshold value.
The method according to claim 6,
Wherein,
Extracting driving force data mapped to an increasing slope of the wheel speed using the driving force information of the vehicle corresponding to an increasing slope of the wheel speed stored in advance, and calculating driving force data for reducing the vibration of the vehicle from the extracted driving force data Of the engine.
A sensing step of sensing an object located on a road surface on which the vehicle travels and sensing a running state of the vehicle;
A control step of determining the height of the object and the presence or absence of the fixing of the vehicle and controlling the torque and the number of revolutions of the engine by calculating the driving force of the vehicle according to the determination result; And
An engine driving step of outputting the torque and the rotation speed of the engine; Lt; / RTI >
9. The method of claim 8,
In the sensing step,
An object sensing step of sensing the size of the object in a vertical direction from the road surface based on a change amount of a reflection signal of the object in accordance with travel of the vehicle received from the ultrasonic sensor; And
A running detection step of detecting a wheel speed and an amount of impact of the vehicle; Lt; / RTI >
10. The method of claim 9,
Wherein the control step comprises:
An object determining step of determining the height of the object using information about the size of the object and determining whether the vehicle is traveling;
A fixing determination step of determining whether or not the vehicle is stuck using the information on the wheel speed and the amount of impact of the vehicle; And
A driving force calculating step of calculating the driving force of the vehicle according to the determination result, and calculating the torque and the rotation speed of the engine with respect to the calculated driving force; Lt; / RTI >
11. The method of claim 10,
Wherein the control step comprises:
And when the height of the object is equal to or less than a first threshold value, maintains the running of the vehicle, and calculates a driving force for the vehicle to pass through the object.
11. The method of claim 10,
Wherein the control step comprises:
Calculates an increasing slope of the wheel speed when the vehicle is determined to be stuck, and calculates a driving force for reducing the vibration of the vehicle when the calculated slope of increase of the wheel speed is equal to or greater than a second threshold value.

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