KR20180068744A - Stabilization control method using active roll stabilization and stabilization control system - Google Patents

Abstract

The present invention relates to a method for controlling stabilization of an automobile and a system for controlling stabilization using an ARS, comprising: a step of recognizing whether an automotive tire is damaged and broken; and a step of calculating a roll moment and a roll distribution ratio for compensating for roll and yaw behavior according to a breakage position when a breakage of the tire is recognized by recognizing whether the automotive tire is broken or the breakage position. According to the present invention, the automobile can be stably controlled when an automotive tire is damaged.

Description

TECHNICAL FIELD [0001] The present invention relates to a vehicle stabilization control method and a stabilization control system using an ARS (Vehicle Stabilization Control System)

The present invention relates to a method for stably controlling a vehicle, and more particularly to a method for stably controlling a vehicle when a situation occurs in which a tire breaks down.

Generally, a suspension of a vehicle is a device for connecting an axle and a vehicle body to prevent damage to the vehicle body and cargo by controlling the vibration or shock received from the road surface while the vehicle is traveling, so as not to be directly transmitted to the vehicle body.

Such a suspension device comprises a chassis spring for relieving the impact from the road surface, a shock absorber for attenuating the free vibration of the chassis spring to improve ride comfort, and a stabilizer bar for suppressing rolling of the vehicle.

Here, the stabilizer bar is not engaged when the left and right wheels move up and down at the same time, and the torsion occurs when the left and right wheels move relatively up and down with respect to each other And acts as an anti roll to restrain the roll of the vehicle body by the torsional restoring force.

That is, the stabilizer bar is twisted when the outside of the turning of the vehicle body is tilted by the centrifugal force or when the left and right wheels have relative lateral contraction due to the bump or rebound during running, and stabilizes the attitude of the vehicle body with the restoring force .

In recent years, in order to restrain the tilting of the vehicle due to the self-elastic restoring force of the stabilizer bar or to restore the tilted body to stabilize it, the actuator is mounted on the stabilizer bar quickly and accurately so that the rigidity of the stabilizer bar is actively Active Roll Stabilization (ARS) systems have been developed.

That is, the active roll stabilization system is applied to front wheels, rear wheels, or front and rear wheels so as to control the distribution ratio of the roll moment on the right and left sides to forcibly control the rolls so that the rolls on one side are not excessive.

However, when a situation occurs in which the tire of the vehicle is broken, the vehicle tilts in the direction of the broken position of the left wheel or the right wheel as shown in Fig. 1, resulting in a sudden roll behavior. In addition, the vehicle tilts in the direction of the broken position and a difference in speed between the right and left is generated, thereby generating an undesired yaw moment.

As a result, the steering of the vehicle becomes difficult, the driver's anxiety increases,

The matters described in the background art are intended to aid understanding of the background of the invention and may include matters which are not known to the person of ordinary skill in the art.

Korean Patent Registration No. 10-0911399

SUMMARY OF THE INVENTION It is an object of the present invention to provide a stabilization control method and a stabilization control system capable of stably controlling a vehicle when a situation where a tire of a vehicle is broken occurs.

According to an aspect of the present invention, there is provided a vehicle stabilization control method using an ARS, comprising: recognizing whether a vehicle tire is damaged or broken and recognizing whether the vehicle tire is damaged or broken; And calculating a roll moment and a roll distribution ratio for compensating roll and yaw behavior according to the breakage position.

The damage and the damaged position of the vehicle tire are received from the TPMS (Tire Pressure Monitoring System) of the vehicle.

The method further includes determining a priority between the compensation roll moment and the roll distribution ratio and the roll moment and roll distribution ratio by the existing ARS (Active Roll Stabilization) control.

The ARS is controlled by the compensation roll moment and the roll distribution ratio when it is determined that the control based on the compensation roll moment and the roll distribution ratio takes precedence in the step of determining the priority.

The compensation roll moment and the roll distribution ratio are calculated by weighting the roll moment and the roll distribution ratio by the ARS.

The roll weights and the weights of the roll distribution ratios are mapped according to test results according to vehicle speed and lateral acceleration.

As a result, when the breakage position of the vehicle tire is the inner front wheel at the time of turning, the roll distribution ratio is changed so as to increase the roll moment of the front wheels.

Alternatively, when the breakage position of the vehicle tire is the inner rear wheel at the time of turning, the roll moment and the roll distribution ratio are calculated so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained.

The roll moment and the roll distribution ratio are calculated so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position of the vehicle tire is the outer front wheel when turning.

The roll moment and the roll distribution ratio are calculated so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position of the vehicle tire is the outer front wheel and the rear wheel when turning.

Next, a vehicle stability control system using an ARS according to one aspect of the present invention includes a tire breakage / recognition unit for recognizing whether a vehicle tire is damaged or broken and a breakage / And a compensation roll moment and a distribution ratio calculating unit for calculating a roll moment for compensating the behavior and a roll distribution ratio.

The tire damage detection unit receives the damage and the damage location of the vehicle tire from the TPMS (Tire Pressure Monitoring System) of the vehicle.

Then, a roll control moment calculating section for calculating a roll control moment by ARS (Active Roll Stabilization) based on steering angle information, vehicle speed information, lateral acceleration information and yaw rate information, steering angle information, vehicle speed information, lateral acceleration information, Calculating a roll control distribution ratio based on the control value calculated by the roll control moment calculating unit and the handling distribution ratio calculating unit and a control value calculated by the compensation roll moment and distribution ratio calculating unit, And a coordinator for determining the priority of the ARS and controlling the ARS.

The compensation roll moment and distribution ratio calculating unit calculates the roll moment and the distribution ratio calculated by the roll control moment calculating unit and the handling distribution calculating unit by weighting the roll moment and the roll distribution ratio.

As a result, the compensating roll moment and the distribution ratio calculating unit changes the roll distribution ratio so that the roll moment of the front wheel is increased when the breakage position is the inner front wheel when turning.

The compensation roll moment and the distribution ratio calculating section calculates the roll moment and the roll distribution ratio so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position is the inner rear wheel when turning.

Alternatively, the compensation roll moment and the distribution ratio calculating unit may calculate the roll moment and the roll distribution ratio so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position is the outer front wheel when turning.

According to the vehicle stabilization control method and the stabilization control system using the ARS of the present invention, it is possible to minimize the sudden roll behavior and the yaw behavior even when the tire is broken during vehicle operation, thereby improving the driving convenience and improving the stability of the vehicle Thereby reducing the risk of accidents.

Fig. 1 shows a behavior according to position when a tire of a vehicle is broken.
2 shows a concept of a vehicle stability control system using an ARS according to the present invention.
FIG. 3 shows a method of controlling the stabilization of a vehicle using the ARS according to the present invention.
4 and 5 illustrate the concept of selecting variables for the present invention.
Figs. 6 and 7 show examples of mapping of variables for the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In describing the preferred embodiments of the present invention, a description of known or repeated descriptions that may unnecessarily obscure the gist of the present invention will be omitted or omitted.

FIG. 2 shows a concept of a vehicle stabilization control system using an ARS according to the present invention, and FIG. 3 illustrates a stabilization control method of a vehicle using an ARS according to the present invention.

Hereinafter, a vehicle stabilization control method and a stabilization control system using an ARS according to an embodiment of the present invention will be described with reference to FIGS. 2 and 3. FIG.

The present invention relates to a method and system for stabilizing a vehicle by controlling an active roll stabilization (ARS) system when a situation in which a vehicle tires are damaged in a vehicle that actively controls an anti-roll stabilizer bar occurs.

If the tire on one side or both sides of the left wheel or the right wheel is damaged, the vehicle is shaved to the damaged side, resulting in undesirable roll behavior and unexpected yaw behavior.

The present invention recognizes this situation and controls the roll moment of the front and rear wheels and the roll distribution ratio between the front and rear wheels to minimize roll behavior and yaw behavior.

To this end, the vehicle stabilization control system 10 using the ARS of the present invention includes a tire failure recognition unit 11, a roll moment / distribution ratio calculation unit 12 for calculating roll / yaw behavior, a roll control moment calculation unit 13, A handling distribution ratio calculating unit 14 and a coordinator 15.

The tire failure recognition unit 11 receives the damage of the tire from the TPMS or the i-TPMS 20 and the damaged position in the CAN communication.

TPMS is a Tire Pressure Monitoring System that directly monitors the condition of the tire pressure of the vehicle and i-TPMS corresponds to indirect tire pressure monitoring system.

When the breakage of the tire is recognized by the tire breakage recognition unit 11, the compensation roll moment and the division ratio calculating unit 12 calculates the roll moment for the roll / yaw behavior compensation and the distribution ratio.

Namely, the roll moments of the front wheel and the rear wheel are newly calculated according to the breakage position of the tire, and the roll distribution ratio between the front wheel and the rear wheel is newly calculated.

The roll control moment calculating section 13 and the handling distribution calculating section 14 receive the steering angle information, the vehicle speed information, the lateral acceleration information and the yaw rate information from the vehicle information section 30 via the CAN communication, The control moment and the handling distribution ratio are calculated.

The roll control moment calculating unit 13 and the handling distribution calculating unit 14 receive the roll control moment value and the roll moment distribution ratio value in the steady state and receive the roll moment and the compensation roll moment from the compensation roll moment and distribution ratio calculating unit 12, The coordinator 15 receives the roll distribution ratio value and determines the priority of control in the case of general control and tire failure, and determines the torque values of the front wheels and the rear wheels, and controls the actuators 41 and 42 according to the values.

That is, as shown in FIG. 3, when the tire failure is recognized, the stabilization control method of the vehicle according to the present invention determines the roll moment and the roll distribution ratio according to the case to determine the stabilization bar torque of the front wheel and the rear wheel, Thereby controlling the actuator.

Here, T _FrStab is the front wheel step bar torque, and T _RrStab is the rear wheel step bar torque.

M _T is the roll moment of the entire vehicle, R _F is the front wheel roll stiffness distribution ratio, and M _{T_new} and R _{F_new} are the new rolling moment and front wheel roll stiffness distribution ratios of the entire vehicle.

E _Fr and E _Rr correspond to the step bar efficiency of the front wheel and the rear wheel.

A concrete example of such control will be described below.

First, the cases of breakage of tires can be classified as shown in the following table.

case flag Detail Remarks One clear - 2 The turning inner front wheel Left: Left wheel
Priority: right wheel 3 Turning inner rear wheel 4 Turning front outer wheel Left: Right wheel
Priority: Left wheel 5 Outer rear wheel 6 Two inside turning Homology 7 Two outside swings Homology 8 Other breakdowns 2 front wheels
2 rear wheels
4 wheels

Case 1 corresponds to a case where no breakage is caused, and Case 8 corresponds to a case where stabilization control is impossible.

In this case, the general ARS control is performed according to the process in the case where it is not recognized as tire breakage in Fig. 3, and accordingly, the coordinator 15 controls the roll control moment calculator 13 and the handling distribution ratio calculator 14 And determines the torque values of the front wheels and the rear wheels according to the value to control the actuator.

The front wheel roll moment M _F and the rear wheel roll moment M _{R in} this case are as follows.

M _F = R _F M _T

M _R = (1-R _F ) M _T

M _T is the roll moment of the entire vehicle, and R _F is the roll distribution ratio of the front wheels.

On the other hand, in Case 2 to Case 7, which is recognized as tire breakage, the coordinator 15 determines the torque values of the front and rear wheels based on the roll moment and the roll distribution ratio received from the roll moment and distribution ratio calculation unit 12 Thereby controlling the actuator.

First, Case 2 is a case where breakage of the front inner wheel is broken, and Case 6 is a case where breakage of the front and rear wheels on the inner side of the turn occurs.

In this case, only the roll distribution ratio is changed while maintaining the entire roll moment, and the roll moment of the front wheel is increased and the roll moment of the rear wheel is decreased.

This control reduces the roll behavior of the front wheels and increases the understeer tendency.

That is, in the front wheel with increased roll moment, the lateral force of the tire is decreased due to the increase of the load movement amount due to the increase of the roll stiffness, and the load transfer amount of the rear wheel, .

Specifically, the roll moment and the roll distribution ratio are determined as follows.

M _{T_new} = M _T

R _{F_new} = R _F x? (?> 1)

M _{F_new} = R _{F_new} × M _T

M _{R_new} = (1-R _{F_new} ) × M _T

Here, _{MT_new} is the roll moment of the entire compensation vehicle, and in the case of the case, the value of the full roll moment before failure is maintained.

And, R _{F_new} corresponds to the front wheel roll stiffness distribution ratio for the yaw behavior compensation, and λ is the distribution ratio weight, which is based on the value mapped according to the vehicle speed and the lateral acceleration. If? has a value larger than 1, the distribution ratio of the front wheels becomes large.

Next, M _{F_new} corresponds to the roll moment of the front wheel for roll behavior compensation, and M _{R - new} is the roll moment of the rear wheel for roll behavior compensation.

Case 3 is a case where breakage of the rear inner rear wheel occurs.

In this case, the roll moment of the front wheels and the rear wheels as a whole is increased, and the roll distribution ratio between the front and rear wheels is controlled.

Through such control, the roll behavior of the rear wheels is reduced to increase the understeer tendency.

Specifically, the roll moment and the roll distribution ratio are determined as follows.

M _{R_new} = M _R x? (?> 1)

M _{T_new} = M _{F_new} + M _{R_new}

Here, β is the roll moment weight, which depends on the value mapped according to the vehicle speed and the lateral acceleration.

Case 4 is a case where breakage of the outer front wheel is generated.

In this case, the roll moment of the front wheels and the rear wheels as a whole is increased, and the roll distribution ratio between the front and rear wheels is controlled.

This control reduces the front wheel roll behavior and increases the understeer tendency.

Specifically, the roll moment and the roll distribution ratio are determined as follows.

M _{F_new} = M _F x? (?> 1)

M _{T_new} = M _{F_new} + M _{R_new}

Case 5 is a case where breakage of the right outer side right wheel occurs.

In this case, only the roll distribution ratio is changed while maintaining the entire roll moment, and the roll moment of the front wheel is decreased and the roll moment of the rear wheel is increased.

Through such control, the roll behavior of the rear wheels is reduced to increase the understeer tendency.

Specifically, the roll moment and the roll distribution ratio are determined as follows.

M _{T_new} = M _T

R _{F_new} = R _F × λ (λ <1)

M _{F_new} = R _{F_new} × M _T

M _{R_new} = (1-R _{F_new} ) × M _T

Here, if? Has a value smaller than 1, the distribution ratio of the rear wheels becomes large.

Finally, Case 7 is a case where breakage of the front and rear wheels on the outside of the swing occurs.

In this case, the roll moment of the front wheels and the rear wheels as a whole is increased, and the roll distribution ratio between the front and rear wheels is controlled.

Through such control, the roll behavior of the front and rear wheels is reduced to increase the understeer tendency.

Specifically, the roll moment and the roll distribution ratio are determined as follows.

M _{F_new} = M _F x? (?> 1)

M _{T_new} = M _{F_new} + M _{R_new}

4 and 5 illustrate the concept of selecting variables for the present invention.

The roll moment for compensating the roll and yaw behavior and the change of the roll moment and the distribution ratio by the distribution ratio calculating unit are changed according to the weight determined according to the case, and the weights lambda and beta are determined according to the vehicle speed and the lateral acceleration.

That is, lambda is determined by lambda 1 determined by the vehicle speed and lambda 2 determined by the lateral acceleration, and beta is determined by the product of beta 1 determined by the vehicle speed and beta 2 determined by the lateral acceleration.

In the case where λ1 and λ2 are larger than 1 in the figure, the roll stiffness of the front wheel is increased when the values of λ1 and λ2 are larger than 1. In the case where λ1 and λ2 have values smaller than 1, The case 5 corresponds to the case of enlarging.

When β1 and β2 have a value larger than 1, cases 3, 4, and 7 correspond to cases in which the roll moment is increased as a whole.

These λ and β are determined by the test. For example, the influence of the change in the distribution ratio of the front wheel and the rear wheel in turning at 0.8 g is examined under the test conditions shown in Table 2 below, and the test results shown in Table 3 were obtained do.

6 and FIG. 7, and the test is repeated according to the vehicle speed, the lateral acceleration, the total roll moment, and the distribution ratio to complete the mapping of? And?.

Exam conditions Driving situation Vehicle speed Lateral acceleration Passengers Driver intervention R 52.5m
Turning at the summit 80k / h 0.8 g 2 No involvement
(Fixed steering angle)

Test result Lateral deviation distance after 2 seconds (m) Lateral acceleration variation (m / s ² ) Change in yaw rate (deg / s) -1.2641 (after 300ms: 0.0815m) -1.7 +5.89

As described above, the vehicle stabilization control method and the stabilization control system using the ARS of the present invention calculate the roll moment and the roll distribution ratio for compensation from the damage information of the tire, thereby forcibly controlling the ARS, Minimize the behavior.

While the present invention has been described with reference to the exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is obvious to those who have. Accordingly, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

10: Vehicle stabilization control system
11: Tire breakage perception
12: Roll moment for compensation and ratio calculation part
13: roll control moment calculating section
14: Handling distribution ratio calculating section
15: Coordinator
20: TPMS
30: Vehicle Information Department
41, 42: actuators

Claims (17)

Recognizing whether or not the vehicle tire is damaged and the damage location;
And calculating a roll moment and a roll distribution ratio for compensating the roll and the yaw behavior according to the breakage position when the breakage of the tire is recognized by recognizing the breakage of the vehicle tire and the breakage position,
Control Method of Vehicle Stabilization Using ARS. The method according to claim 1,
Characterized in that the breakage of the vehicle tire and the breakage position thereof are received from a vehicle's TPMS (Tire Pressure Monitoring System)
Control Method of Vehicle Stabilization Using ARS. The method of claim 2,
Further comprising determining a priority between the compensation roll moment and roll distribution ratio and roll moment and roll distribution ratio by existing active roll stabilization (ARS) control,
Control Method of Vehicle Stabilization Using ARS. The method of claim 3,
Wherein the ARS is controlled by the compensating roll moment and the roll distribution ratio when it is determined that the control based on the compensation roll moment and the roll distribution ratio takes precedence in the step of determining the priority.
Control Method of Vehicle Stabilization Using ARS. The method of claim 4,
Characterized in that the compensating roll moment and the roll distribution ratio are calculated by weighting the roll moment and the roll distribution ratio by the ARS.
Control Method of Vehicle Stabilization Using ARS. The method of claim 5,
Characterized in that the weight of the roll moment and the roll distribution ratio is mapped by a test result according to a vehicle speed and a lateral acceleration,
Control Method of Vehicle Stabilization Using ARS. The method of claim 6,
Wherein when the breakage position of the vehicle tire is the inner front wheel when turning, the roll distribution ratio is changed so as to increase the roll moment of the front wheels.
Control Method of Vehicle Stabilization Using ARS. The method of claim 6,
Characterized in that the roll moment and the roll distribution ratio are calculated so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position of the vehicle tire is the inner rear wheel when turning.
Control Method of Vehicle Stabilization Using ARS. The method of claim 6,
Characterized in that the roll moment and the roll distribution ratio are calculated so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position of the vehicle tire is the outer front wheel when turning.
Control Method of Vehicle Stabilization Using ARS. The method of claim 6,
Characterized in that the roll moment and the roll distribution ratio are calculated so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position of the vehicle tire is the outside front wheel and the rear wheel at the time of turning,
Control Method of Vehicle Stabilization Using ARS. A tire breakage recognition unit recognizing whether the vehicle tire is broken or damaged and a breakage position;
And a compensation roll moment and a distribution ratio calculating unit for calculating a roll moment and a roll distribution ratio for compensating the roll and yaw behavior according to the breakage position,
Vehicle Stabilization Control System Using ARS. The method of claim 11,
Wherein the tire damage detection unit receives the damage and the damage location of the vehicle tire from the TPMS (Tire Pressure Monitoring System) of the vehicle,
Vehicle Stabilization Control System Using ARS. The method of claim 12,
A roll control moment calculating unit for calculating a roll control moment by ARS based on steering angle information, vehicle speed information, lateral acceleration information, and yaw rate information;
A steering distribution ratio calculating unit for calculating a roll control distribution ratio by the ARS based on steering angle information, vehicle speed information, lateral acceleration information, and yaw rate information; And
Further comprising a coordinator for controlling the ARS by determining a priority value of a control value calculated by the roll control moment calculating section and the handling distribution calculating section and a control value calculated by the compensation roll moment and distribution ratio calculating section,
Vehicle Stabilization Control System Using ARS. 14. The method of claim 13,
Wherein the compensation roll moment and the distribution ratio calculating section calculates the roll moment and the distribution ratio by weighting the roll moment and the roll distribution ratio calculated by the roll control moment calculating section and the handling distribution calculating section,
Vehicle Stabilization Control System Using ARS. 15. The method of claim 14,
Wherein the compensating roll moment and the distribution ratio calculating unit calculates the compensation roll moment and the distribution ratio by changing the roll distribution ratio so that the roll moment of the front wheel is increased when the break position is the inner front wheel when turning.
Vehicle Stabilization Control System Using ARS. 15. The method of claim 14,
Wherein the compensation roll moment and the distribution ratio calculating unit calculates the roll moment and the roll distribution ratio so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position is the inner rear wheel when turning.
Vehicle Stabilization Control System Using ARS. 15. The method of claim 14,
Wherein the compensation roll moment and the distribution ratio calculating unit calculates the roll moment and the roll distribution ratio so that the roll moment of the front wheels and the rear wheels as a whole is increased and the roll distribution ratio is maintained when the breakage position is the outer front wheel when turning.
Vehicle Stabilization Control System Using ARS.

Images