KR20190115961A - Starting control method for 4wd vehicle - Google Patents

Starting control method for 4wd vehicle

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Publication number
KR20190115961A
KR20190115961A KR1020180039286A KR20180039286A KR20190115961A KR 20190115961 A KR20190115961 A KR 20190115961A KR 1020180039286 A KR1020180039286 A KR 1020180039286A KR 20180039286 A KR20180039286 A KR 20180039286A KR 20190115961 A KR20190115961 A KR 20190115961A
Authority
KR
South Korea
Prior art keywords
road surface
driving wheel
amount
torque
friction
Prior art date
Application number
KR1020180039286A
Other languages
Korean (ko)
Inventor
심수민
Original Assignee
현대위아 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대위아 주식회사 filed Critical 현대위아 주식회사
Priority to KR1020180039286A priority Critical patent/KR20190115961A/en
Publication of KR20190115961A publication Critical patent/KR20190115961A/en

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Classifications

    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/18—Four-wheel drive vehicles
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/40—Torque distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B60W2550/148—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/82—Four wheel drive systems

Abstract

According to the present invention, a starting control method for a 4WD vehicle comprises the following steps of: calculating a braking distance based on a brake pedal effort amount and a vehicle speed by a control unit when a vehicle is stopped while being driven; detecting a road state based on the braking distance and the brake pedal effort amount by the control unit after the calculation step; and controlling a driving force distribution device to vary a torque amount distributed to an auxiliary driving wheel from a main driving wheel by the control unit in accordance with the road state after the detection step.

Description

사륜 차량의 발진 제어방법 {STARTING CONTROL METHOD FOR 4WD VEHICLE}Oscillation control method for four-wheeled vehicle {STARTING CONTROL METHOD FOR 4WD VEHICLE}

본 발명은 주행 중이던 사륜 차량이 정차할 경우에 정차한 지점의 노면 상태를 감지하고, 노면상태에 따라 주구동륜과 보조구동륜에 분배되는 토크량을 적절히 제어함으로써 차량의 초기 발진 성능을 효과적으로 개선한 사륜 차량의 발진 제어방법에 관한 것이다.The present invention is to detect the road surface state of the stop point when the four-wheeled vehicle is stopped, and to appropriately control the amount of torque distributed to the main drive wheel and the auxiliary drive wheel according to the road surface condition to effectively improve the initial starting performance of the vehicle four wheel The oscillation control method of the vehicle.

일반적으로 발진 제어란 차량이 정차한 상태에서 출발하는 경우 행해지는 엔진과 변속기의 제어를 의미한다.In general, the oscillation control refers to the control of the engine and the transmission performed when the vehicle starts from a stopped state.

정상 도로에서 차량이 발진하는 경우에는 심각한 문제가 발생하지 않으나, 저마찰로, 빙판길, 험로 등의 노면에서 차량이 발진하는 경우에는 휠의 슬립과 록킹(locking)이 일어나 차량의 주행이 곤란한 상황이 종종 발생하게 된다.When the vehicle starts on a normal road, serious problems do not occur.However, when the vehicle starts on a low friction road, an icy road, a rough road, etc., the wheel slips and locks, making driving difficult. This often happens.

한편, 운전자의 요구에 따라 차량의 초기 발진 성능을 확보하는 것은 차량의 상품성과 관련되는데, 그에 따라 노면의 상태에 따라 초기 발진 성능을 확보하면서도 원활한 발진이 이루어지는 로직의 개발이 요구되어 왔다.Meanwhile, securing the initial starting performance of the vehicle according to the driver's request is related to the merchandise of the vehicle. Accordingly, there has been a demand for the development of logic for smooth starting while securing the initial starting performance according to the road surface condition.

상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.

KR10-1518889 B1KR10-1518889 B1

본 발명은 사륜 차량이 정차하는 과정에서 주행중인 도로의 노면상태를 감지하고, 감지된 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배되는 토크량을 가변 제어함으로써, 초기 발진 성능을 확보하면서도 노면에 따른 원활한 발진이 이루어지도록 유도하는 사륜 차량의 발진 제어방법을 제공하는데 그 목적이 있다.The present invention detects the road surface state of the road running while the four-wheeled vehicle stops, and by varying the amount of torque distributed from the main drive wheel to the auxiliary drive wheel in accordance with the detected road surface state, while ensuring the initial oscillation performance according to the road surface An object of the present invention is to provide an oscillation control method of a four-wheeled vehicle for inducing smooth oscillation.

상기의 목적을 달성하기 위한 본 발명에 따른 사륜 차량의 발진 제어방법은 차량이 주행 중 정차한 상황일 경우, 제어부가 브레이크 페달 답입량 및 차속에 기반하여 제동거리를 산출하는 단계; 상기 산출단계 후, 상기 제어부가 제동거리 및 브레이크 페달 답입량에 기반하여 노면상태를 감지하는 단계; 및 상기 감지단계 후, 상기 제어부가 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배되는 토크량이 가변되도록 구동력 배분장치를 제어하는 단계;를 포함할 수 있다.According to another aspect of the present invention, there is provided a starting control method of a four-wheeled vehicle, including: calculating, by a controller, a braking distance based on a brake pedal depression amount and a vehicle speed when the vehicle is stopped while driving; After the calculating step, detecting, by the controller, a road surface state based on a braking distance and a brake pedal depression amount; And controlling, by the controller, a driving force distribution device so that the amount of torque distributed from the main driving wheel to the auxiliary driving wheel varies according to the road surface condition.

상기 감지단계에서, 상기 제어부는 제동거리가 증가할수록 노면의 마찰계수가 작아진다고 감지하는 것을 특징으로 할 수 있다.In the sensing step, the control unit may detect that the friction coefficient of the road surface decreases as the braking distance increases.

상기 감지단계에서, 상기 제어부는 제동거리 대비 브레이크 페달 답입량이 증가할수록 노면의 마찰계수가 작아진다고 감지하는 것을 특징으로 할 수 있다.In the detecting step, the control unit may detect that the friction coefficient of the road surface decreases as the brake pedal depression amount increases with respect to the braking distance.

상기 제어단계에서, 상기 제어부는 노면의 마찰계수가 작을수록 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 증대시키는 것을 특징으로 할 수 있다.In the controlling step, the control unit may increase the torque amount distributed from the main driving wheel to the auxiliary driving wheel as the friction coefficient of the road surface is smaller.

상기 제어단계에서, 상기 제어부는 노면의 마찰계수에 따라 노면상태를 고마찰로, 중마찰로, 저마찰로로 구분하고, 구분된 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 가변 제어하는 것을 특징으로 할 수 있다.In the controlling step, the controller divides the road surface into high friction, heavy friction, and low friction according to the friction coefficient of the road surface, and varies the torque amount distributed from the main driving wheel to the auxiliary driving wheel according to the divided road surface condition. It may be characterized by controlling.

상기 제어부는 노면상태가 고마찰로인 경우보다 중마찰로인 경우에 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 크게 하고, 중마찰로인 경우보다 저마찰로인 경우에 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 크게 제어하는 것을 특징으로 할 수 있다.The control unit increases the amount of torque distributed from the main driving wheel to the auxiliary driving wheel when the road surface state is a heavy friction road than when the road surface is a high friction road, and the main driving wheel to the auxiliary driving wheel when the road surface is a low friction road than the heavy friction road. It is possible to greatly control the amount of torque to be distributed.

상기 제어단계 후, 상기 제어부가 노면의 마찰계수에 따라 맵핑된 선제토크를 엔진이 출력하는 단계;를 더 포함하고, 상기 선제토크는 노면의 마찰계수가 작을수록 크게 산출되는 것을 특징으로 할 수 있다.After the control step, the control unit, the engine outputs the pre-mist torque mapped in accordance with the friction coefficient of the road surface; wherein the pre-torque is characterized in that the larger the friction coefficient of the road surface is calculated larger. .

상술한 바와 같은 구조로 이루어진 사륜 차량의 발진 제어방법에 따르면, 도로의 노면 마찰계수에 따라 주구동륜과 보조구동륜에 분배하는 토크량을 가변하여 제어하는바, 노면의 상태에 따라 알맞은 초기 발진 제어가 가능해져, 궁극적으로는 차량의 상품성을 개선할 수 있다.According to the oscillation control method of a four-wheeled vehicle having the structure as described above, according to the road surface friction coefficient of the road to vary the amount of torque to be distributed to the main drive wheel and the auxiliary drive wheel to control the appropriate initial start control according to the state of the road surface It is possible to ultimately improve the merchandise of the vehicle.

또한, 사륜 차량이 정차한 상태에서 노면의 마찰계수에 따라 엔진이 선제 토크량을 출력하도록 부가적으로 제어함으로써, 노면의 상태에 따라 효과적인 발진을 수행할 수 있다.Further, by additionally controlling the engine to output a preemptive torque amount according to the friction coefficient of the road surface while the four-wheel vehicle is stopped, it is possible to perform effective starting according to the state of the road surface.

도 1은 본 발명의 일 실시예에 따른 사륜 차량의 발진 제어방법을 도시한 순서도,
도 2는 본 발명의 일 실시예에 따른 사륜 차량의 발진 제어장치를 간략히 도시한 블록도이다.1 is a flowchart illustrating a start control method of a four-wheeled vehicle according to an exemplary embodiment of the present invention.
2 is a block diagram schematically illustrating an oscillation control apparatus of a four-wheeled vehicle according to an exemplary embodiment of the present invention.

이하에서는 첨부된 도면을 참조하여 본 발명의 바람직한 실시 예에 따른 사륜 차량의 발진 제어방법에 대하여 살펴본다.Hereinafter, with reference to the accompanying drawings looks at with respect to the oscillation control method of a four-wheeled vehicle according to an embodiment of the present invention.

도 1은 본 발명의 일 실시예에 따른 사륜 차량의 발진 제어방법을 도시한 순서도이고, 도 2는 본 발명의 일 실시예에 따른 사륜 차량의 발진 제어장치를 간략히 도시한 블록도이다.1 is a flowchart illustrating a start control method of a four-wheeled vehicle according to an exemplary embodiment of the present invention, and FIG. 2 is a block diagram schematically illustrating an start control apparatus of a four-wheeled vehicle according to an embodiment of the present invention.

도 1 내지 도 2를 참조하면, 본 발명의 사륜 차량의 발진 제어방법은 차량이 주행 중 정차한 상황일 경우, 제어부(100)가 브레이크 페달 답입량 및 차속에 기반하여 제동거리를 산출하는 단계(S10); 상기 산출단계(S10) 후, 상기 제어부(100)가 제동거리 및 브레이크 페달 답입량에 기반하여 노면상태를 감지하는 단계(S20); 및 상기 감지단계(S20) 후, 상기 제어부(100)가 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배되는 토크량이 가변되도록 구동력 배분장치(120)를 제어하는 단계;를 포함할 수 있다.1 to 2, in the starting control method of the four-wheeled vehicle of the present invention, when the vehicle is stopped while driving, the control unit 100 calculates a braking distance based on the brake pedal depression amount and the vehicle speed ( S10); After the calculating step S10, the control unit 100 detecting a road surface state based on a braking distance and a brake pedal depression amount (S20); And controlling the driving force distribution device 120 so that the amount of torque distributed from the main driving wheel to the auxiliary driving wheel varies according to the road surface state after the detecting step S20.

본 발명은 사륜 차량이 정차한 상황에서 운전자에 의해 발진이 이루어지기 전에, 제어부(100)가 주구동륜과 보조구동륜에 분배되는 토크량을 가변하도록 제어함으로써, 운전자가 발진을 요구하는 상황에서 미끄러짐 현상없이 효과적으로 발진이 이루어지도록 하여 차량의 초기 발진 성능을 향상시키는데에 그 목적이 있다.According to the present invention, before the oscillation is performed by the driver in the situation where the four-wheeled vehicle is stopped, the controller 100 controls the variable amount of torque distributed to the main driving wheel and the auxiliary driving wheel so that the driver slips in the situation requiring the oscillation. The purpose is to improve the initial oscillation performance of the vehicle by allowing the oscillation to be effectively performed without.

특히나, 본 발명에서 제어부(100)는 차량이 정차하는 과정에서 수집되는 데이터를 이용하여 주행 중인 노면의 상태를 감지하고, 감지된 노면상태에 따라 주구동륜과 보조구동륜에 분배되는 토크량을 세밀하게 제어함으로써, 노면 상태에 알맞게 초기 발진 응답성을 확보할 수 있다.In particular, in the present invention, the control unit 100 detects the state of the road surface being driven by using data collected in the process of stopping the vehicle, and in detail the torque amount distributed to the main driving wheel and the auxiliary driving wheel according to the detected road surface state. By controlling, the initial oscillation response can be secured appropriately for the road surface condition.

구체적으로 살펴보면, 먼저 제어부(100)는 차량이 주행 중 정차되는지 확인하기 위해 브레이크페달 포지션 센서(BPS:Brake-pedal Position Sensor)와 차속센서로부터 브레이크 신호와 차속 데이터를 수신한다. 만약, 운전자에 의해 브레이크 페달이 동작하고, 차속이 점차 감소하여 0이 된다고 확인될 경우, 상기 제어부(100)는 차량의 주행 중 정차된다고 판단할 수 있다.In detail, first, the controller 100 receives a brake signal and vehicle speed data from a brake-pedal position sensor (BPS) and a vehicle speed sensor to check whether the vehicle is stopped while driving. If it is determined that the brake pedal is operated by the driver and the vehicle speed gradually decreases to 0, the controller 100 may determine that the vehicle is stopped while driving.

이와 같이, 차량이 주행 중 정차한 상황일 경우, 제어부(100)는 BPS와 차속센서로부터 각각 브레이크 페달 답입량 및 차속 데이터를 수신하고, 수신된 데이터에 기반하여 차량의 제동거리를 산출한다(S10).As such, when the vehicle is stopped while driving, the controller 100 receives brake pedal depression amount and vehicle speed data from the BPS and the vehicle speed sensor, respectively, and calculates a braking distance of the vehicle based on the received data (S10). ).

여기서, 제어부(100)는 브레이크 페달 답입으로 인해 차속이 0이 될 때까지 브레이크 페달 답입량 대비 차속의 변화율을 관찰함으로써, 차량의 제동거리를 산출할 수 있게 된다.Here, the controller 100 may calculate the braking distance of the vehicle by observing a rate of change of the vehicle speed relative to the amount of depression of the brake pedal until the vehicle speed becomes 0 due to the brake pedal depression.

상기 산출단계(S10) 후, 제어부(100)는 산출된 제동거리와 브레이크 페달 답입량에 기반하여 노면상태를 감지한다(S20). 따라서, 제어부(100)는 차량의 발진에 대비하여 주행 중인 노면의 상태를 확인할 수 있다.After the calculating step (S10), the control unit 100 detects the road surface state based on the calculated braking distance and the brake pedal depression amount (S20). Therefore, the controller 100 may check the state of the road surface being driven in preparation for the vehicle oscillation.

이때, 상기 감지단계(S20)에서, 상기 제어부(100)는 제동거리가 증가할수록 노면의 마찰계수가 작아진다고 감지하는 것을 특징으로 할 수 있다.In this case, in the sensing step S20, the controller 100 may detect that the friction coefficient of the road surface decreases as the braking distance increases.

또한, 제어부(100)는 제동거리 대비 브레이크 페달 답입량이 증가할수록 노면의 마찰계수가 작아진다고 감지하는 것을 특징으로 할 수 있다.In addition, the controller 100 may detect that the friction coefficient of the road surface decreases as the brake pedal depression amount increases with respect to the braking distance.

즉, 운전자에 의해 브레이크 답입이 발생할 경우, 브레이크 답입량에 따른 제동거리를 확인함으로써 노면이 미끄러운 빗길이나 눈길인지 판단할 수 있다. 구체적으로 제어부(100)는 브레이크 페달 답입량 및 제동거리와 반비례한 값으로 노면과 바퀴 사이의 마찰계수를 산출한다.That is, when brake depression occurs by the driver, it is possible to determine whether the road surface is slippery rain or snow road by checking the braking distance according to the brake depression amount. In detail, the control unit 100 calculates a friction coefficient between the road surface and the wheel by a value inversely proportional to the brake pedal depression amount and the braking distance.

여기서, 노면의 마찰계수란 노면과 바퀴 사이의 마찰 정도를 나타내는 수치로서, 그 크기가 커질수록 바퀴와 노면 사이의 마찰이 증가한다고 판단할 수 있다.Here, the friction coefficient of the road surface is a numerical value representing the degree of friction between the road surface and the wheel, it can be determined that the friction between the wheel and the road surface increases as the size increases.

이러한 상기 감지단계(S20) 후, 상기 제어부(100)는 차량의 정차상태를 유지하면서, 감지된 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배되는 토크량이 알맞게 가변되도록 구동력 배분장치(120)를 제어할 수 있다.After the sensing step (S20), the control unit 100 controls the driving force distribution device 120 so that the amount of torque distributed from the main driving wheel to the auxiliary driving wheel according to the detected road surface state is appropriately variable. can do.

상기 구동력 배분장치(120)는 트랜스퍼 장치일 수 있으며, 트랜스퍼 장치는 전륜 및 후륜으로의 동력 분배가 가능한 다판 클러치 등이 설치될 수 있을 것이다.The driving force distribution device 120 may be a transfer device, and the transfer device may be provided with a multi-plate clutch capable of distributing power to the front wheels and the rear wheels.

본 발명에서, 상기 제어단계(S30)에서, 상기 제어부(100)는 노면의 마찰계수가 작을수록 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 증대시키는 것을 특징으로 할 수 있다.In the present invention, in the control step (S30), the control unit 100 may increase the amount of torque distributed from the main driving wheel to the auxiliary driving wheel as the friction coefficient of the road surface is smaller.

즉, 노면의 마찰계수가 작아질수록 보조구동륜으로 분배되는 토크량을 증가시킴으로써, 사륜구동에 의해 차량이 빙판로나 빗길과 같은 미끄로운 노면을 이겨내고 안정적으로 발진이 가능하여, 차량의 초기 발진 성능을 개선할 수 있다.In other words, as the friction coefficient of the road becomes smaller, the amount of torque distributed to the auxiliary driving wheels increases, so that the vehicle can overcome the slippery road surface such as an ice road or rain road and stably start by the four-wheel drive, thereby improving the initial starting performance of the vehicle. It can be improved.

반면, 노면의 마찰계수가 커질수록 보조구동륜으로 분배되는 토크량이 줄어듦으로써, 고마찰로에서 굳이 사륜구동을 활성화하도록 설정되어 불필요한 연료 소모나 발진 응답성 저감이 발생하여 주행감이 저하되는 현상을 방지할 수 있다.On the other hand, as the friction coefficient of the road surface increases, the amount of torque distributed to the auxiliary drive wheels decreases, so that the four-wheel drive in the high friction road is set to activate. Can be.

이와 같이, 제어부(100)는 감지단계(S20)를 통해 감지된 노면의 마찰계수에 따라 적절한 주구동륜과 보조구동륜에 분배하는 토크량을 산출하여 가변 제어함으로써, 노면상태에 따른 최적의 발진 성능을 확보하고 연비 효율성을 증대시킬 수 있다.In this way, the control unit 100 calculates the amount of torque to be distributed to the appropriate main drive wheels and the auxiliary drive wheels according to the friction coefficient of the road surface detected through the detection step (S20), thereby controlling the optimum oscillation performance according to the road surface condition To secure and increase fuel efficiency.

좀 더 구체적으로, 본 발명의 상기 제어단계(S30)에서, 상기 제어부(100)는 노면의 마찰계수에 따라 노면상태를 고마찰로, 중마찰로, 저마찰로로 구분하고, 구분된 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 가변 제어할 수 있다.More specifically, in the control step (S30) of the present invention, the control unit 100 divides the road surface state into high friction, heavy friction, low friction, according to the friction coefficient of the road surface, divided road surface state According to this, the amount of torque distributed from the main drive wheel to the auxiliary drive wheel can be variably controlled.

즉, 제어부(100)는 노면상태를 노면의 마찰계수에 따라 크게 고마찰로, 중마찰로, 저마찰로 3종류로 구분하고, 구분된 3종류의 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 가변 제어함으로써, 보다 간결한 방식으로 구동력 배분장치(120)를 제어할 수 있다.That is, the control unit 100 divides the road surface state into three types of high friction road, heavy friction road, and low friction road according to the friction coefficient of the road surface, and distributes the road surface from the main driving wheel to the auxiliary driving wheel according to the three kinds of divided road surface conditions. By varying the amount of torque to be controlled, the driving force distribution device 120 can be controlled in a more concise manner.

여기서, 상기 제어부(100)는 노면상태가 고마찰로인 경우보다 중마찰로인 경우에 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 크게 하고, 중마찰로인 경우보다 저마찰로인 경우에 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 크게 제어할 수 있다.Here, the control unit 100 increases the amount of torque distributed from the main driving wheel to the auxiliary driving wheel when the road surface state is a heavy friction road than when the road surface is a high friction road, and when the road surface is a low friction road than the heavy friction road. The torque amount distributed from the driving wheel to the auxiliary driving wheel can be largely controlled.

한편, 상기 제어단계(S30) 후, 상기 제어부(100)가 노면의 마찰계수에 따라 맵핑된 선제토크를 엔진(110)이 출력하는 단계(S40);를 더 포함하고, 상기 선제토크는 노면의 마찰계수가 작을수록 크게 산출될 수 있다.On the other hand, after the control step (S30), the control unit 100, the engine 110 outputs a preemptive torque mapped in accordance with the friction coefficient of the road surface (S40); and the preemptive torque of the road surface The smaller the coefficient of friction, the larger can be calculated.

즉, 차량이 정차한 상태에서 제어부(100)는 노면의 마찰계수에 따라 엔진(110)을 통해 선제토크를 발생시킴으로써 운전자에 의한 발진이 요구될 시, 클러치 슬립만으로 신속하게 차량을 발진시킬 수 있어 발진 응답성이 개선된다.That is, when the vehicle is stopped and the control unit 100 generates a preemptive torque through the engine 110 according to the friction coefficient of the road surface, the vehicle can be started quickly with only clutch slip when the driver is required to start. Oscillation responsiveness is improved.

이때, 구동력 배분장치(120)는 제어단계(S30)를 통해 주구동륜와 보조구동륜으로 분배되는 토크량에 따라 미리 동작한 상태이기 때문에, 차량 발진이 이루어질 시 자연스럽게 구동력 배분이 이루어진다.At this time, since the driving force distribution device 120 is operated in advance according to the amount of torque distributed to the main driving wheel and the auxiliary driving wheel through the control step (S30), the driving force is naturally distributed when the vehicle is started.

여기서, 제어부(100)는 노면의 마찰계수와 반비례하게 선제토크를 산출함으로써, 상대적으로 저마찰로일 경우에 엔진의 강한 토크로 험로를 탈출할 수 있게 하여 차량의 발진 성능을 확보할 수 있다.In this case, the controller 100 calculates the preemptive torque in inverse proportion to the friction coefficient of the road surface, so that when the road is relatively low friction, it is possible to escape the rough road with the strong torque of the engine to secure the starting performance of the vehicle.

상술한 바와 같은 구조로 이루어진 사륜 차량의 발진 제어방법에 따르면, 도로의 노면 마찰계수에 따라 주구동륜과 보조구동륜에 분배하는 토크량을 가변하여 제어하는바, 노면의 상태에 따라 알맞은 초기 발진 제어가 가능해져, 궁극적으로는 차량의 상품성을 개선할 수 있다.According to the oscillation control method of a four-wheeled vehicle having the structure as described above, according to the road surface friction coefficient of the road to vary the amount of torque to be distributed to the main drive wheel and the auxiliary drive wheel to control the appropriate initial start control according to the state of the road surface It is possible to ultimately improve the merchandise of the vehicle.

또한, 사륜 차량이 정차한 상태에서 노면의 마찰계수에 따라 엔진이 선제 토크량을 출력하도록 부가적으로 제어함으로써, 노면의 상태에 따라 효과적인 발진을 수행할 수 있다.Further, by additionally controlling the engine to output a preemptive torque amount according to the friction coefficient of the road surface while the four-wheeled vehicle is stopped, it is possible to effectively start the vehicle according to the state of the road surface.

본 발명은 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당 업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.While the invention has been shown and described with respect to particular embodiments, it is within the skill of the art that various changes and modifications can be made therein without departing from the spirit of the invention provided by the following claims. It will be self-evident for those of ordinary knowledge.

S10: 산출단계
S20: 감지단계
S30: 제어단계
S40: 출력단계
100: 제어부
110: 엔진
120: 구동력 배분장치S10: output stage
S20: detection step
S30: control step
S40: output stage
100: control unit
110: engine
120: driving force distribution device

Claims (7)

차량이 주행 중 정차한 상황일 경우, 제어부가 브레이크 페달 답입량 및 차속에 기반하여 제동거리를 산출하는 단계;
상기 산출단계 후, 상기 제어부가 제동거리 및 브레이크 페달 답입량에 기반하여 노면상태를 감지하는 단계; 및
상기 감지단계 후, 상기 제어부가 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배되는 토크량이 가변되도록 구동력 배분장치를 제어하는 단계;를 포함하는 사륜 차량의 발진 제어방법.Calculating, by the controller, a braking distance based on the brake pedal depression amount and the vehicle speed when the vehicle is stopped while driving;
After the calculating step, detecting, by the controller, a road surface state based on a braking distance and a brake pedal depression amount; And
And controlling, by the control unit, a driving force distribution device so that the amount of torque distributed from the main driving wheel to the auxiliary driving wheel varies according to the road surface condition. 청구항 1에 있어서,
상기 감지단계에서, 상기 제어부는 제동거리가 증가할수록 노면의 마찰계수가 작아진다고 감지하는 것을 특징으로 하는 사륜 차량의 발진 제어방법.The method according to claim 1,
In the detecting step, the control unit detects that the friction coefficient of the road surface decreases as the braking distance increases. 청구항 2에 있어서,
상기 감지단계에서, 상기 제어부는 제동거리 대비 브레이크 페달 답입량이 증가할수록 노면의 마찰계수가 작아진다고 감지하는 것을 특징으로 하는 사륜 차량의 발진 제어방법.The method according to claim 2,
In the detecting step, the control unit detects that the friction coefficient of the road surface decreases as the amount of brake pedal depression relative to the braking distance increases. 청구항 3에 있어서,
상기 제어단계에서, 상기 제어부는 노면의 마찰계수가 작을수록 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 증대시키는 것을 특징으로 하는 사륜 차량의 발진 제어방법.The method according to claim 3,
In the controlling step, the control unit increases the amount of torque distributed from the main driving wheel to the auxiliary driving wheel as the friction coefficient of the road surface is smaller, the start control method of the four-wheeled vehicle. 청구항 3에 있어서,
상기 제어단계에서, 상기 제어부는 노면의 마찰계수에 따라 노면상태를 고마찰로, 중마찰로, 저마찰로로 구분하고, 구분된 노면상태에 따라 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 가변 제어하는 것을 특징으로 하는 사륜 차량의 발진 제어방법.The method according to claim 3,
In the controlling step, the controller divides the road surface into high friction, heavy friction, and low friction according to the friction coefficient of the road surface, and varies the torque amount distributed from the main driving wheel to the auxiliary driving wheel according to the divided road surface condition. An oscillation control method for a four-wheeled vehicle, characterized in that for controlling. 청구항 5에 있어서,
상기 제어부는 노면상태가 고마찰로인 경우보다 중마찰로인 경우에 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 크게 하고, 중마찰로인 경우보다 저마찰로인 경우에 주구동륜으로부터 보조구동륜으로 분배하는 토크량을 크게 제어하는 것을 특징으로 하는 사륜 차량의 발진 제어방법.The method according to claim 5,
The control unit increases the amount of torque distributed from the main driving wheel to the auxiliary driving wheel when the road surface state is a heavy friction road than when the road surface is a high friction road, and the main driving wheel to the auxiliary driving wheel when the road surface is a low friction road than the heavy friction road. An oscillation control method for a four-wheeled vehicle, wherein the amount of torque to be distributed is largely controlled. 청구항 3에 있어서,
상기 제어단계 후, 상기 제어부가 노면의 마찰계수에 따라 맵핑된 선제토크를 엔진이 출력하는 단계;를 더 포함하고,
상기 선제토크는 노면의 마찰계수가 작을수록 크게 산출되는 것을 특징으로 하는 사륜 차량의 발진 제어방법.The method according to claim 3,
After the control step, the control unit outputs the pre-torque mapped according to the friction coefficient of the road surface; further comprising:
The starting torque is calculated as the friction coefficient of the road surface is larger, the start control method of the four-wheeled vehicle.
KR1020180039286A 2018-04-04 2018-04-04 Starting control method for 4wd vehicle KR20190115961A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102202442B1 (en) * 2019-11-25 2021-01-13 현대위아 주식회사 Torque control Method of 4WD Vehicle
CN112706728A (en) * 2020-12-30 2021-04-27 吉林大学 Automatic emergency braking control method based on road adhesion coefficient estimation of vision

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102202442B1 (en) * 2019-11-25 2021-01-13 현대위아 주식회사 Torque control Method of 4WD Vehicle
CN112706728A (en) * 2020-12-30 2021-04-27 吉林大学 Automatic emergency braking control method based on road adhesion coefficient estimation of vision
CN112706728B (en) * 2020-12-30 2022-03-25 吉林大学 Automatic emergency braking control method based on road adhesion coefficient estimation of vision

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