KR20210004515A - Apparatus and method for determining off-road driving of vehicle - Google Patents

Abstract

Disclosed is an apparatus for determining off-road driving of a vehicle. According to the present invention, the apparatus comprises: a navigation system which provides class information of a road on which a vehicle is running; and a controller which determines whether the vehicle is off-road driving based on the vertical acceleration detected by an acceleration sensor and the road class information provided by the navigation system.

Description

Apparatus and method for determining off-road driving of a vehicle {APPARATUS AND METHOD FOR DETERMINING OFF-ROAD DRIVING OF VEHICLE}

The present invention relates to an apparatus and method for determining off-road driving of a vehicle, by using the vertical acceleration of the vehicle and road information of the in-vehicle navigation to quickly determine whether the vehicle is off-road without driver intervention. It relates to a road driving determination device and method.

Recently, as one of the specifications for improving the marketability of a vehicle, a technology for appropriately setting various control elements of the vehicle according to the road surface condition of the road on which the vehicle is running has been applied.

For example, if the road surface on which the vehicle is running is off-road, if the driver sets the vehicle's driving mode to the off-road mode, the vehicle's control unit adjusts the vehicle's suspension to raise the garage, thereby damaging the lower body of the vehicle. It is possible to improve the performance of rough road driving by applying high torque to the wheel by relatively increasing the engine output or allowing the transmission to automatically shift more quickly.

However, conventionally, since most of the setting of the driving mode according to the road surface condition is performed in a manner that the driver directly sets it through a mode selection switch provided in the driver's seat, it is not practically helpful to a driver who is not familiar with selecting the road surface condition. If the driver does not recognize it when the mode selection switch is set to a state that is not suitable for the road surface condition, there is a problem that fuel consumption increases due to excessive output and an uncomfortable driving feeling is provided to the driver.

The matters described as background art above are only for enhancing understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-0896922 B1 KR 10-2015-0057742 A

Accordingly, the present invention is a vehicle off-road driving determination device capable of quickly determining whether the vehicle is off-road driving without inputting a driving mode setting according to a driver's road surface condition using road information of a vehicle's vertical acceleration and in-vehicle navigation. And a method.

The present invention as a means for solving the above technical problem,

An acceleration sensor detecting vertical acceleration of the vehicle;

A navigation system that provides class information of a road on which the vehicle is running; And

A controller that determines whether the vehicle is off-road driving based on vertical acceleration detected by the acceleration sensor and road grade information provided by the navigation;

It provides an off-road driving determination device for a vehicle comprising a.

In one embodiment of the present invention, when the vertical acceleration detected by the acceleration sensor is greater than a preset reference value and the road grade information provided by the navigation is lower than a preset reference grade, the vehicle is determined to be driving off-road. I can judge.

In one embodiment of the present invention, the controller determines that the vehicle is traveling off-road when the vertical acceleration detected by the acceleration sensor is larger than a preset reference value and the location of the vehicle is determined to be not a road in the navigation. can do.

An embodiment of the present invention may further include a signal processing unit that extracts a low frequency component and a high frequency component of the vertical acceleration detected by the acceleration sensor, calculates a relative ratio of the low frequency component and the high frequency component, and provides it to the controller. have.

In one embodiment of the present invention, the signal processor includes: a low pass filter for extracting a low frequency component of vertical acceleration detected by the acceleration sensor; A high pass filter for extracting a high frequency component of the vertical acceleration detected by the acceleration sensor; An average calculator for calculating average values of the low frequency components extracted from the low pass filter and the high frequency components extracted from the high pass filter, respectively; And a divider for calculating a relative ratio between the average value of the low frequency component and the average value of the high frequency component calculated by the average calculator.

In an embodiment of the present invention, the controller, when the extracted low-frequency component is longer than the high-frequency component is maintained for longer than a preset time, and when the road grade information provided by the navigation is lower than a preset reference grade, the It can be determined that the vehicle is driving off-road.

In an embodiment of the present invention, the controller, when the extracted low-frequency component is longer than the high-frequency component is maintained for longer than a preset time, and when it is determined that the location of the vehicle is not a road, the vehicle It can be determined that this off-road driving is in progress.

As another means for solving the above technical problem, the present invention,

Detecting a vertical acceleration of the vehicle;

A first determining step of determining whether an off-road driving condition is satisfied based on the vehicle vertical acceleration;

Receiving information on a grade of a road on which the vehicle is running from a vehicle navigation system;

A second determining step of determining whether an off-road driving condition is satisfied based on the road grade; And

Determining that the vehicle is driving off-road when it is determined that the off-road driving condition is satisfied in each of the first determination step and the second determination step;

It provides a method for determining off-road driving of a vehicle including a.

In an embodiment of the present invention, detecting the vertical acceleration may include extracting a low frequency component and a high frequency component of the vertical acceleration of the vehicle and calculating a relative ratio between the low frequency component and the high frequency component. .

In one embodiment of the present invention, in the first determining step, it may be determined that the off-road driving condition is satisfied when a time in which the extracted low-frequency component is greater than the high-frequency component is maintained for longer than a preset time.

In one embodiment of the present invention, the second determining step is, when the road grade information provided by the navigation is lower than a preset reference grade or when the navigation determines that the vehicle location is not a road, the off-road driving condition It can be judged as satisfying.

According to the apparatus and method for determining off-road driving of the vehicle, the off-road driving status is determined based on only the vertical acceleration by using not only the vertical acceleration of the vehicle but also the road grade of the driving road provided by the navigation installed in the vehicle. It is possible to reduce the time required to determine whether to drive the road.

In addition, according to the apparatus and method for determining off-road driving of a vehicle, it is possible to accurately and quickly determine off-road driving without the need for the driver of the vehicle to directly set the off-road driving, thereby improving consumer convenience and contributing to improvement of marketability.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those of ordinary skill in the art from the following description. will be.

1 is a block diagram schematically showing an apparatus for determining off-road driving of a vehicle according to an embodiment of the present invention.
2 is a block diagram showing in more detail a signal processing unit of an apparatus for determining off-road driving of a vehicle according to an embodiment of the present invention.
3 and 4 are views for explaining off-road and on-road driving characteristics of a vehicle.
5 and 6 are graphs showing road roughness derived based on high-frequency components and low-frequency components of vertical acceleration of the vehicle during off-road and on-road driving of the vehicle.
7 is a flowchart illustrating a method of determining off-road driving of a vehicle according to an embodiment of the present invention.

Hereinafter, an apparatus and method for determining off-road driving of a vehicle according to various embodiments will be described in detail with reference to the accompanying drawings.

1 is a block diagram schematically showing an apparatus for determining off-road driving of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, an apparatus for determining off-road driving of a vehicle according to an embodiment of the present invention includes an acceleration sensor 11 that detects a vertical acceleration of the vehicle, and a navigation system that provides grade information of a road on which the vehicle is running ( 13) and a controller 15 that determines whether the vehicle is traveling off-road based on the vertical acceleration detected by the acceleration sensor 11 and the road grade information provided by the navigation.

The acceleration sensor 11 is a sensor that is attached to a vehicle body or the like and detects a movement of a vehicle occurring in a direction perpendicular to the ground. In general, compared to a flat paved road (on-road), the off-road has an irregular road surface, so the vertical movement of the vehicle increases. Accordingly, by monitoring the vertical movement amount of the vehicle detected by the acceleration sensor 11 (a movement amount that occurs in a direction perpendicular to the ground), it is possible to determine that the vehicle is driving off-road.

The navigation 13 detects the current position of the vehicle movement based on GPS data received from a plurality of GPS satellites, which generally belong to a Global Positioning System (GPS), and compares the detected current position of the vehicle with the map data from the starting point. It is a device that provides a function to guide the driving of a vehicle by searching a route to a destination. When the driver sets a destination, the navigation 13 classifies and stores roads into various road classes and levels in order to provide road route information to the destination.

Here, the road class stored by the navigation 13 is set in a different manner for each navigation manufacturer, but most of the vehicle's movable speed (for example, the speed limit of the road) and the number of lanes or the width of the road Based on the standard, roads that move quickly and allow the driver to drive comfortably are set to a relatively higher grade. That is, the road grade of the navigation is a grade that is determined in advance according to the type or condition of the road, and the higher the grade, the higher the priority is in setting the navigation route.

Table 1 below shows an example of a road class.

Road grade Road type One highway 2 Urban highway 3 National highway 4 Local or national maps with four or more lanes 5 Local or local maps with less than 4 lanes 6 Si/gun roads with more than 4 lanes 7 2-lane city/gun road 8 Entrance to amusement facilities such as golf courses, amusement parks, etc. 9 Dirt road

Table 1 above only shows an example of the road grade, and the type of road corresponding to the road grade may be set differently for each manufacturer of the navigation system.

In this way, referring to the grade of the currently driving road provided by the navigation 13, it may be determined whether the vehicle is off-road driving. For example, if the road grade is 9 grade corresponding to an unpaved road, it can be easily determined that the vehicle is off-road driving. In addition, if the road grade is high, there is little possibility of an off-road driving environment, and if the road grade is lower than a certain level, the possibility that the entire road or part of the road will become off-road increases. That is, when the road grade provided by the navigation is less than or equal to the preset reference grade, the possibility that the vehicle is driving off-road increases.

The controller 17 may determine whether the vehicle is traveling off-road based on a vertical acceleration detection value of the vehicle provided by the acceleration sensor 11 and road grade information provided by the navigation 13.

For example, when the vertical acceleration detection value of the vehicle provided by the acceleration sensor 11 is greater than a preset reference value and the road class information provided by the navigation 13 is less than a preset reference level, the vehicle is off-road. It can be determined that it is driving.

Here, the controller 17 uses a nonvolatile memory (not shown) configured to store data related to an algorithm configured to control the operation of various components of the vehicle or a software instruction to reproduce the algorithm and data stored in the memory. It may be implemented through a processor (not shown) configured to perform the operation described below. Here, the memory and the processor may be implemented as individual chips or as a single chip integrated with each other, and the processor may take the form of one or more processors.

An embodiment of the present invention may further include a signal processing unit 17 that extracts a high frequency component and a low frequency component of the vertical acceleration detected by the acceleration sensor 11 and calculates a relative ratio between the high frequency component and the low frequency component.

2 is a block diagram showing in more detail a signal processing unit of an apparatus for determining off-road driving of a vehicle according to an embodiment of the present invention.

Referring to FIG. 2, the signal processing unit 17 includes a low-pass filter 171 for extracting a low frequency component of the vertical acceleration detected by the acceleration sensor 11, and a high frequency component of the vertical acceleration detected by the acceleration sensor 11. A high-pass filter 172 for extracting, and RMS calculators 173 and 174 for calculating the extracted root mean square (RMS) of the extracted low-frequency components and high-frequency components, respectively, and the average values of the low-frequency components and the high-frequency components It may include a divider 175 for calculating the relative ratio of.

The vertical acceleration detected by the acceleration sensor 11 installed in the vehicle may have a high frequency component and a low frequency component. 3 to 6 will be referred to to explain this.

3 is a view for explaining the off-road driving characteristics of a vehicle, and an uneven road surface is detected as a slow vibration, that is, a low frequency component by the acceleration sensor 11 of the vehicle 10, and gravel or soil placed on the road surface is fast. Vibration, that is, can be detected as a low frequency component. When the detection of the vibration generated by the road surface condition and gravel placed on the road surface is more than a certain level, it may be determined simply as off-road.

However, the on-road environment having bumps and rough road surfaces continuously arranged as shown in FIG. 4 is very similar to the off-road driving environment of the vehicle shown in FIG. 3. Therefore, rather than determining whether to drive off-road within a short period of time, it is required for the controller 15 to accurately determine whether to drive off-road by monitoring the high-frequency component and the low-frequency component of the vertical acceleration detected over a certain set time.

5 is a graph showing the road surface roughness derived based on the high frequency component and the low frequency component of the vertical acceleration of the vehicle during off-road driving, and FIG. 6 is a graph showing the high frequency component and the low frequency component of the vertical acceleration of the vehicle during on-road driving. It is a graph showing the derived road surface roughness. As shown in FIG. 5, since the off-road has a severe change in the height of the road surface itself, the roughness due to the low frequency component 51 is relatively larger than the roughness due to the high frequency component 52. Therefore, when the low frequency component 51 is larger than a predetermined value and the ratio of the low frequency component and the high frequency component calculated by the divider 175 is checked and the low frequency component is relatively large, it can be determined as offload.

On the other hand, as shown in FIG. 6, the high-frequency component 62 due to small obstacles such as scratches formed on the road surface itself or gravel placed on the road surface appears higher than the low frequency component 61 in the on-road, rather than a change in the height of the road surface itself.

However, as shown in FIG. 4, in the on-road made of rough asphalt and the speed bumps are continuously installed on the road, road surface roughness according to the high-frequency component and low-frequency component similar to that of FIG. 5 may be derived. May be. Accordingly, in order to accurately determine whether or not to drive off-road only with the high-frequency component, the low-frequency component, and the relative ratio of the vertical frequency of the vehicle, the controller 15 is used to determine the low-frequency component and the high-frequency component of the vertical acceleration You need to monitor the rate.

In various embodiments of the present invention, in order to determine whether to drive off-road, whether to drive off-road is determined by referring to not only the vertical acceleration of the vehicle as described above, but also the road grade of the road during driving provided by the navigation system.

For example, the controller 15 may be provided with a high frequency component, a low frequency component, and a relative ratio of the vertical frequency of the vehicle provided from the signal processing unit 17, as well as the road rating of the road during driving provided by the navigation 13. have. The controller 15 may determine that the vehicle is off-road when the low-frequency component of the vertical acceleration of the vehicle is larger than the high-frequency component of the vehicle and the relative ratio of the received road grade is lower than a preset reference grade.

That is, the controller 15 determines whether the road grade of the road during driving provided by the navigation 13 is lower than the preset grade instead of increasing the time to monitor the high frequency component, the low frequency component, and the relative ratio of the vehicle's vertical frequency. Thus, when the road grade is lower than the preset grade, it can be determined as off-road driving almost immediately. As described above, when the road grade is low, it is possible to make this determination because there is a high probability that the road is narrow and the driving environment is poor.

Of course, the controller 15 may determine that the vehicle is off-road even when the navigation 13 determines that the vehicle is located in a location other than the road. When it is determined that the navigation 13 is not a road, the vehicle is not located on the road on the map possessed by the navigation 13, and this is because the probability of off-road such as a mountain road is very high.

The present invention also provides an off-road driving determination method using the vehicle off-road driving determination apparatus according to various embodiments as described above. 7 is a flowchart illustrating a method of determining off-road driving of a vehicle according to an embodiment of the present invention.

Referring to FIG. 7, in the method for determining off-road driving of a vehicle according to an embodiment of the present invention, the acceleration sensor 11 detects a vertical acceleration of a driving vehicle and transmits information on the detected vertical acceleration and vehicle speed to a controller ( 15) can be started from the input step (S15). In addition, a step (S21) in which the controller 15 receives information on the road class on which the vehicle is running from the navigation 13 installed in the vehicle may be performed.

In step S11, the low-pass filter 171 of the signal processing unit 17 extracts the low-frequency component of the vertical acceleration detected by the acceleration sensor 11, and the high-pass filter 172 is detected by the acceleration sensor 11 The high-frequency components of the vertical acceleration are extracted, and the RMS calculators 173 and 174 calculate a root mean square (RMS) of the extracted low-frequency components and high-frequency components, respectively, and the divider 175 is a RMS calculator 173 And 174), a relative ratio between the average value of the low-frequency component and the average value of the high-frequency component, respectively, can be calculated. In step S11, a low frequency component, a high frequency component, and a relative ratio between the low frequency component and the high frequency component of the vertical acceleration calculated by the signal processing unit 17 may be provided to the controller 15.

Subsequently, the controller 15 may determine whether the off-road driving condition is satisfied based on the vertical acceleration (S12). More specifically, the controller 15 maintains a time in which the low frequency component of the extracted vertical acceleration is greater than a preset reference value, and the time that the low frequency component is greater than the high frequency component based on the relative ratio of the low frequency component and the high frequency component is maintained for longer than a preset time. If confirmed, it can be determined that the off-road driving conditions are satisfied. Here, the controller 15 may determine whether an off-road driving condition is satisfied based on a low frequency component and a high frequency component for each vehicle speed, and a relative ratio of the low frequency component and the high frequency component.

In addition, the controller 15 may determine whether the road grade is lower (or less) by comparing the road grade with a preset reference grade after receiving the grade information of the road on which the vehicle is running from the vehicle navigation 13 ( S22). In step S22, the controller 15 may determine that the off-road determination condition is satisfied if it is determined that the grade of the road on which the vehicle is running is lower than or less than the reference grade, or the vehicle is in a position other than the current road ( S22).

Subsequently, the controller 15 finally determines that the vehicle is currently running off-road when the off-road determination conditions are satisfied in both steps S12 and S22 (S31), and controls the vehicle suspension to adjust the garage. It is possible to perform the off-road mode control so that the vehicle can be operated with an appropriate setting in off-road by changing the height and shifting timing of the transmission to be faster (S33).

On the other hand, when the offload determination condition is not satisfied in any one of steps S12 and S22, the offload mode control may be stopped (S33) if the offload mode control was previously being performed.

In various embodiments of the present invention, since it is determined whether the off-road determination condition is satisfied using not only the vertical acceleration of the vehicle, but also the road grade on which the vehicle is running, the time for determining whether the off-road determination condition is satisfied in step S12, That is, the set time for determining the time during which the extracted low-frequency component of the vertical acceleration is held larger than the high-frequency component can be taken very short, so that it is possible to quickly determine whether to drive off-road.

In addition, various embodiments of the present invention enable accurate and quick off-road driving determination without the need for a driver of a vehicle to directly set off-road mode driving, thereby improving consumer convenience and contributing to improvement in marketability.

Although shown and described in connection with specific embodiments of the present invention above, it will be apparent to those of ordinary skill in the art that the present invention can be variously improved and changed within the scope of the claims. .

11: Vertical acceleration sensor 13: Navigation
15: controller 17: signal processing unit
171: low pass filter 172: high pass filter
173, 174: RMS operator 175: divider

Claims (11)

An acceleration sensor detecting vertical acceleration of the vehicle;
A navigation system that provides class information of a road on which the vehicle is running; And
A controller that determines whether the vehicle is off-road driving based on vertical acceleration detected by the acceleration sensor and road grade information provided by the navigation;
Off-road driving determination device of a vehicle comprising a. The method of claim 1, wherein the controller,
Off-road driving determination of a vehicle, characterized in that it is determined that the vehicle is running off-road when the vertical acceleration detected by the acceleration sensor is greater than a preset reference value and the road grade information provided by the navigation is lower than a preset reference grade Device. The method according to claim 1,
When the vertical acceleration detected by the acceleration sensor is greater than a preset reference value and the location of the vehicle is determined to be not a road, the vehicle off-road driving determination device, characterized in that it determines that the vehicle is driving off-road . The method according to claim 1,
Off-road driving of a vehicle, characterized in that it further comprises a signal processor for extracting the low frequency component and the high frequency component of the vertical acceleration detected by the acceleration sensor, calculating a relative ratio of the low frequency component and the high frequency component, and providing it to the controller Judgment device. The method of claim 4, wherein the signal processing unit,
A low-pass filter for extracting a low frequency component of the vertical acceleration detected by the acceleration sensor;
A high pass filter for extracting a high frequency component of the vertical acceleration detected by the acceleration sensor;
An average operator for calculating an average value of the low frequency component extracted from the low pass filter and the high frequency component extracted from the high pass filter, respectively; And
And a divider for calculating a relative ratio between the average value of the low-frequency component and the average value of the high-frequency component calculated by the average calculator. The method of claim 4 or 5, wherein the controller,
When the extracted low-frequency component is longer than the high-frequency component is maintained for longer than a preset time and the road grade information provided by the navigation is lower than a preset reference grade, it is determined that the vehicle is off-road driving. A device for determining off-road driving of a vehicle to perform. The method of claim 4 or 5, wherein the controller,
Characterized in that when the extracted low-frequency component is longer than the high-frequency component is maintained for longer than a preset time, and when it is determined that the location of the vehicle is not a road, it is determined that the vehicle is driving off-road. Vehicle off-road driving judgment device. Detecting a vertical acceleration of the vehicle;
A first determining step of determining whether an off-road driving condition is satisfied based on the vehicle vertical acceleration;
Receiving information on a grade of a road on which the vehicle is running from a vehicle navigation system;
A second determining step of determining whether an off-road driving condition is satisfied based on the road grade; And
Determining that the vehicle is driving off-road when it is determined that the off-road driving condition is satisfied in each of the first and second determination steps;
Off-road driving determination method of the vehicle comprising a. The method of claim 8, wherein detecting the vertical acceleration,
And extracting a low-frequency component and a high-frequency component of the vertical acceleration of the vehicle, and calculating a relative ratio between the low-frequency component and the high-frequency component. The method of claim 9, wherein the first determining step,
A method of determining off-road driving of a vehicle that determines that an off-road driving condition is satisfied when a time in which the extracted low-frequency component is longer than the high-frequency component is maintained for more than a preset time. The method of claim 8, wherein the second determining step,
A method of determining off-road driving of a vehicle that determines that an off-road driving condition is satisfied when the road level information provided by the navigation is lower than a preset reference level or when the navigation determines that the vehicle location is not a road.

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