KR20210044962A - Apparatus for controlling rotational behavior of vehicle and method thereof - Google Patents

Abstract

The present invention relates to an apparatus for controlling a behavior of a vehicle and a method thereof, which are able to use an acceleration sensor and a yaw rate sensor, to detect a rotational behavior of the vehicle due to a collision which has occurred on a rear side surface of the vehicle, to control the braking, acceleration, and steering of the vehicle corresponding to the detected rotational behavior, and to control the rotational behavior of the vehicle in a stable manner even if a weak collision has occurred on the rear side surface of the vehicle. To this end, according to the present invention, the apparatus for controlling the rotational behavior of the vehicle comprises: a first collision sensor which is placed on a right side surface of the vehicle to detect a collision; a second collision sensor which is placed on a left side surface of the vehicle to detect a collision; a yaw rate sensor which measures a yaw rate of the vehicle; and a control unit which detects a rotational behavior of the vehicle due to a collision which has occurred on the rear side surface of the vehicle, controls the braking, acceleration, and steering of the vehicle corresponding to the detected rotational behavior, and stabilizes the rotational behavior of the vehicle.

Description

Vehicle rotational behavior control device and its method {APPARATUS FOR CONTROLLING ROTATIONAL BEHAVIOR OF VEHICLE AND METHOD THEREOF}

The present invention relates to a technology for stably controlling a rotational behavior of a vehicle when a collision occurs on a rear side of a vehicle.

A vehicle airbag is a device that protects a vehicle occupant from an impact when an air bag swells around the occupant (e.g., steering wheel or instrument panel) instantaneously in the event of a vehicle collision, and is a representative passenger protection device along with a seat belt.

In the event of a vehicle collision, the collision detection sensor of the airbag detects the collision, and the airbag control unit (ACU) determines whether the collision is the degree to which the airbag needs to be deployed, and the ignition device of the inflator (gas generator). To start. When the ignition device is activated, the gunpowder explodes to generate gas, and the gas generated at this time is instantaneously injected into the air bag at a high speed and the air bag is deployed in such a way that the air bag is inflated.

In general, the airbag system includes a plurality of front impact sensors (FIS) and a plurality of side impact sensors (SIS), and an airbag control unit that controls the deployment of the airbag based on signals from these sensors. ACU: Airbag Control Unit) and airbag modules of each part. At this time, the airbag control unit is located at the center of the vehicle and has a 3-axis (x,y,z) acceleration sensor.

The ACU detects a collision using the measured values (FIS_X) of the front collision sensor, which is an acceleration sensor in front of the vehicle, and the measured values of the 3-axis acceleration sensor (ACU_X, ACU_Y), and deploys the airbag when the measured value exceeds the threshold In addition, the vehicle is braked by transmitting a collision signal to the Electronic Stability Control (ESC) system to prevent secondary accidents.

This ACU does not deploy the airbag if the intensity of the collision occurring on the rear side of the vehicle does not exceed the threshold value, and does not transmit a collision signal to the ESC system, so that the vehicle rotates due to the collision and causes a secondary collision with an obstacle. There is a problem that does not prevent accidents in advance.

The matters described in this background are prepared to enhance an understanding of the background of the invention, and may include matters other than the prior art already known to those of ordinary skill in the field to which this technology belongs.

US 10053072 B2

In order to solve the problems of the prior art as described above, the present invention uses an acceleration sensor and a yaw rate sensor to detect the rotational behavior of a vehicle due to a collision occurring on the rear side of the vehicle, and a vehicle corresponding to the detected rotational behavior. It is an object of the present invention to provide a vehicle behavior control apparatus and method capable of stably controlling the rotational behavior of the vehicle even when a slight collision occurs on the rear side of the vehicle by controlling the braking, acceleration and steering of the vehicle.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention that are not mentioned can be understood by the following description, and will be more clearly understood by examples of the present invention. In addition, it will be easily understood that the objects and advantages of the present invention can be realized by the means shown in the claims and combinations thereof.

An apparatus of the present invention for achieving the above object is an apparatus for controlling a rotational behavior of a vehicle, comprising: a first collision sensor positioned on a right side of the vehicle to detect a collision; A second collision sensor located on the left side of the vehicle to detect a collision; A yaw rate sensor that measures the yaw rate of the vehicle; And a controller for stabilizing the rotational behavior of the vehicle by sensing a rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle, and controlling braking, acceleration, and steering of the vehicle corresponding to the detected rotational behavior.

Here, the controller first determines the rotational behavior of the vehicle based on the yaw rate value measured by the yaw rate sensor, and based on the x-axis acceleration value measured by the first collision sensor and the second collision sensor. Thus, it is possible to secondly determine the rotational behavior of the vehicle.

In addition, if the yaw rate value measured by the yaw rate sensor is positive (+), the controller determines the rotation behavior in a counterclockwise direction, and if the yaw rate value measured by the yaw rate sensor is negative (-), the clock It can be judged by the rotational behavior of the direction.

In addition, the control unit is that the x-axis acceleration value measured by the first collision sensor exceeds a threshold value in the positive (+) direction, and the x-axis acceleration value measured by the second collision sensor is in the negative (-) direction. If the threshold is satisfied, it can be determined that the vehicle rotates.

In addition, the control unit is configured that the x-axis acceleration value measured by the first collision sensor exceeds a threshold value in the negative (-) direction, and the x-axis acceleration value measured by the second collision sensor is in the positive (+) direction. If the threshold is satisfied, it can be determined that the vehicle rotates.

In addition, the control unit controls the longitudinal motion driving unit to apply braking to the left front wheel and the left rear wheel of the vehicle, accelerate to a first target speed to the right front wheel, and accelerate to a second target speed to the right rear wheel, and the steering wheel of the vehicle It is possible to control the transverse behavior driving unit to rotate in the direction opposite to the rotation of the vehicle.

In addition, the control unit calculates a yaw rate angle by integrating the yaw rate value measured by the yaw rate sensor, multiplies the calculated yaw rate angle by a coefficient k to calculate a steering control value, and the Based on the calculated steering control value, it is possible to control the transverse motion driving unit.

The method of the present invention for achieving the above object is a method for controlling a rotational behavior of a vehicle, the method comprising: detecting a collision by a first collision sensor located on a right side of the vehicle; Detecting a collision by a second collision sensor located on the left side of the vehicle; Measuring the yaw rate of the vehicle by the yaw rate sensor; Detecting, by the controller, a rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle; And stabilizing the rotational behavior of the vehicle by controlling, by the control unit, braking, acceleration, and steering of the vehicle corresponding to the sensed rotational behavior.

Here, detecting the rotational behavior of the vehicle may include determining the rotational behavior of the vehicle based on the yaw rate measured by the yaw rate sensor; And secondly determining the rotational behavior of the vehicle based on the x-axis acceleration values measured by the first collision sensor and the second collision sensor.

In addition, the step of first determining the rotational behavior of the vehicle may include determining as a counterclockwise rotational behavior if the yaw rate value measured by the yaw rate sensor is positive (+); And determining the rotational behavior in a clockwise direction if the yaw rate value measured by the yaw rate sensor is negative (-).

In addition, in the second determining the rotational behavior of the vehicle, the x-axis acceleration value measured by the first collision sensor exceeds a threshold value in the positive (+) direction, and x measured by the second collision sensor. If the axis acceleration value satisfies the threshold in the negative (-) direction, it can be determined that the vehicle rotates.

In addition, in the second determining the rotational behavior of the vehicle, the x-axis acceleration value measured by the first collision sensor exceeds a threshold value in the minus (-) direction, and x measured by the second collision sensor. If the axis acceleration value satisfies the threshold in the positive (+) direction, it can be determined that the vehicle rotates.

In this case, the step of stabilizing the rotational behavior of the vehicle includes applying braking to the left front wheel and the left rear wheel of the vehicle, accelerating to the first target speed to the right front wheel, and accelerating to the second target speed to the right rear wheel. Controlling the; And controlling the lateral motion driving unit to rotate the steering wheel of the vehicle in a direction opposite to the rotation of the vehicle.

Here, the controlling of the lateral motion driver may include calculating a yaw rate angle by integrating a yaw rate value measured by the yaw rate sensor; Calculating a steering control value by multiplying the calculated yaw rate angle by a coefficient k; It may include the step of controlling the lateral movement driving unit based on the calculated steering control value.

According to an embodiment of the present invention, an apparatus and method for controlling vehicle behavior according to an embodiment of the present invention use an acceleration sensor and a yaw rate sensor to detect the rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle, and By controlling the braking, acceleration, and steering of the corresponding vehicle, even when a slight collision occurs on the rear side of the vehicle, the rotational behavior of the vehicle can be stably controlled.

1 is a configuration diagram of an apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention,
2 is a structural diagram of an apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention;
3 is a view showing a value measured when a weak collision occurs by an acceleration sensor provided in the apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention;
FIG. 4 is a view showing a value measured by a yaw rate sensor provided in the apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention;
5 is a view showing values measured by a first side collision detection sensor and a second side collision detection sensor provided in the apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention;
6 is a view showing a process in which a control unit provided in the apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention controls a longitudinal movement driving unit and a lateral movement driving unit during the rotational movement of the vehicle;
7 is a view showing a state in which the apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention stabilizes the rotational behavior of the vehicle;
8 is a flowchart of a method for controlling rotational behavior of a vehicle according to an embodiment of the present invention;
9 is a block diagram showing a computing system for executing a method for controlling a rotational behavior of a vehicle according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible, even if they are indicated on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with an understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the constituent elements of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), and the like may be used. These terms are for distinguishing the constituent element from other constituent elements, and the nature, order, or order of the constituent element is not limited by the term. In addition, unless otherwise defined, all terms including technical or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in the present application. Does not.

1 is a block diagram of an apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention.

As shown in Fig. 1, the apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention includes a storage unit 10, a longitudinal movement driving unit 20, a lateral movement driving unit 30, and an acceleration sensor 40. ), a yaw rate sensor (50), and a control unit (60). In this case, according to a method of implementing the apparatus for controlling rotational behavior of a vehicle according to an embodiment of the present invention, each component may be combined with each other to be implemented as one, or some components may be omitted.

Looking at each of the above components, first, the storage unit 10 uses the acceleration sensor 40 and the yaw rate sensor 50 to detect the rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle, and Various logics, algorithms, and programs required in the process of controlling the braking, acceleration, and steering of the vehicle corresponding to the sensed rotational behavior may be stored in conjunction with the movement driving unit 20 and the lateral movement driving unit 30.

The storage unit 10 includes a flash memory type, a hard disk type, a micro type, and a card type (e.g., an SD card (Secure Digital Card) or an XD card (eXtream Digital)). Card)), RAM (RAM, Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), Magnetic Memory (MRAM) , Magnetic RAM), a magnetic disk, and an optical disk type memory.

The longitudinal motion driving unit 20 may be implemented as an ESC (Electronic Stability Control) system, for example, and may adjust acceleration and braking of the vehicle based on a control signal from the control unit 60.

The lateral motion driving unit 20 may be implemented as an MDPS (Moter Driven Power Steering System), for example, and may adjust the steering of the vehicle based on a control signal from the control unit 60.

The acceleration sensor 40 is a collision sensor, as shown in FIG. 2, a first front impact sensor (FIS) that detects a collision by being located on the front right side of the vehicle, and is located on the front left side of the vehicle. A second front collision detection sensor 42 that detects a collision, a first side impact sensor 43 located on the right side of the vehicle to detect a collision, and a second side impact sensor 43 located on the left side of the vehicle to prevent a collision. A second side collision detection sensor 44 that detects, a first side pressure detection sensor 45 located on the right side of the vehicle to detect pressure generated by a collision, and a pressure generated by a collision located on the left side of the vehicle It may include a second side pressure sensor 46 for sensing.

The acceleration sensor 40 may be implemented as a two-axis (x,y) acceleration sensor or a three-axis (x,y,z) acceleration sensor.

The yaw rate sensor 50 is located in the center of the vehicle and may measure the yaw rate (deg/s) of the vehicle.

The control unit 60 performs overall control so that the respective components can normally perform their functions. The controller 60 may be implemented in the form of hardware, software, or a combination of hardware and software. Preferably, the control unit 60 may be implemented as a microprocessor, but is not limited thereto.

In particular, the control unit 60 detects the rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle using the acceleration sensor 40 and the yaw rate sensor 50, and moves in the longitudinal direction to stabilize the rotational behavior of the vehicle. Various controls required in the process of controlling the braking, acceleration, and steering of the vehicle corresponding to the sensed rotational behavior may be performed by interlocking with the driving unit 20 and the lateral movement driving unit 30.

The control unit 60 may detect a collision occurring on the rear side of the vehicle through the first side collision detection sensor 43 or the second side collision detection sensor 44 among the acceleration sensors 40, for example. That is, the control unit 60 is the y-axis acceleration measured by the first side collision detection sensor 43 (SIS_Y) or the y-axis acceleration measured by the second side collision detection sensor 44 ( Based on SIS_Y), a weak collision 310 occurring on the rear side of the vehicle may be detected. At this time, since the threshold value for determining the weak collision 310 is low, the y-axis acceleration (SIS_Y) value exceeding the threshold value is measured even when the vehicle is traveling on a rough road such as a barrier (320), and the controller 60 additionally It is further determined whether the vehicle is rotating. '330' represents the y-axis acceleration (SIS_Y) value measured when the autonomous vehicle travels on an unpaved road.

The controller 60 may determine the rotational behavior of the vehicle based on the measured value of the yaw rate sensor 50 as shown in FIG. 4. In this case, if the measured value of the yaw rate sensor 50 is positive (+), the controller 60 may determine that the vehicle rotates counterclockwise, and the measured value of the yaw rate sensor 50 is negative (- ), it can be determined that the vehicle rotates clockwise.

The controller 60 rotates the vehicle based on the x-axis acceleration (SIS_X) measured by the first side collision detection sensor 43 or the x-axis acceleration (SIS_X) measured by the second side collision detection sensor 44 The reliability can be improved by further judging whether it behaves or not. That is, the controller 60 satisfies the threshold value in the positive (+) direction in the x-axis acceleration (SIS_X) measured by the second side collision detection sensor 44 as shown in FIG. 5A, and FIG. As shown in (b) of 5, when the x-axis acceleration SIS_X measured by the first side collision detection sensor 43 exceeds the threshold in the negative (-) direction, it may be determined that the vehicle rotates. . Of course, the control unit 60 satisfies the threshold value in the minus (-) direction of the x-axis acceleration (SIS_X) measured by the second side collision detection sensor 44, and is measured by the first side collision detection sensor 43 When the x-axis acceleration SIS_X exceeds the threshold in the positive (+) direction, it can be determined that the vehicle rotates.

As shown in FIG. 6, when a collision occurs on the rear right side 650 of the vehicle, the control unit 60 applies braking (for example, 0.4 to 1G) to the left front wheel 611 and the left rear wheel 612, and the right front wheel Acceleration to the target speed (for example, current speed + weight (X kph)) is applied to (613), and acceleration to the target speed (for example, current speed + weight (Y kph)) is applied to the right rear wheel 614. The directional behavior driving unit 20 is controlled, and the lateral movement driving unit 30 is controlled to rotate the steering wheel 620 in the opposite direction (counterclockwise) of the vehicle.

In particular, the control unit 60 calculates a yaw rate angle by integrating the yaw rate value measured by the yaw rate sensor 50, and multiplies the calculated yaw rate angle by a coefficient k to obtain a steering control value. It is calculated, and based on the calculated steering control value, it is possible to control the transverse behavior driving unit 30.

As shown in FIG. 7, when the rotational behavior of the vehicle is stopped, the control unit 60 may maintain the direction of the vehicle intended by the driver or apply braking to all wheels of the vehicle to stop the vehicle.

The control unit 60 may be implemented on the ACU as an example.

On the other hand, when a collision occurs on the rear left side of the vehicle, the control unit 60 applies braking (for example, 0.4 to 1G) to the right front wheel 613 and the right rear wheel 614, and applies a target speed to the left front wheel 611 (For example, the current speed + weight (X kph)) is accelerated, and the left rear wheel 612 is accelerated to the right rear wheel 614 to the target speed (for example, current speed + weight (Y kph)). The directional movement driving unit 20 is controlled, and the lateral movement driving unit 30 is controlled to rotate the steering wheel 620 in a direction opposite to the rotation of the vehicle (clockwise).

8 is a flowchart illustrating a method of controlling a rotational behavior of a vehicle according to an embodiment of the present invention.

First, the first side collision detection sensor 43 located on the right side of the center (or rear or between the center and rear) of the vehicle detects a collision (801).

In addition, the second side collision detection sensor 44 located on the left side of the vehicle center (or between the rear or the center and the rear) detects the collision (802).

Thereafter, the yaw rate sensor 50 measures the yaw rate of the vehicle (803).

Thereafter, the controller 60 detects the rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle (804).

Thereafter, the controller 60 stabilizes the rotational behavior of the vehicle by controlling the braking, acceleration, and steering of the vehicle corresponding to the sensed rotational behavior (805).

9 is a block diagram showing a computing system for executing a method for controlling a rotational behavior of a vehicle according to an embodiment of the present invention.

Referring to FIG. 9, the method for controlling the rotational behavior of a vehicle according to an embodiment of the present invention described above may also be implemented through a computing system. The computing system 1000 includes at least one processor 1100 connected through the system bus 1200, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and A network interface 1700 may be included.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware executed by the processor 1100, a software module, or a combination of the two. The software module is a storage medium such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, solid state drive (SSD), removable disk, CD-ROM (i.e., memory 1300) and/or It may reside in the storage 1600. An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, 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 interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: storage
20: longitudinal motion drive unit
30: transverse motion driving part
40: acceleration sensor
50: yaw rate sensor
60: control unit

Claims (14)

A first collision sensor located on the right side of the vehicle to detect a collision;
A second collision sensor located on the left side of the vehicle to detect a collision;
A yaw rate sensor that measures the yaw rate of the vehicle; And
A control unit that detects the rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle, and stabilizes the rotational behavior of the vehicle by controlling the braking, acceleration, and steering of the vehicle corresponding to the detected rotational behavior.
Rotation behavior control device of the vehicle comprising a.
The method of claim 1,
The control unit,
Firstly determine the rotational behavior of the vehicle based on the yaw rate value measured by the yaw rate sensor, and the rotational behavior of the vehicle based on the x-axis acceleration values measured by the first collision sensor and the second collision sensor The apparatus for controlling rotational behavior of a vehicle, characterized in that the second determination is made.
The method of claim 2,
The control unit,
If the yaw rate value measured by the yaw rate sensor is positive (+), it is determined as a counterclockwise rotational behavior, and if the yaw rate value measured by the yaw rate sensor is negative (-), it is determined as a clockwise rotational behavior. A device for controlling rotational behavior of a vehicle, characterized in that to determine.
The method of claim 2,
The control unit,
When the x-axis acceleration value measured by the first collision sensor exceeds the threshold in the positive (+) direction and the x-axis acceleration value measured by the second collision sensor satisfies the threshold in the negative (-) direction, the vehicle A device for controlling rotational behavior of a vehicle, characterized in that it is determined that the rotational behavior is performed.
The method of claim 2,
The control unit,
When the x-axis acceleration value measured by the first collision sensor exceeds the threshold in the negative (-) direction, and the x-axis acceleration value measured by the second collision sensor satisfies the threshold in the positive (+) direction, the vehicle A device for controlling rotational behavior of a vehicle, characterized in that it is determined that the rotational behavior is performed.
The method of claim 5,
The control unit,
Controls the longitudinal movement drive to apply braking to the left front and left rear wheels of the vehicle, accelerate to the first target speed to the right front wheel, and accelerate to the second target speed to the right rear wheel, and reverse the vehicle's steering wheel. A device for controlling rotational behavior of a vehicle, comprising controlling a lateral movement driving unit to rotate in a direction.
The method of claim 6,
The control unit,
Integrating the yaw rate value measured by the yaw rate sensor to calculate a yaw rate angle, multiplying the calculated yaw rate angle by a coefficient k to calculate a steering control value, and the calculated steering control value The vehicle rotational behavior control device, characterized in that to control the lateral behavior driving unit based on.
Detecting a collision by a first collision sensor located on the right side of the vehicle;
Detecting a collision by a second collision sensor located on the left side of the vehicle;
Measuring the yaw rate of the vehicle by the yaw rate sensor;
Detecting, by the controller, a rotational behavior of the vehicle due to a collision occurring on the rear side of the vehicle; And
Stabilizing the rotational behavior of the vehicle by controlling the braking, acceleration, and steering of the vehicle corresponding to the sensed rotational behavior by the control unit
Rotation behavior control method of a vehicle comprising a.
The method of claim 8,
The step of detecting the rotational behavior of the vehicle,
First determining a rotational behavior of the vehicle based on the yaw rate value measured by the yaw rate sensor; And
Secondly determining the rotational behavior of the vehicle based on the x-axis acceleration value measured by the first collision sensor and the second collision sensor
Rotation behavior control method of a vehicle comprising a.
The method of claim 9,
The step of first determining the rotational behavior of the vehicle,
Determining a counterclockwise rotation behavior if the yaw rate value measured by the yaw rate sensor is positive (+); And
If the yaw rate value measured by the yaw rate sensor is negative (-), determining the rotation behavior in a clockwise direction
Rotation behavior control method of a vehicle comprising a.
The method of claim 9,
Secondly determining the rotational behavior of the vehicle,
When the x-axis acceleration value measured by the first collision sensor exceeds the threshold in the positive (+) direction and the x-axis acceleration value measured by the second collision sensor satisfies the threshold in the negative (-) direction, the vehicle A method for controlling a rotational behavior of a vehicle, characterized in that it is determined that the rotational behavior is performed.
The method of claim 9,
Secondly determining the rotational behavior of the vehicle,
When the x-axis acceleration value measured by the first collision sensor exceeds the threshold in the negative (-) direction, and the x-axis acceleration value measured by the second collision sensor satisfies the threshold in the positive (+) direction, the vehicle A method for controlling a rotational behavior of a vehicle, characterized in that it is determined that the rotational behavior is performed.
The method of claim 12,
Stabilizing the rotational behavior of the vehicle,
Controlling a longitudinal motion driving unit such that braking is applied to the left front wheel and the left rear wheel of the vehicle, accelerates to a first target speed to the right front wheel, and accelerates to a second target speed to the right rear wheel; And
Controlling the lateral motion driving unit to rotate the vehicle's steering wheel in a direction opposite to that of the vehicle.
Rotation behavior control method of a vehicle comprising a.
The method of claim 13,
The step of controlling the transverse motion driving unit,
Calculating a yaw rate angle by integrating the yaw rate value measured by the yaw rate sensor;
Calculating a steering control value by multiplying the calculated yaw rate angle by a coefficient k; And
Controlling the transverse behavior driving unit based on the calculated steering control value
Rotation behavior control method of a vehicle comprising a.

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